System Manual EPM-T__I-O system IP20

System Manual EPM-T__I-O system IP20
Ä.Aùðä
EDSPM−TXXX
.Aùð
System Manual
I/O−System IP20
EPM−T1XX, EPM−T2XX, EPM−T3XX, EPM−T4XX, EPM−T9XX
Modular system
Compact system
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Contents
1
2
Preface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1
The I/O system IP20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1−1
1.2
How to use this System Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Information provided by the System Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
Products to which the System Manual applies . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3
Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2−1
1.2−1
1.2−2
1.2−3
1.3
Legal regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3−1
Safety instructions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1
2.1
3
Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1−1
Technical data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1
3.1
4
1.1
General data/operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1−1
The modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2
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4.1
CAN gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1−1
4.2
CAN GatewayECO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2−1
4.3
PROFIBUS Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3−1
4.4
PROFIBUS GatewayECO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4−1
4.5
8×digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5−1
4.6
16×digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6−1
4.7
8×digital output 0.5A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7−1
4.8
16×digital output 0.5A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8−1
4.9
8×digital output 1A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9−1
4.10
16×digital output 1A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10−1
4.11
8×digital output 2A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.11−1
4.12
4×relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.12−1
4.13
8×digital input / output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.13−1
4.14
4×analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.14−1
4.15
4×analog input ±10V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.15−1
4.16
4×analog input ±20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.16−1
4.17
4×analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.17−1
4.18
4×analog output ±10V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.18−1
4.19
4×analog output 0...20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.19−1
4.20
4×analog input / output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.20−1
4.21
2/4×counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.21−1
4.22
SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.22−1
4.23
1×counter/16×digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.23−1
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Contents
4.24
5
6
7
Terminal module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.24−1
The compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1
5.1
8×dig. I/O compact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1−1
5.2
16×dig. I/O compact (single−wire conductor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2−1
5.3
16×dig. I/O compact (three−wire conductor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3−1
5.4
32×dig. I/O compact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4−1
Mechanical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1
6.1
The modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1−1
6.2
The compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2−1
Electrical installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1
7.1
Wiring according to EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1−1
7.2
Wiring of terminal strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2−1
7.3
Supply voltage connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3−1
7.4
System bus (CAN) / CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4−1
7.4.1
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4−1
7.4.2
Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4−1
PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5−1
7.5.1
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5−1
7.5.2
Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5−3
Networking via system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1
7.5
8
8.1
2
Via system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1−1
8.1.1
Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1−1
8.1.2
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1−2
8.1.3
Saving changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1−2
8.2
Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2−1
8.3
Transmitting process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−1
8.3.1
Process data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−1
8.3.2
Identifier of the process data objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−2
8.3.3
Assigning individual parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−3
8.3.4
Process data transmission mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−3
8.3.5
Process image of the modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−5
8.3.6
Process image of the compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−8
8.3.7
Compatibility with Lenze drive and automation components . . . . . . . . . . . . . . . . . . .
8.3−9
8.3.8
Data transmission between I/O system IP20 and controller . . . . . . . . . . . . . . . . . . .
8.3−10
8.3.9
Indices for setting the process data transmission . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−11
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9
8.4
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1
Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.2
Writing a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.3
Reading a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4−1
8.4−1
8.4−4
8.4−5
8.5
Setting of baud rate and node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5−1
8.6
Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6−1
8.7
Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7−1
8.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.8−1
8.9
Monitoring
8.9.1
8.9.2
8.9.3
...............................................................
Time monitoring for PDO1−Rx ... PDO10−Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital output monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.9−1
8.9−1
8.9−2
8.9−3
8.10
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.1
Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.2
Operating state of system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.3
Reading out the module identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.4
Status of the digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.5
Status of the digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.6
Status of the analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.7
Status of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10−1
8.10−2
8.10−3
8.10−3
8.10−3
8.10−4
8.10−5
8.10−5
Networking via CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1
L
9.1
About CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1
Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3
Saving changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1−1
9.1−1
9.1−2
9.1−2
9.2
Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2−1
9.3
Transmitting process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1
Process data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2
Identifier of the process data objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3
Assigning individual parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4
Process data transmission mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.5
Process image of the modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.6
Process image of the compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.7
Compatibility with Lenze drive and automation components . . . . . . . . . . . . . . . . . . .
9.3.8
Data transmission between I/O system IP20 and controller . . . . . . . . . . . . . . . . . . .
9.3.9
Indices for setting the process data transmission . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3−1
9.3−1
9.3−2
9.3−3
9.3−3
9.3−5
9.3−8
9.3−9
9.3−11
9.3−12
9.4
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1
Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2
Writing a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3
Reading a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4−1
9.4−1
9.4−4
9.4−5
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9.5
Setting of baud rate and node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5−1
9.6
Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6−1
9.7
Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7−1
9.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8−1
9.9
Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9−1
9.9.1
Time monitoring for PDO1−Rx ... PDO10−Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9−1
9.9.2
Digital output monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9−2
9.9.3
Monitoring of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9−3
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−1
9.10.1
Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−2
9.10.2
Operating state of system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−3
9.10.3
Reading out the module identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−3
9.10.4
Status of the digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−3
9.10.5
Status of the digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−4
9.10.6
Status of the analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−5
9.10.7
Status of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−5
Networking via PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1
9.10
10
10.1
Via Profibus−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1−1
10.2
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2−1
10.2.1
Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2−1
10.2.2
Mono−master system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2−1
10.2.3
Multi−master system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2−2
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3−1
10.3.1
Bus access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3−1
10.3.2
Cyclic data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3−2
10.3.3
Acyclic data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3−3
10.3.4
Communication medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3−4
Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4−1
10.4.1
Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4−1
10.4.2
GSE file for PROFIBUS connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4−1
10.4.3
Setting of the station address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4−1
10.4.4
Setting of the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4−1
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5−1
10.5.1
PROFIBUS−DP−V0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5−1
10.5.2
PROFIBUS−DP−V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5−2
10.5.3
Addressing with slot and index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5−3
10.5.4
Consistent parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5−7
10.3
10.4
10.5
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10.6
11
12
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.1
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.2
Diagnostic data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.3
Alarm messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Commissioning
10.6−1
10.6−1
10.6−1
10.6−6
......................................................
11.1
11.1
System bus (CAN) / CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1
Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.2
Commissioning examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1−1
11.1−1
11.1−2
11.2
PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.1
Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2
Initialisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2−1
11.2−1
11.2−2
Parameter setting via system bus (CAN) / CANopen . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1
L
12.1
Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1−1
12.2
Parameterising digital modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2−1
12.2−1
12.3
Parameterising analog modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.2
Diagnostic data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.3
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.4
Converting measured values for voltage and current . . . . . . . . . . . . . . . . . . . . . . . .
12.3.5
Signal functions of 4xanalog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.6
Signal functions of 4xanalog input ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.7
Signal functions 4xanalog input ±20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.8
Signal functions of 4xanalog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.9
Signal functions of 4xanalog output ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.10 Signal functions 4xanalog output 0...20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3.11 Signal functions of 4xanalog input /output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−1
12.3−1
12.3−6
12.3−7
12.3−7
12.3−8
12.3−11
12.3−12
12.3−13
12.3−16
12.3−17
12.3−18
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12.4
6
Parameterising 2/4xcounter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.3
2 x 32 bit counter (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.4
Encoder (modes 1, 3, and 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.5
Measuring the pulse width, fref 50 kHz (mode 6) . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.6
4 × 16 bit counter (modes 8 ... 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.7
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13) . . . . . . . .
12.4.8
2 × 32 bit counter with GATE, RES level−triggered and auto reload
(modes 14 and 15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.9
Measuring the frequency (modes 16 and 18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.10 Measuring the period (modes 17 and 19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.11 Measuring the pulse width, fref programmable (mode 20) . . . . . . . . . . . . . . . . . . . .
12.4.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22) . . . . . .
12.4.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26) . . . . . . . . . . . . . . . . . .
12.4.14 2 x 32 bit counter with G/RES (mode 27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.15 Encoder with G/RES (modes 28 ... 30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.16 2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32) . . . . . . . .
12.4.17 2 × 32 bit counter with GATE, RES edge−triggered and auto reload
(modes 33 and 34) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.18 2 x 32 bit counter with GATE (mode 35) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4.19 Encoder with GATE (modes 36 ... 38) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.4−1
12.4−1
12.4−4
12.4−6
12.4−8
12.4−12
12.4−14
12.4−16
12.4−19
12.4−22
12.4−26
12.4−29
12.4−32
12.4−35
12.4−39
12.4−41
12.4−45
12.4−48
12.4−51
12.4−53
12.5
Parameterising SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.2
Input data assignment via index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.3
Process data assignment for "SSI mapping PLC" (I4104 = 0) . . . . . . . . . . . . . . . . . .
12.5.4
Process data assignment for "SSI mapping standard 1" (I4104 = 1) . . . . . . . . . . . . .
12.5.5
Process data assignment for "SSI mapping standard 2" (I4104 = 2) . . . . . . . . . . . . .
12.5.6
Example of parameter setting via process data . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5−1
12.5−1
12.5−2
12.5−6
12.5−8
12.5−11
12.5−14
12.6
Parameterising 1xcounter/16xdigital input module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.3
Encoder (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.4
32 bit counter (mode 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.5
32 bit counter with clock up/down evaluation (mode 2) . . . . . . . . . . . . . . . . . . . . . .
12.6.6
Measuring the frequency (mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.7
Measuring the period (mode 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.8
Parameterising digital input filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6−1
12.6−1
12.6−2
12.6−5
12.6−7
12.6−9
12.6−11
12.6−13
12.6−15
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13
12.7
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7−1
12.8
Loading default setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8−1
Parameter setting via PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1
13.1
13.2
13.3
L
Parameterising analog modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−1
13.1.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−1
13.1.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−6
13.1.3
Converting measured values for voltage and current . . . . . . . . . . . . . . . . . . . . . . . .
13.1−6
13.1.4
Signal functions of 4xanalog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−7
13.1.5
Signal functions of 4xanalog input ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−11
13.1.6
Signal functions 4xanalog input ±20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−12
13.1.7
Signal functions of 4xanalog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−14
13.1.8
Signal functions of 4xanalog output ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−16
13.1.9
Signal functions 4xanalog output 0...20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−17
13.1.10
Signal functions of 4xanalog input /output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−18
Parameterising 2/4xcounter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−1
13.2.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−1
13.2.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−4
13.2.3
2 x 32 bit counter (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−5
13.2.4
Encoder (modes 1, 3, and 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−7
13.2.5
Measuring the pulse width, fref 50 kHz (mode 6) . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−11
13.2.6
4 × 16 bit counter (modes 8 ... 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−13
13.2.7
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13) . . . . . . . .
13.2−15
13.2.8
2 × 32 bit counter with GATE, RES level−triggered and auto reload
(modes 14 and 15) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−18
13.2.9
Measuring the frequency (modes 16 and 18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−21
13.2.10
Measuring the period (modes 17 and 19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−25
13.2.11
Measuring the pulse width, fref programmable (mode 20) . . . . . . . . . . . . . . . . . . . .
13.2−28
13.2.12
Measuring the pulse width with GATE, fref programmable (modes 21 and 22) . . . . . .
13.2−31
13.2.13
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26) . . . . . . . . . . . . . . . . . .
13.2−34
13.2.14
2 x 32 bit counter with G/RES (mode 27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−38
13.2.15
Encoder with G/RES (modes 28 ... 30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−40
13.2.16
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32) . . . . . . . .
13.2−44
13.2.17
2 × 32 bit counter with GATE, RES edge−triggered and auto reload
(modes 33 and 34) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−47
13.2.18
2 x 32 bit counter with GATE (mode 35) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−50
13.2.19
Encoder with GATE (modes 36 ... 38) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−52
Parameterising SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3−1
13.3.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3−1
13.3.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3−3
EDSPM−TXXX−9.0−11/2009
7
i
Contents
13.4
14
Parameterising 1xcounter/16xdigital input module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.3
Encoder (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.4
32 bit counter (mode 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.5
32 bit counter with clock up/down evaluation (mode 2) . . . . . . . . . . . . . . . . . . . . . .
13.4.6
Measuring the frequency (mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.7
Measuring the period (mode 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.8
Parameterising digital input filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4−1
13.4−1
13.4−2
13.4−4
13.4−6
13.4−8
13.4−10
13.4−12
13.4−14
Troubleshooting and fault elimination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.1
14.1
15
8
Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
14.1−1
Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2
15.1
Index table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.1−1
15.2
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.1
Terminology and abbreviations used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2−1
15.2−1
15.3
Total index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3−3
EDSPM−TXXX−9.0−11/2009
L
1
Preface
Contents
1
Preface
Contents
L
1.1
The I/O system IP20 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1−1
1.2
How to use this System Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.1
Information provided by the System Manual . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.2
Products to which the System Manual applies . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2.3
Document history . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2−1
1.2−1
1.2−2
1.2−3
1.3
Legal regulations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3−1
EDSPM−TXXX−9.0−11/2009
1.1
1
Preface
The I/O system IP20
1.1
1.1
The I/O system IP20
The system
Automation is playing an ever more important part in the operation of machines
and systems. The increasing number of peripherals has increased the amount of
wiring required. This is where distributed I/O systems bring order to the chaos.
Lenze has developed two new product concepts with IP20 protection which are
suitable for both basic digital applications and more complex automation tasks.
The modular system
Lenze can now provide you with a modular system for complex automation
applications, consisting of three components: a gateway, electronic modules and
a backplane bus. The key element is the gateway which processes all process data
traffic via the system bus (CAN) / CANopen or PROFIBUS−DP. An internal
backplane bus is also used for the in−station communication between process and
parameter data, as well as diagnostics data.
The compact system
This system comprises a range of compact products with a fixed number of digital
inputs and outputs. The integrated gateway serves as a communication interface
which processes the complete process data traffic via system bus (CAN) /
CANopen.
The I/O system IP20 is
supported by
Application
Global Drive Control
Drive Developer Studio
L
As of version
4.4
4.5
1.4
2.1
EDSPM−TXXX−9.0−11/2009
Note
Device data only are available after a software update.
Device data are available, except for the following modules of the
modular 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.
Libraries only are available after a software update.
Libraries are available, except for the following modules of the
modular 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.
1.1−1
Preface
1
How to use this System Manual
Information provided by the System Manual
1.2
1.2.1
1.2
How to use this System Manual
1.2.1
Information provided by the System Manual
Target group
This System Manual is intended for all persons who design, install, set up, and
adjust the I/O system IP20.
Together with the catalog it provides the basis of project planning for the
manufacturers of plants and machinery.
Contents
How to find information
Paper or PDF
The System Manual complements the Mounting Instructions included in the scope
of supply:
l
The features and functions are described in detail.
l
It provides detailed information on further possible fields of application.
l
The parameter setting for typical applications is explained by means of
examples.
Each main chapter is a unit in itself and covers all information on the corresponding
subject:
l
Therefore, you only need to read the chapter that is relevant to you.
l
The contents and table of keywords allow you to easily find information
about specific topics.
l
Descriptions and data of other Lenze products (drive PLC, Lenze operator
terminals, ...) are included in the corresponding catalogs, Operating
Instructions, and Manuals. The required documentation can be ordered at
your 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 to
inform you quickly and specifically about news and changes. Each page is marked
by 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 products
are available on the Internet in the "Services & Downloads" area
under
http://www.Lenze.com
L
EDSPM−TXXX−9.0−11/2009
1.2−1
1
Preface
1.2
1.2.2
How to use this System Manual
Products to which the System Manual applies
1.2.2
Products to which the System Manual applies
This documentation is valid for the I/O system IP20 as of the nameplate data:
EPM−T

XXX
Type
110
111
120
121
‚
1A
…
13
Nameplate
L
L
CAN gateway
CAN GatewayECO
PROFIBUS Gateway
PROFIBUS GatewayECO
210
211
220
221
222
223
224
225
230
8×digital input
16×digital input
8×digital output 1A
8×digital output 2A
4×relay
16×digital output 1A
8×digital output 0.5A
16×digital output 0.5A
8×digital input / output
310
311
312
320
321
322
330
4×analog input
4×analog input ±10V
4×analog input ±20mA
4×analog output
4×analog output ±10V
4×analog output 0...20mA
4×analog input / output
410
411
430
2/4×counter
SSI interface
1×counter/16×digital input
830
831
8×dig. I/O compact
16×dig. I/O compact (single−wire
conductor)
832
833
32×dig. I/O compact
16×dig. I/O compact (three−wire
conductor)
940
Terminal module
XX XxDC24V
1
PW
ER
.0
2
RD
.1
3
BA
.2
4
.3
5
.4
6
.5
7
.6
8
0 1
ADR.
X1
DC
+
24V
.7
9
10
–
EPM – TXXX 1A.10
‚ ƒ
EPM – TXXX 1A
‚
epm−t008
Hardware version
Software version
Types EPM−T1XX, EPM−T3XX, EPM−T4XX and EPM−T8XX only
1.2−2
EDSPM−TXXX−9.0−11/2009
L
Preface
1
How to use this System Manual
Document history
1.2
1.2.3
1.2.3
Document history
What is new / what has
changed?
Material number
.Aùð
13301241
Version
9.0
8.0
11/2009
07/2009
TD23
TD23
13266570
7.0
08/2008
TD14
13237966
6.0
02/2008
TD31
13187750
13052114
00488905
00460836
5.0
4.0
3.0
2.0
08/2006
05/2005
04/2004
10/2002
TD31
TD14
TD23
TD23
Description
Error correction
New edition due to reorganisation of the company,
error correction
Revised for software version 1.3, extended by the
indices I2004h, I3401h, I6423h, error correction
Revision of the signal functions in the chapters
"Parameterising analog modules"
Extended by PROFIBUS−DP, new electronic modules
Supplements for software version 1.2
New electronic modules, error correction
First edition
© 2009 Lenze Automation GmbH, Grünstraße 36, D−40667 Meerbusch
L
EDSPM−TXXX−9.0−11/2009
1.2−3
1
Preface
Legal regulations
1.3
1.3
Legal regulations
Labelling
All components of the I/O system IP20 are unequivocally identified through the
contents of the nameplate.
Manufacturer
Lenze Digitec Controls GmbH, Grünstraße 36, D−40667 Meerbusch
CE conformity
Conforms with the EC Directives on electromagnetic compatibility (89/336/EEC)
and low voltage (73/23/EEC).
Application as directed
Components of I/O system IP20
l
must only be operated under the conditions prescribed in this System
Manual,
l
are not approved for use in potentially explosive environments,
l
are electric units for the installation into control cabinets or similar enclosed
operating housing,
l
conform with the EC Directives on electromagnetic compatibility
(89/336/EEC) and low voltage (73/23/EEC),
l
are not machines for the purpose of the EC Directive "Machinery",
l
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!
L
EDSPM−TXXX−9.0−11/2009
1.3−1
1
Preface
1.3
Liability
Legal regulations
The information, data, and notes in this System Manual met the state of the art at
the time of printing. Claims on modifications referring to components of the I/O
system IP20 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 are
for guidance only and must be adapted to your own specific application. Lenze
Digitec Controls does not take responsibility for the suitability of the process and
circuit proposals.
The specifications in this System Manual describe the product features without
guaranteeing them.
Lenze does not accept any liability for damage and operating interference caused
by:
Warranty
l
Non−compliance with the System Manual
l
Unauthorised modifications to components of the I/O systemIP20
l
Operating errors
l
Improper working on and with the I/O system IP20
See terms of sales and delivery of Lenze Digitec Controls GmbH.
Warranty claims must be made to Lenze Digitec Controls immediately after
detecting the deficiency or fault.
The warranty is void in all cases where liability claims cannot be made.
1.3−2
EDSPM−TXXX−9.0−11/2009
L
2
Safety instructions
Contents
2
Safety instructions
Contents
2.1
L
Definition of notes used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDSPM−TXXX−9.0−11/2009
2.1−1
2.1
2
Safety instructions
Definition of notes used
2.1
2.1
Definition of notes used
All safety notes 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 avoid
danger)
Pictograph
Signal word
Signal word
L
Meaning
Stop!
Possible damage to material
Note!
Useful note or tip
which, if observed, will simplify
handling of the I/O system IP20.
EDSPM−TXXX−9.0−11/2009
Consequences if the safety
instructions are
disregarded
Damage to the I/O system
IP20 or its environment
2.1−1
3
Technical data
Contents
3
Technical data
Contents
3.1
L
General data/operating conditions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDSPM−TXXX−9.0−11/2009
3.1−1
3.1
3
Technical data
General data/operating conditions
3.1
3.1
General data/operating conditions
)
Note!
l
l
General data
The technical data of the modules of the modular system is
included in the chapter "The modular system" in the
corresponding module description.
The technical data of the modules of the compact system is
included in the chapter "The compact system" in the
corresponding module description.
Conformity and approval
Conformity
CE
73/23/EEC
Approval
UL
UL 508
Protection of persons and device protection
Type of protection
Electrical isolation
Modular system, compact modules
To the fieldbus
To the process level
Insulation resistance
IEC 61131−2
Insulation voltage to reference earth
Inputs / outputs
Protective measures
EMC
Noise emission
Noise immunity
Operating conditions
Ambient conditions
Climatic
Storage
Operation
Horizontal installation
Vertical installation
Air humidity
Pollution
Mechanical
Vibration resistance
Power Conversion Equipment
IP20
Via optocouplers
Via optocouplers
AC/DC 50 V, test voltage AC 500 V
Against short circuit
EN 61000−6−4
EN 61000−4−2
EN 61000−4−3
EN 61000−4−4
ESD
HF interference (enclosure)
Burst
IEC/EN 60068−2−14
−25 ... +70 °C
EN 61131−2
60068−2−30
EN EN 61131−2
0 ... +60 °C
0 ... +40 °C
RH1 (without condensation, relative humidity 10 ... 95 %)
Degree of pollution 2
IEC 60068−2−6
IEC 60068−2−27
1g
15 g
Mounting conditions
Mounting place
Mounting position
Station design
Modular system
L
Low−Voltage Directive
EDSPM−TXXX−9.0−11/2009
In the control cabinet
Horizontal and vertical
1 gateway module with up to 32 electronic modules attached to it
without any free space
3.1−1
4
The modular system
Contents
4
The modular system
Contents
L
4.1
CAN gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1−1
4.2
CAN GatewayECO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2−1
4.3
PROFIBUS Gateway . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3−1
4.4
PROFIBUS GatewayECO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.4−1
4.5
8×digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.5−1
4.6
16×digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.6−1
4.7
8×digital output 0.5A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7−1
4.8
16×digital output 0.5A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8−1
4.9
8×digital output 1A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9−1
4.10
16×digital output 1A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10−1
4.11
8×digital output 2A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.11−1
4.12
4×relay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.12−1
4.13
8×digital input / output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.13−1
4.14
4×analog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.14−1
4.15
4×analog input ±10V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.15−1
4.16
4×analog input ±20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.16−1
4.17
4×analog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.17−1
4.18
4×analog output ±10V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.18−1
4.19
4×analog output 0...20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.19−1
4.20
4×analog input / output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.20−1
4.21
2/4×counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.21−1
4.22
SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.22−1
4.23
1×counter/16×digital input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.23−1
4.24
Terminal module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.24−1
EDSPM−TXXX−9.0−11/2009
4.1
4
The modular system
CAN gateway
4.1
4.1
CAN gateway
Description
The CAN gateway is the interface between the process level and the master bus
system. The control signals at the process level are transmitted by the electronic
modules. These modules are connected with the CAN gateway via the backplane
bus (EPM−T9XX). CAN gateway and the connected electronic modules
communicate via the backplane bus. A configuration is not required.
Features
l
Up to 32 modules can be connected to a CAN gateway
l
Integrated power supply unit for the internal voltage supply and the voltage
supply of the connected electronic modules
– Power supply unit is fed via an external DC voltage source
l
Connection to the system bus (CAN) / CANopen via a 9−pole Sub−D plug
l
Address and baud rate setting via coding switch
l
The baud rate is stored permanently in an EEPROM in the module
l
LED for status display
Overview
0
PW
ER
RD
BA
1
2
AD
R.
0
DC
24
V
3
+
X1
EP
1
1
M
–T
11
0
2
xx.x
x
epm−t009
Fig. 4.1−1
Overview of CAN gateway
Connecting system
bus (CAN)/CANopen
View
6
7
8
9
1
2
3
4
5
epm−t023
L
LED for status display
9−pole Sub−D plug for connection to the system bus (CAN)
Coding switch to set address and baud rate
External voltage supply connection
Pin
1
2
3
4
5
6
7
8
9
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
EDSPM−TXXX−9.0−11/2009
Explanation
−
Data line
Data ground
−
−
−
Data line
−
−
4.1−1
4
The modular system
4.1
Baud rate and node address
CAN gateway
l
Use the coding switch to set the baud rate.
l
The node address must be set via the coding switch.
– –
0 1
+ +
epm−t024
Fig. 4.1−2
Coding switch at CAN gateway
–
+
Baud rate setting
Decrease numerical value
Increase numerical value
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.
4.1−2
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
CAN gateway
Setting the node address
4.1
5. Now set the node address with the coding switch for the module. You have
five 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!
l
l
Status displays
LED
The node address can be changed any time with the coding
switch. The setting is accepted after switching on the supply
voltage.
After switching on the supply voltage, the modular system
needs approx. 10 s for initialisation. During this time, the
modules cannot be parameterised.
Status
PW (yellow)
ER (red)
RD (green)
Meaning
on
on
Module supply voltage on
Incorrect data transmission on the backplane bus.
on
Signals error−free data transmission on the backplane bus.
See table below
See table below
BA (yellow)
PW (yellow)
on
ER (red)
off
RD (green)
blinking (1 Hz)
BA (yellow)
off
on
off
on
on
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
on
blinking (1 Hz)
on
on
on
on
blinking (1 Hz)
on
blinking (1 Hz)
on
blinking (1 Hz)
blinking (10 Hz)
on
blinking (1 Hz)
on
on
blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
off
blinking (1 Hz)
off
Address setting mode active
)
Meaning
Self test and initialisation in progress
System bus (CAN)/CANopen in the
"Operational"state
System bus (CAN)/CANopen "Offline"state
System bus (CAN)/CANopen "Warning"state
Error during RAM or EEPROM initialisation
Baud rate setting mode active
Note!
NMT telegrams for changing to the different states can be found in
the chapter "Networking via system bus (CAN)" or "Networking via
CANopen".
L
EDSPM−TXXX−9.0−11/2009
4.1−3
4
The modular system
4.1
Technical data
CAN gateway
CAN gateway
Type
Voltage supply
Voltage
DC 24 V (DC 20.4 ... 28.8 V)
Max. current consumption CAN Gateway
0.7 A
Max. current consumption of electronic
modules
3,5 A
Connectable cable cross−section
£ 2.5 mm2 (³ 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)
Max. cable length
Baud rate [kbit/s]
Cable length [m]
10
20
50
5000 2500 1000
Max. number of nodes
63
Electrical isolation from system bus
Yes, via optocouplers
100
125
250
500
800
1000
600
500
250
80
50
25
Connectable electronic modules
Max. number of elements
32
Max. number of digital input/output
modules
32
Max. number of analog input/output
modules
9
Max. number 2/4×counters
4
Max. number SSI interface
9
Max. number of 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
4.1−4
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order designation
EPM−T110
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
CAN GatewayECO
4.2
4.2
CAN GatewayECO
Description
The CAN GatewayECO is the interface between the process level and the master
bus system. The control signals at the process level are transmitted by the
electronic modules. These modules are connected with the CAN Gateway via the
backplane bus (EPM−T9XX). CAN Gateway and the connected electronic modules
communicate via the backplane bus. A configuration is not required.
Features
l
Up to 8 modules can be connected to a CAN Gateway
l
Integrated power supply unit for the internal voltage supply and the voltage
supply of the connected electronic modules
– Power supply unit is fed via an external DC voltage source
l
Only supports the electronic module types EPM−T2xx and EPM−T3xx
l
Connection to the system bus (CAN) / CANopen via a 9−pole Sub−D plug
l
Address and baud rate setting via DIP switch
l
The baud rate is stored permanently in an EEPROM in the module
l
LED for status display
Overview
0
1
PW
1
0
64
32
16
8 A
4 D
2 R.
1
L/C
ER
RD
BA
2
3
DC
24
V
+
EP
M
X1
-
1
–T
111
x
2
x.x
x
epm−t225
Fig. 4.2−1
Overview of Can GatewayECO
Connecting system
bus (CAN)/CANopen
View
6
7
8
9
1
2
3
4
5
epm−t023
L
Coding switch to set address and baud rate
LED for status display
9−pin Sub−D plug for the connection to the fieldbus
External voltage supply connection
Pin
1
2
3
4
5
6
7
8
9
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
EDSPM−TXXX−9.0−11/2009
Explanation
−
Data line
Data ground
−
−
−
Data line
−
−
4.2−1
4
The modular system
4.2
Baud rate and node address
Setting the baud rate
CAN GatewayECO
l
Use the coding switch to set the baud rate.
l
The node address must be set via the coding switch.
Coding
switch
64
32
16
8
4
2
1
L/C
1
0
Value
Baud rate [kBit/s]
0
1000
1
500
2
250
3
125
4
100
5
50
6
20
7
10
8
800
Bold print = Lenze setting
1. Switch off the voltage supply of the module.
2. Set all switches to "0" (not switch "L/C") on the coding switch.
3. Switch on the voltage supply of the module.
– The LEDs ER, RD and BA blink with a frequency of 1 Hz.
4. Set the desired baud rate with the coding switch. You have 10 seconds time.
– LEDs ER and BA go off after 10 seconds, and the set baud rate is stored.
5. You have a further 10 seconds time to set the node address.
Node address setting
Coding
switch
64
32
16
8
4
2
1
L/C
1
...
0
Node address
1
2
3
4
5
6
7
...
63
6. Set the node address for the module with the coding switch.
– Allowed device addresses are 1 ... 63.
– Each node address must be assigned only once.
– If the entered address is valid, the LED RD is extinguished and the
Gateway module changes to the pre−operational mode. The set address is
saved.
– If the entered address is invalid, the LEDs ER, RD and BA blink with a
frequency of 10 Hz.
)
Note!
l
l
4.2−2
The node address can be changed any time with the coding
switch. The setting is accepted after switching on the supply
voltage.
After switching on the supply voltage, the modular system
needs approx. 10 s for initialisation. During this time, the
modules cannot be parameterised.
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
CAN GatewayECO
4.2
Setting the communication
protocol
0
64
32
16
8
4
2
1
L/C
L/C
1
0
1
1
0
L/C
1
0
epm−t231
Fig. 4.2−2
Set the communication protocol for the CAN GatewayECO
System bus (CAN)
CANopen
)
Note!
Changes to the communication protocol are only adopted when
the supply voltage is switched on again.
Status displays
LED
PW (yellow)
ER (red)
Status
on
on
on
RD (green)
BA (yellow)
Meaning
Module supply voltage on
Incorrect data transmission on the backplane bus.
Signals error−free data transmission on the backplane bus.
See table below
See table below
PW (yellow)
ER (red)
RD (green)
BA (yellow)
on
off
blinking (1 Hz)
off
on
off
on
on
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
on
blinking (1 Hz)
on
on
on
on
blinking (1 Hz)
on
blinking (1 Hz)
on
blinking (1 Hz)
blinking (10 Hz)
on
blinking (1 Hz)
on
on
blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
off
blinking (1 Hz)
off
Address setting mode active
)
Meaning
Self test and initialisation in progress
System bus (CAN)/CANopen in the
"Operational"state
System bus (CAN)/CANopen "Offline"state
System bus (CAN)/CANopen "Warning"state
Error during RAM or EEPROM initialisation
Baud rate setting mode active
Note!
NMT telegrams for changing to the different states can be found in
the chapter "Networking via system bus (CAN)" or "Networking via
CANopen".
L
EDSPM−TXXX−9.0−11/2009
4.2−3
4
The modular system
4.2
Technical data
CAN GatewayECO
CAN GatewayECO
Type
Voltage supply
Voltage
DC 24 V (DC 20.4 ... 28.8 V)
Max. current consumption CAN
GatewayECO
0.3A
Max. current consumption of electronic
modules
0.8A
Connectable cable cross−section
£ 2.5 mm2 (³ 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)
Max. cable length
Baud rate [kbit/s]
Cable length [m]
10
20
50
5000 2500 1000
Max. number of nodes
63
Electrical isolation from system bus
Yes, via optocouplers
100
125
250
500
800
1000
600
500
250
80
50
25
Connectable electronic modules
Max. number of electronic modules
8
Max. number of digital input/output
modules
8
Max. number of analog input/output
modules
8
Max. digital input data
8 bytes
Max. digital output data
8 bytes
Max. analog input data
64 bytes
Max. analog output data
64 bytes
The number is limited by the maximum current
consumption of electronic modules.
Dimensions
4.2−4
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order designation
EPM−T111
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
PROFIBUS Gateway
4.3
4.3
PROFIBUS Gateway
Description
The PROFIBUS Gateway is the interface between the process level and the master
bus system. The control signals at the process level are transmitted by the
electronic modules. These modules are connected with the PROFIBUS Gateway
via the backplane bus (EPM−T9XX). PROFIBUS Gateway and the connected
electronic modules communicate via the backplane bus. A configuration is not
required.
Features
l
PROFIBUS−DP slave for up to 32 electronic modules
l
Supports PROFIBUS−DP−V1
l
Integrated power supply unit for the internal voltage supply and the voltage
supply of the connected electronic modules
– Power supply unit is fed via an external DC voltage source
l
Internal diagnostic protocol with time stamp
l
Connection to the PROFIBUS via 9−pin Sub−D socket
l
LED for status display
Overview
0
1
PW
1
0
64
32
16
8 A
4 D
2 R.
1
–
ER
RD
DE
2
3
DC
24
V
+
X1
EP
M
1
–T
2
12
xx
x.x
x
epm−t221
Fig. 4.3−1
Overview of PROFIBUS Gateway
View
Assignment
of the
Sub−D socket1
9
8
7
6
Coding switch to set the address
LED for status display
9−pin Sub−D socket for the connection to the PROFIBUS
Connection of the external DC voltage source
Pin
Assignment
Explanation
1
Not assigned
−
2
Not assigned
−
3
3
RxD/TxD−P
Data line B (received / transmitted data plus)
2
4
RTS
Request To Send (received / transmitted data, no differential signal)
1
5
M5V2
Data ground (mass to 5 V)
6
P5V2
DC 5 V / 30 mA (bus termination)
7
Not assigned
−
8
RxD/TxD−N
Data line A (received / transmitted data minus)
9
Not assigned
−
5
4
epm−t223
L
EDSPM−TXXX−9.0−11/2009
4.3−1
4
The modular system
4.3
Setting the device address
PROFIBUS Gateway
Coding
switch
64
32
16
8
4
2
1
–
1
...
0
Device address
l
Status displays
4.3−2
1
2
3
4
5
6
7
...
125
Set the device address for the module with the coding switch.
– Allowed device addresses are 1 ... 125.
– Every device address must only be assigned once on the bus.
– Changes to the device address are only adopted when the supply voltage
is switched on again.
LED
PW (green)
ER (red)
Status
on
on
RD (green)
DE (green)
on
Meaning
Module supply voltage on
· Incorrect data transmission on the backplane bus.
· Internal fault
· Lights up for approx. 1 second when the module is restarted
See table below
Error−free communication with PROFIBUS−DP
PW (green)
on
on
ER (red)
on
off
RD (green)
off
blinking
DE (green)
off
off
Meaning
Self−test and initialisation in progress
Self−test and initialisation was successful
on
blinking
off
off
on
blinking
blinking
off
Initialisation error
· "ER" and "RD" blink asynchronously:
– Configuration faulty
· "ER" and "RD" blink synchronously:
– Parameter settings faulty
on
off
on
on
The backplane bus cycle is quicker than the
PROFIBUS cycle
on
off
off
on
The backplane bus cycle is slower than the
PROFIBUS cycle
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
PROFIBUS Gateway
Technical data
4.3
PROFIBUS Gateway
Type
Voltage supply
Voltage
DC 24 V (DC 20.4 ... 28.8 V)
Max. current consumption PROFIBUS
Gateway
1A
Max. current consumption of electronic
modules
3.5A
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Communication
Communication profile
(DIN 19245 Part 1 and Part 3)
PROFIBUS−DP
Communication media
RS485
Network topology
Without repeater: line
With repeater: line or tree
PROFIBUS−DP nodes
Slave
Baud rate for line type A
(EN 50170)
9.6 kBit/s ... 12 MBit/s (automatic recognition)
Max. number of nodes
Standard
32
With repeater
126
1 bus segment
Max. line length per bus segment
1200 m
Electrical isolation from field bus
Yes, via optocouplers
Diagnostic function
Depending on the baud rate and the used line type
Stores the last 100 diagnoses with time stamp in the flash ROM
Connectable electronic modules
Max. number of electronic modules
32
Max. number of digital input/output
modules
32
Max. number of analog input/output
modules
9
The number can be limited by the maximum
current consumption of electronic modules.
Process data for PROFIBUS−DP−V0
Max. input data
244 bytes
Max. output data
244 bytes
Process data for PROFIBUS−DP−V1
Max. input data
240 bytes
Max. output data
240 bytes
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order designation
EPM−T120
EDSPM−TXXX−9.0−11/2009
4.3−3
4
The modular system
PROFIBUS GatewayECO
4.4
4.4
PROFIBUS GatewayECO
Description
The PROFIBUS GatewayECO is the interface between the process level and the
master bus system. The control signals at the process level are transmitted by the
electronic
modules.
These
modules
are
connected
with
the
PROFIBUS GatewayECO
via
the
backplane
bus
(EPM−T9XX).
PROFIBUS Gateway and the connected electronic modules communicate via the
backplane bus. A configuration is not required.
Features
l
PROFIBUS−DP slave for up to 8 electronic modules
l
Integrated power supply unit for the internal voltage supply and the voltage
supply of the connected electronic modules
– Power supply unit is fed via an external DC voltage source
l
Only supports the electronic modules EPM−T2xx and EPM−T3xx
l
Internal diagnostic protocol with time stamp
l
Supports the acyclic data exchange (DP−V1)
l
Connection to the PROFIBUS via 9−pin Sub−D socket
l
LED for status display
Overview
0
1
PW
1
0
64
32
16
8 A
4 D
2 R.
1
–
ER
RD
DE
2
3
DC
24
V
+
X1
EP
M
1
–T
2
12
xx
x.x
x
epm−t221
Fig. 4.4−1
Overview of PROFIBUS GatewayECO
L
Coding switch to set the address
LED for status display
9−pin Sub−D socket for the connection to the PROFIBUS
Connection of the external DC voltage source
EDSPM−TXXX−9.0−11/2009
4.4−1
4
The modular system
4.4
Assignment of the
Sub−D socket2
PROFIBUS GatewayECO
View
9
8
7
6
5
4
3
Pin
1
2
3
4
Assignment
Not assigned
Not assigned
RxD/TxD−P
RTS
5
6
7
8
9
M5V2
P5V2
Not assigned
RxD/TxD−N
Not assigned
2
1
EPM−T223
Setting the device address
Coding
switch
64
32
16
8
4
2
1
–
1
...
0
Device address
l
Status displays
Explanation
−
−
Data line B (received / transmitted data plus)
Request To Send (received / transmitted data, no differential
signal)
Data ground (ground at 5 V)
DC 5 V / 30 mA (bus termination)
−
Data line A (received / transmitted data minus)
−
1
2
3
4
5
6
7
...
125
Set the device address for the module with the coding switch.
– Allowed device addresses are 1 ... 125.
– Every device address must only be assigned once on the bus.
– Changes to the device address are only adopted when the supply voltage
is switched on again.
LED
Status
PW (green)
ER (red)
Module supply voltage on
· Incorrect data transmission on the backplane bus.
· Internal fault
· Lights up for approx. 1 second when the module is restarted
See table below
on
Error−free communication with PROFIBUS−DP
RD (green)
DE (green)
Meaning
on
on
PW (green)
ER (red)
RD (green)
DE (green)
on
on
on
on
off
blinking
off
blinking
off
off
off
off
Meaning
on
blinking
blinking
off
· "ER" and "RD" blink synchronously:
Self−test and initialisation in progress
Self−test and initialisation was successful
Initialisation error
· "ER" and "RD" blink asynchronously:
– Configuration faulty
– Parameter settings faulty
4.4−2
on
off
on
on
The backplane bus cycle is quicker than the
PROFIBUS cycle
on
off
off
on
The backplane bus cycle is slower than the
PROFIBUS cycle
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
PROFIBUS GatewayECO
Technical data
4.4
PROFIBUS GatewayECO
Type
Voltage supply
Voltage
DC 24 V (DC 20.4 ... 28.8 V)
Max. current consumption PROFIBUS
GatewayECO
0.3A
Max. current consumption of electronic
modules
0.8 mA
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Communication
Communication profile
(DIN 19245 Part 1 and Part 3)
PROFIBUS−DP
Communication media
RS485
Network topology
Without repeater: line
With repeater: line or tree
PROFIBUS−DP nodes
Slave
Baud rate for line type A
(EN 50170)
9.6 kBit/s ... 12 MBit/s (automatic recognition)
Max. number of nodes
Standard
32
With repeater
126
1 bus segment
Max. line length per bus segment
1200 m
Electrical isolation from field bus
Yes, via optocouplers
Diagnostics function
Depending on the baud rate and the used line type
Stores the last 100 diagnoses with time stamp in the flash ROM
Connectable electronic modules
Max. number of electronic modules
8
Max. number of digital and analog
input/output modules
8
The number can be limited by the maximum
current consumption of electronic modules.
Process data for PROFIBUS−DP−V0
Max. input data
244 bytes
Max. output data
244 bytes
Process data for PROFIBUS−DP−V1
Max. input data
240 bytes
Max. output data
240 bytes
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order designation
EPM−T121
EDSPM−TXXX−9.0−11/2009
4.4−3
4
The modular system
8×digital input
4.5
4.5
8×digital input
Description
The module 8×digital input detects the binary control signals of the process level
and transfers them to the master bus system.
Features
l
8 digital inputs
l
Suitable for switches and proximity switches
l
LED displays the states of the digital inputs
Overview
0
1
2
epm−t015
Fig. 4.5−1
Overview of 8×digital input
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.5−1
4
The modular system
4.5
8×digital input
Status display and terminal
assignment
L
1
1
DI 8xDC24V
0
1
2
.0
2
3
.1
3
4
.2
4
.3
5
.4
6
.5
7
.6
8
8
.7
9
9
5
6
.
7
10
10
–
EPM – T210 1A
+
DC 24 V (DC 18 … 28.8 V)
epm−t025
Fig. 4.5−2
epm−t026
Front view and connection of 8×digital input
Status display .0 ... .7; LED (green) is lit when a HIGH level is recognised
1
2
3
4
5
6
7
8
9
10
Technical data
Terminal strip assignment details
Not assigned
Digital input E.0
Digital input E.1
Digital input E.2
Digital input E.3
Digital input E.4
Digital input E.5
Digital input E.6
Digital input E.7
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 (³ AWG 14)
Digital inputs
Rated input voltage
DC 24 V (DC 18 ... 28.8 V)
Number of inputs
8
Level
LOW: DC 0 ... 5 V
HIGH: DC 15 ... 30 V
Input resistance
3.3 kW
Delay time
3 ms
Electrical isolation from backplane bus
Yes, via optocouplers
Communication
Input data
1 byte
Dimensions
4.5−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T210
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
16×digital input
4.6
Description
4.6
16×digital input
The module 16×digital input detects the binary control signals of the process level
and transfers them to the master bus system.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
16 digital inputs
l
Suitable for switches and proximity switches
l
LED displays the states of the digital inputs
Overview
0
1
epm−t129
Fig. 4.6−1
Overview of 16×digital input
LED for status display
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.6−1
4
The modular system
4.6
16×digital input
Status display and terminal
assignment
1
DI 16xDC24V
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
.0
.1
.2
.3
.4
.5
.6
.7
.0
.1
.2
.3
.4
.5
.6
.7
0
1
2
3
4
14
.
15
16
17
18
–
EPM – T211
+
DC 24 V (DC 18 … 28.8 V)
epm−t125
Fig. 4.6−2
epm−t121
Front view and connection of 16×digital input
2 × status display .0 ... .7; LED
(green) is lit when a HIGH level is
recognised
1
2
3
4
...
14
15
16
17
18
Technical data
Terminal strip assignment details
Not assigned
Digital input E.0
Digital input E.1
Digital input E.2
...
Digital input E.12
Digital input E.13
Digital input E.14
Digital input E.15
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 (³ AWG 16)
Digital inputs
Rated input voltage
DC 24 V (DC 18 ... 28.8 V)
Number of inputs
16
Level
LOW: DC 0 ... 5 V
HIGH: DC 15 ... 30 V
Input resistance
3.3 kW
Delay time
3 ms
Electrical isolation from backplane bus
Yes, via optocouplers
Communication
Input data
2 bytes
Dimensions
4.6−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T211
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
8×digital output 0.5A
4.7
Description
4.7
8×digital output 0.5A
The module 8×digital output 0.5A detects the binary control signals from the
master bus system and transports them to the process level via the outputs. The
digital outputs are supplied via an external voltage source (DC 24 V).
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
8 digital outputs
l
DC 24 V supply voltage
l
Each digital output has a load capacity of up to 0.5 A
l
Suitable for solenoid valves and DC contactors
l
LED displays the states of the digital outputs
Overview
0
1
2
epm−t015
Fig. 4.7−1
Overview of 8×digital output 0.5A
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.7−1
4
The modular system
4.7
Status display and terminal
assignment
8×digital output 0.5A
0
L
1
3
DO 8xDC24V 0.5A
1
L+
1
2
Z
.0
2
3
.1
3
Z
4
.2
4
Z
.3
5
5
Z
6
Z
.4
6
.5
7
7
Z
.6
8
8
.7
Z
9
9
F
10
Z
.
2
+ DC 24 V
(DC 18
– … 35 V)
10
EPM – T224 0.5A
epm−t212
Fig. 4.7−2
epm−t016
Front view and connection of 8×digital output 0.5A
Status display L+; LED (yellow) is lit
when a supply voltage is applied
1
2
Status display .0 ... .7; LED (green) is 3
lit when the corresponding output is 4
triggered
5
Status display F; LED (red) is lit in
6
case of overload, overheating or
7
short circuit
8
9
10
Z
Technical data
Terminal strip assignment
details
DC 24 V supply voltage
Digital output A.0
Digital output A.1
Digital output A.2
Digital output A.3
Digital output A.4
Digital output A.5
Digital output A.6
Digital output A.7
GND (reference potential)
Connection to backplane bus
Load
Type
8×digital output 0.5A
Voltage supply
DC 5 V / 50 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Digital output data
Rated load voltage
DC 24 V (DC 18 ... 35 V)
Number of outputs
8
Max. output current per output
0.5 A (sustained short−circuit−proof)
Delay time
< 1 ms
Electrical isolation from backplane bus
Yes, via optocouplers
Communication
Output data
1 byte
Dimensions
4.7−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T224
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
16×digital output 0.5A
4.8
Description
4.8
16×digital output 0.5A
The module 16×digital output 0.5A detects the binary control signals from the
master bus system and transports them to the process level via the outputs. The
digital outputs are supplied via an external voltage source (DC 24 V).
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
16 digital outputs
l
DC 24 V supply voltage
l
Each digital output has a load capacity of up to 0.5 A
l
Suitable for solenoid valves and DC contactors
l
LED displays the states of the digital outputs
Overview
0
1
2
epm−t015
Fig. 4.8−1
Overview of 16×digital output 0.5A
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.8−1
4
The modular system
4.8
Status display and terminal
assignment
16×digital output 0.5A
0
1
2
3
DO 16xDC24V 0.5A
L+
.0
.1
.2
.3
.4
.5
.6
.7
.0
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
1
.
2
Z
3
Z
4
Z
14
Z
15
Z
16
Z
17
Z
(DC 18
– … 35 V)
18
EPM – T225 0.5A
epm−t126
Fig. 4.8−2
epm−t122
Front view and connection of 16×digital output 0.5A
Status display L+; LED (yellow) is lit
when a supply voltage is applied
2 ×Status display .0 ... .7; LED
(green) is lit when the corresponding
output is triggered
Status display F; LED (red) is lit in
case of overload, overheating or
short circuit
1
2
3
4
5
...
15
16
17
18
Z
Technical data
+ DC 24 V
Terminal strip assignment
details
DC 24 V supply voltage
Digital output A.0
Digital output A.1
Digital output A.2
Digital output A.3
...
Digital output A.13
Digital output A.14
Digital output A.15
GND (reference potential)
Connection to backplane bus
Load
Type
16×digital output 0.5A
Voltage supply
DC 5 V / 80 mA (via backplane bus)
Connectable cable cross−section
£ 1.5 mm2 (³ AWG 16)
Digital output data
Rated load voltage
DC 24 V (DC 18 ... 35 V)
Number of outputs
16
Max. output current per output
0.5 A (sustained short−circuit−proof)
Max. output summation current
5A
Delay time
< 1 ms
Electrical isolation from backplane bus
Yes, via optocouplers
Communication
Output data
2 bytes
Dimensions
4.8−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T225
EDSPM−TXXX−9.0−11/2009
L
4
The modular system
8×digital output 1A
4.9
Description
4.9
8×digital output 1A
The module 8×digital output 1A detects the binary control signals from the master
bus system and transports them to the process level via the outputs. The digital
outputs are supplied via an external voltage supply (DC 24 V).
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
8 digital outputs
l
DC 24 V supply voltage
l
Each digital output has a capacity of up to 1 A
l
Suitable for solenoid valves and DC contactors
l
LED displays the states of the digital outputs
Overview
0
1
2
epm−t015
Fig. 4.9−1
Overview of 8×Digital output 1A
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.9−1
4
The modular system
4.9
Status display and terminal
assignment
8×digital output 1A
0
L
1
3
DO 8xDC24V 1A
1
L+
1
2
Z
.0
2
3
.1
3
4
Z
.2
4
.3
5
Z
5
Z
6
Z
.4
6
.5
7
7
Z
.6
8
8
.7
Z
9
9
F
10
Z
.
2
+ DC 24 V
(DC 18
– … 35 V)
10
EPM – T220 1A
epm−t017
Fig. 4.9−2
epm−t016
Front view and connection of 8×digital output 1A
Status display L+; LED (yellow) is lit
when a supply voltage is applied
1
2
Status display .0 ... .7; LED (green) is 3
lit when the corresponding output is 4
triggered
5
Status display F; LED (red) is lit in
6
case of overload, overheating or
7
short circuit
8
9
10
Z
Technical data
Terminal strip assignment
details
DC 24 V supply voltage
Digital output A.0
Digital output A.1
Digital output A.2
Digital output A.3
Digital output A.4
Digital output A.5
Digital output A.6
Digital output A.7
GND (reference potential)
Connection to backplane bus
Load
Type
8×digital output 1A
Voltage supply
DC 5 V / 50 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ 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
4.9−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T220
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
16×digital output 1A
4.10
4.10
Description
16×digital output 1A
The module 16×digital output 1A detects the binary control signals from the
master bus system and transports them to the process level via the outputs. The
digital outputs are supplied via an external voltage source (DC 24 V).
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
16 digital outputs
l
DC 24 V supply voltage
l
Each digital output has a capacity of up to 1 A
l
Suitable for solenoid valves and DC contactors
l
LED displays the states of the digital outputs
Overview
0
1
epm−t129
Fig. 4.10−1
Overview of 16×digital output 1A
LED for status display
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.10−1
4
The modular system
4.10
16×digital output 1A
Status display and terminal
assignment
0
1
2
3
DO 16xDC24V 1A
L+
.0
.1
.2
.3
.4
.5
.6
.7
.0
.1
.2
.3
.4
.5
.6
.7
F
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
1
2
Z
3
Z
4
.
Z
14
Z
15
Z
16
Z
17
Z
(DC 18
– … 35 V)
18
EPM – T223 1A
epm−t126
Fig. 4.10−2
epm−t122
Front view and connection of 16×digital output 1A
Status display L+; LED (yellow) is lit
when a supply voltage is applied
2 ×Status display .0 ... .7; LED
(green) is lit when the corresponding
output is triggered
Status display F; LED (red) is lit in
case of overload, overheating or
short circuit
1
2
3
4
5
...
15
16
17
18
Z
Technical data
+ DC 24 V
Terminal strip assignment
details
DC 24 V supply voltage
Digital output A.0
Digital output A.1
Digital output A.2
Digital output A.3
...
Digital output A.13
Digital output A.14
Digital output A.15
GND (reference potential)
Connection to backplane bus
Load
Type
16×digital output 1A
Voltage supply
DC 5 V / 80 mA (via backplane bus)
Connectable cable cross−section
£ 1.5 mm2 (³ 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
4.10−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T223
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
8×digital output 2A
4.11
4.11
Description
8×digital output 2A
The module 8×digital output 2A detects the binary control signals from the master
bus system and transports them to the process level via the outputs. The digital
outputs are supplied via an external voltage source (DC 24 V).
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
8 digital outputs
l
DC 24 V supply voltage
l
Each digital output has a capacity of up to 2 A
l
Suitable for solenoid valves and DC contactors
l
LED displays the states of the digital outputs
Overview
0
1
2
epm−t015
Fig. 4.11−1
Overview of 8×digital output 2A
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.11−1
4
The modular system
4.11
8×digital output 2A
Status display and terminal
assignment
0
1
1
L
3
DO 8xDC24V 2A
L+
1
2
Z
.0
2
3
.1
4
Z
3
.2
4
5
.3
5
Z
6
Z
Z
.4
6
.5
7
7
Z
.6
8
8
Z
.7
9
9
F
Z
10
.
2
+ DC 24 V
(DC 18
– … 35 V)
10
EPM – T221 1A
epm−t014
Fig. 4.11−2
epm−t016
Front view and connection of 8×digital output 2A
Status display L+; LED (yellow) is lit
when a supply voltage is applied
1
2
Status display .0 ... .7; LED (green) is 3
lit when the corresponding output is 4
triggered
5
Status display F; LED (red) is lit in
6
case of overload, overheating or
7
short circuit
8
9
10
Z
Technical data
Terminal strip assignment
details
DC 24 V supply voltage
Digital output A.0
Digital output A.1
Digital output A.2
Digital output A.3
Digital output A.4
Digital output A.5
Digital output A.6
Digital output A.7
GND (reference potential)
Connection to backplane bus
Load
Type
8×digital output 2A
Voltage supply
DC 5 V / 50 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ 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
4.11−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T221
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×relay
4.12
4.12
Description
4×relay
The module 4×relay detects the binary control signals from the master bus system
and transports them to the process level via the outputs. The module has four
relays with a switch each (NO contact).
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
Four isolated relay outputs
l
Up to 230 V AC or up to 30 V DC contact voltage
l
Max. 5 A contact current
l
Suitable for motors, lamps, solenoid valves and DC contactors
l
LED displays the switching states
Overview
0
1
2
epm−t015
Fig. 4.12−1
Overview of 4×relay
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.12−1
4
The modular system
4.12
4×relay
Status display and terminal
assignment
L
.0
.1
1
+5 V
1
DO 4xRELAIS
1
2
2
3
3
4
4
0
5
.
5
.2
6
.3
Z
Z
 ‚
6
7
7
8
8
9
9
Z
Z
10
10
EPM – T222 1A
epm−t020
Fig. 4.12−2
epm−t021
Front view and connection of 4×relay
Status display; LED (green) is lit when a relay output is triggered
.0
.1
.2
.3
Relay output A.0
Relay output A.1
Relay output A.2
Relay output A.3
1
2/3
4/5
6/7
8/9
10

‚
Z
4.12−2
EDSPM−TXXX−9.0−11/2009
Terminal strip assignment
details
Not assigned
Relay output A.0
Relay output A.1
Relay output A.2
Relay output A.3
Not assigned
Connection to backplane bus
External AC voltage source
AC 0 ... 230 V
External DC voltage source
DC 0 ... +30 V
Load
L
The modular system
4
4×relay
4.12
Technical data
Maximum relay contact switching capacity
Relay contact life
n
I [A]

100
5
4
3
50
30
2
20
‚
1
ƒ
„
…
10
0.5
0.4
0.3
0.2
20 30 50
100
200 300
U [V]
0.5
1
2
epm−t018
Fig. 4.12−3
3 45
10
100
epm−t019
Diagrams for the module 4×relay
I
U

‚
Contact current
Contact voltage
Switching capacity at AC voltage
Switching capacity at DC voltage
n
ƒ
„
…
Number of switching cycles × 104
Service life at AC 125 V
Service life at DC 30 V
Service life at AC 230 V
Type
4×relay
Voltage supply
DC 5 V / 150 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Relay outputs
Number
4
Max. contact voltage
AC 230 V
DC 30 V
Max. contact current
5A
Max. relay switching frequency
100 Hz
Communication
Output data
1 byte (bit 0 ... bit 3)
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order designation
EPM−T222
EDSPM−TXXX−9.0−11/2009
4.12−3
The modular system
4
8×digital input / output
4.13
4.13
Description
8×digital input / output
The channels of the module 8×digital input / output can be used either as digital
inputs or outputs. The digital inputs or outputs are supplied via an external voltage
source.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
8 digital inputs or outputs, depending on the circuit configuration
l
DC 24 V supply voltage
l
Each digital output has a capacity of up to 1 A
l
LED shows the status
Overview
0
1
2
epm−t015
Fig. 4.13−1
Overview of 8×digital input / output
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.13−1
4
The modular system
4.13
8×digital input / output
Status display and terminal
assignment
(
Stop!
If the voltage supply (DC 5 V via the backplane bus) fails, the
module will malfunction:
l Switched outputs carry voltage if one input is assigned with a
HIGH level,
l The module can be destroyed since the outputs are no longer
resistant to short circuits.
The emergency−off switch ensures that when being operated, the
outputs do not carry any voltage and the inputs are not assigned
with a HIGH level.
0
1
1
L
DIO 8xDC24V 1A
3
2
3
L+
1
.0
2
4
.1
3
5
.2
4
6
.3
5
7
.4
6
.5
7
.6
8
.7
9
F
10
8
9
10
.
Z
Z
Z
+

Z
–
DC 24 V
(DC +18 … +35 V)
2
EPM – T230 1A
epm−t027
Fig. 4.13−2
epm−t028
Front view and connection of 8×digital input / output
Status display L+; LED (yellow) is lit
when a supply voltage is applied
1
2
Status display .0 ... .7; LED (green) is 3
lit when the corresponding output is 4
triggered
5
Status display F; LED (red) is lit in
6
case of overload, overheating or
7
short circuit
8
9
10

Z
4.13−2
EDSPM−TXXX−9.0−11/2009
Terminal strip assignment
details
DC 24 V supply voltage
Digital input / output E/A.0
Digital input / output E/A.1
Digital input / output E/A.2
Digital input / output E/A.3
Digital input / output E/A.4
Digital input / output E/A.5
Digital input / output E/A.6
Digital input / output E/A.7
GND (reference potential)
Connection to backplane bus
Emergency−off switch
Load
L
The modular system
4
8×digital input / output
4.13
Technical data
Type
8×digital input / output
Voltage supply
DC 5 V / 50 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ 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 V
HIGH: DC 15 V ... 30 V
Input resistance
3.3 kW
Delay 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
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T230
EDSPM−TXXX−9.0−11/2009
4.13−3
The modular system
4
4×analog input
4.14
4.14
Description
4×analog input
The module 4×analog input has four analog inputs which can be parameterised
individually. The module assigns a total of eight bytes of input data in the process
image (two bytes per input). The analog inputs are isolated with regard to the
backplane bus.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
4 analog inputs
l
The inputs can be parameterised individually
l
Any unused inputs can be deactivated
l
The reference potentials (GND) of the analog inputs are electrically
separated from each other
l
The reference potentials may vary from each other by a voltage differential of
up to 5 V
l
Input ranges: Voltage, current, temperature, resistance
l
LED diagnostics display a wire breakage or overcurrent in the current
measuring range
Overview
0
1
2
epm−t015
Fig. 4.14−1
Overview of 4×analog input
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.14−1
4
The modular system
4.14
4×analog input
Status display and terminal
assignment
L
1
AI 4x16BIT
1
F0
2
3
F1
4
0
5
F2
6
7
F3
8
9
10
EPM – T310 1B 11
epm−t029
Fig. 4.14−2
Front view 4×analog input
Status display
4.14−2
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 mA
F0 Analog input E.0
F1 Analog input E.1
F2 Analog input E.2
F3 Analog input E.3
Terminal strip
Assignment:
Two−wire connection
Four−wire connection
1
Not assigned
−V / analog input E.0
2
+ / analog input E.0
−I / analog input E.0
3
− / analog input E.0
Not assigned
4
+ / analog input E.1
+V / analog input E.0
5
− / analog input E.1
−I / analog input E.0
6
+ / analog input E.2
−I / analog input E.2
7
− / analog input E.2
Not assigned
8
+ / analog input E.3
+V / analog input E.2
9
− / analog input E.3
−I / analog input E.2
10 Not assigned
−V / analog input E.2
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog input
4.14
(
Connection
Stop!
The module will be destroyed if the connected signals or encoders
do not match the set measuring range:
l Max. 15 V input voltage in the voltage measuring range.
l No input voltage in the resistance measuring range.
l When the measuring range is changed, only assign the inputs
after the first gateway initialisation has been completed:
– During initialisation, the previous settings are still active.
Unsuitable input circuits may destroy the modules. Changes
will only become effective and permanently saved after
initialisation.
Two−wire connection
Four−wire connection
1
1
PES
2
2
3
A
PES
PES
PES
PES
4
5
6
.
µP
7
PES
8
D
A
MUX
D
MUX
µP
-U
I
0
3
4
.
PES
+U
5
6
I
PES
I
7
PES
J
9
8
+U
9
I
J
1
PES
10
10
-U
epm−t036
Fig. 4.14−3
epm−t033
Sensor connection
Analog input E.0
Analog input E.2
Connection to backplane bus
PES HF shield termination through large−surface connection to PE
Sensor:
Voltage or current source
Thermal element
J
L
Resistor
Resistor, temperature−dependent
l
Short−circuit unused inputs (connect positive and negative terminals) or
deactivate them by setting parameters.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
4.14−3
4
The modular system
4.14
4×analog input
Technical data
Type
4×analog input
Voltage supply
DC 5 V / 280 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Analog inputs
Number
4
Input area
Voltage
−10 ... +10 V
−4 ... +4 V
−400 ... +400 mV
0 ... +50 mV
Current
−20 ... +20 mA
+4 ... +20 mA
Resistance
60 W, 600 W, 3 kW,6 kW
Resistor, temperature−dependent
PT100, PT1000, Ni100,
NI1000
Thermal element
J, K, N, R, S, T
Information on tolerances
can be found in the chapter
"Parameter setting"
Input resistance
Voltage range
2 MW
Current range
50 W
Delay times
Conversion time/resolution
Conversion rate
[Hz]
3.7
7.5
15
30
60
123
168
202
Processing time per channel
Resolution
[ms]
[bit]
290
16
150
16
84
16
54
16
36
15
28
14
26
12
26
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
4.14−4
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order number
EPM−T310
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog input ±10V
4.15
4.15
Description
4×analog input ±10V
The module 4×analog input ±10V has 4 analog inputs. The module assigns a total
of eight bytes of input data in the process image (2 bytes per input). The analog
inputs are isolated with regard to the backplane bus.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
4 analog inputs
l
Voltage measuring range ± 10 V
l
Signal function and data format can be parameterised
l
The reference potentials may vary from each other by a voltage differential of
up to 2 V
l
Status LED indicates whether the input voltage is outside of the permitted
measuring range
Overview
0
1
2
epm−t015
Fig. 4.15−1
Overview of 4×analog input ±10V
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.15−1
4
The modular system
4.15
4×analog input ±10V
Status display and terminal
assignment
(
Stop!
The module will be destroyed if the connected signals or encoders
do not match the set measuring range:
L
1
AI 4x12BIT 10V
1
1
2
3
2
4
4
5
.
6
µP
7
D
A
MUX
3
F
PES
5
6
PES
7
8
0
PES
9
8
10
9
PES
10
EPM – T311 1A 10
epm−t214
Fig. 4.15−2
epm−t215
Front view of 4×analog input ±10V
Status display F; LED (red)
Lights if the input voltage is outside
of the permitted measuring range
Terminal strip assignment details
1
Not assigned
2
+ / analog input E.0
3
− / analog input E.0
3
+ / analog input E.1
5
− / analog input E.1
6
+ / analog input E.2
7
− / analog input E.2
8
+ / analog input E.3
9
− / analog input E.3
10 Not assigned
Connection to backplane bus
Voltage source
PES HF shield termination through
large−surface connection to PE
4.15−2
l
Short−circuit unused inputs (connect positive and negative terminals) or
deactivate them by setting parameters.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog input ±10V
4.15
Technical data
Type
4×analog input ±10V
Voltage supply
DC 5 V / 120 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Analog inputs
Number
4
Input range
−10 ... +10 V
Tolerance
± 0.3 %
Input resistance
100 kW
Max. input voltage
30 V
Delay times
Conversion time/resolution
Processing time per channel
2 ms
Resolution
12 Bit
Electrical isolation from backplane bus
Yes, via optocouplers
Communication
Input data
8 bytes (2 bytes per analog input)
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order number
EPM−T311
EDSPM−TXXX−9.0−11/2009
4.15−3
The modular system
4
4×analog input ±20mA
4.16
4.16
Description
4×analog input ±20mA
The module 4×analog input ±20mA has 4 analog inputs. The module assigns a
total of eight bytes of input data in the process image (2 bytes per input). The
analog inputs are isolated with regard to the backplane bus.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
4 analog inputs
l
Current measuring range ± 20 mA
l
Signal function and data format can be parameterised
l
The reference potentials may vary from each other by a voltage differential of
up to 2 V
l
Status LED indicates if the input current is outside of the permitted
measuring range
Overview
0
1
2
epm−t015
Fig. 4.16−1
Overview of 4×analog input ±20mA
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.16−1
4
The modular system
4.16
4×analog input ±20mA
Status display and terminal
assignment
(
Stop!
The module will be destroyed if the connected signals or encoders
do not match the set measuring range:
L
1
AI 4x12BIT 20mA
1
1
2
PES
3
2
4
4
5
.
6
µP
7
D
A
MUX
3
5
6
F
PES
7
8
0
PES
9
8
10
9
PES
10
EPM – T312 1A 10
epm−t216
Fig. 4.16−2
epm−t215
Front view of 4×analog input ±20mA
Status display F; LED (red)
Is lit if the input voltage is outside
of the permitted measuring range
Terminal strip assignment details
1
Not assigned
2
+ / analog input E.0
3
− / analog input E.0
3
+ / analog input E.1
5
− / analog input E.1
6
+ / analog input E.2
7
− / analog input E.2
8
+ / analog input E.3
9
− / analog input E.3
10 Not assigned
Connection to backplane bus
Current source
PES HF shield termination through
large−surface connection to PE
4.16−2
l
Short−circuit unused inputs (connect positive and negative terminals) or
deactivate them by setting parameters.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog input ±20mA
4.16
Technical data
Type
4×analog input ±20mA
Voltage supply
DC 5 V / 120 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Analog inputs
Number
4
Input range
− 20 ... + 20 mA
Tolerance
± 0.3 %
Input resistance
60 W
Max. input current
40 mA
Delay times
Conversion time/resolution
Processing time per channel
2 ms
Resolution
12 Bit
Electrical isolation from backplane bus
Yes, via optocouplers
Communication
Input data
8 bytes (2 bytes per analog input)
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
80 g
Order number
EPM−T312
EDSPM−TXXX−9.0−11/2009
4.16−3
The modular system
4
4×analog output
4.17
4.17
Description
4×analog output
The module 4×analog output has four analog outputs which can be parameterised
individually. The analog outputs are isolated with regard to the backplane bus.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
4 analog outputs
l
DC 24 V supply voltage
l
The outputs can be parameterised individually
l
One reference potential (GND) for all outputs
l
Output ranges: Voltage, current
l
LED diagnostics displays a wire breakage at current output and a short
circuit at voltage output
Overview
0
1
2
epm−t015
Fig. 4.17−1
Overview of 4×analog output
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.17−1
4
The modular system
4.17
4×analog output
Status display and terminal
assignment
L
0
L+
1
Q0
2
M0
3
Q1
4
M1
5
Q2
6
M2
7
Q3
8
M3
9
M
1
1
AO 4x12BIT
D
2
PES
A
3
D
4
PES
A
+ DC 24 V
5
.
µP
D
6
PES
(DC 19.2
– … 28.8 V)
A
7
D
8
PES
A
10
9
10
EPM – T320 1B 11
epm−t030
Fig. 4.17−2
epm−t037
Front view and connection of 4×analog output
Status display M3; LED (red) is lit in case of the following faults:
Short−circuit on voltage output
Open circuit in the case of current
output
Gateway is not supplied with
voltage
4.17−2
Terminal strip assignment details
1
DC 24 V supply voltage
2
Analog output A.0
4
Analog output A.1
6
Analog output A.2
8
Analog output A.3
3, 5, GND1 (reference potential for
7, 9 analog signals)
10 GND (reference potential for
supply voltage)
Connection to backplane bus
Input resistance of actuator
PES HF shield termination through
large−surface connection to PE
l
Ensure correct polarity when connecting the actuators.
l
Unused outputs remain unassigned.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog output
4.17
Technical data
Type
4×analog output
Voltage supply
DC 5 V / 30 mA (via backplane bus)
External voltage supply
Connectable cable cross−section
DC 24 V / 200 mA (DC 19.2 ... 28.8 V)
£ 2.5 mm2 (³ AWG 14)
Analog outputs
Number
4 outputs
Analog−to−digital converter
12 bits
Output ranges
Voltage
Current
−10 ... +10 V
+1 ... +5 V
0 ... +10 V
−20 ... +20 mA
+4 ... +20 mA
0 ... +20 mA
Information on tolerances can be
found in the chapter "Parameter
setting"
Actuator − input resistance
Voltage range
min. 1 kW (output current max. 10 mA)
Current range
Delay time
min. 500 W (output current max. 20 mA)
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
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order number
EPM−T320
EDSPM−TXXX−9.0−11/2009
4.17−3
The modular system
4
4×analog output ±10V
4.18
4.18
Description
4×analog output ±10V
The module 4×analog output ±10V has 4 analog outputs. The module assigns a
total of eight bytes of output data in the process image (2 bytes per output). The
analog outputs are isolated with regard to the backplane bus.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
4 analog outputs
l
Output range: ± 10 V, 0 ... 10 V
l
Signal function and data format can be parameterised
l
DC 24 V supply voltage
l
One reference potential (GND) for all outputs
Overview
0
1
2
epm−t015
Fig. 4.18−1
Overview of 4×analog output ±10V
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.18−1
4
The modular system
4.18
4×analog output ±10V
Status display and terminal
assignment
L
0
L+
1
1
AO 4x12BIT
D
2
PES
A
1
3
2
D
3
4
PES
A
4
+ DC 24 V
5
5
.
6
µP
D
6
PES
(DC 19.2
– … 28.8 V)
A
7
7
8
D
9
8
PES
A
10
9
10
EPM – T321 1A 10
epm−t218
Fig. 4.18−2
epm−t037
Front view and connection of 4×analog output ±10V
Status display L+; LED (yellow) is lit when a supply voltage is applied
4.18−2
Terminal strip assignment details
1
DC 24 V supply voltage
2
Analog output A.0
4
Analog output A.1
6
Analog output A.2
8
Analog output A.3
3, 5, GND1 (reference potential for
7, 9 analog signals)
10 GND (reference potential for
supply voltage)
Connection to backplane bus
Input resistance of actuator
PES HF shield termination through
large−surface connection to PE
l
Ensure correct polarity when connecting the actuators.
l
Unused outputs remain unassigned.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog output ±10V
4.18
Technical data
Type
4×analog output ±10V
Voltage supply
DC 5 V / 60 mA (via backplane bus)
External voltage supply
Connectable cable cross−section
DC 24 V / 100 mA (DC 19.2 ... 28.8 V)
£ 2.5 mm2 (³ AWG 14)
Analog outputs
Number
4 outputs
Analog−to−digital converter
12 Bit
Output range
Voltage
−10 ... +10 V
Actuator − input resistance
> 5 kW
Output current
Delay time per channel
< 6 mA
450 ms
Electrical isolation from backplane bus
Yes, via optocouplers
Information on tolerances can be
found in the chapter "Parameter
setting"
Communication
Output data
8 bytes (2 bytes per analog output)
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order number
EPM−T321
EDSPM−TXXX−9.0−11/2009
4.18−3
The modular system
4
4×analog output 0...20mA
4.19
4.19
Description
4×analog output 0...20mA
The module 4×analog output 0...20mA has 4 analog outputs. The module assigns
a total of eight bytes of output data in the process image (2 bytes per output). The
analog outputs are isolated with regard to the backplane bus.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
4 analog outputs
l
Output ranges: 0 ... 20 mA, 4 ... 20 mA
l
Signal function and data format can be parameterised
l
DC 24 V supply voltage
l
One reference potential (GND) for all outputs
Overview
0
1
2
epm−t015
Fig. 4.19−1
Overview of 4×analog output 0...20mA
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.19−1
4
The modular system
4.19
4×analog output 0...20mA
Status display and terminal
assignment
L
0
L+
1
2
AO 4x12BIT
D
2
A
1
3
2
D
3
4
PES
A
4
+ DC 24 V
5
5
.
6
µP
D
6
PES
(DC 19.2
– … 28.8 V)
A
7
7
8
1
PES
D
9
8
PES
A
10
9
10
EPM – T322 1A 10
epm−t219
Fig. 4.19−2
epm−t037
Front view and connection of 4×analog output 0...20mA
Status display L+; LED (yellow) is lit when a supply voltage is applied
Status display M3; LED (red)
Open circuit on current output
Gateway is not supplied with
voltage
4.19−2
Terminal strip assignment details
1
DC 24 V supply voltage
2
Analog output A.0
4
Analog output A.1
6
Analog output A.2
8
Analog output A.3
3, 5, GND1 (reference potential for
7, 9 analog signals)
10 GND (reference potential for
supply voltage)
Connection to backplane bus
Input resistance of actuator
PES HF shield termination through
large−surface connection to PE
l
Ensure correct polarity when connecting the actuators.
l
Unused outputs remain unassigned.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog output 0...20mA
4.19
Technical data
Type
4×analog output 0...20mA
Voltage supply
DC 5 V / 60 mA (via backplane bus)
External voltage supply
Connectable cable cross−section
DC 24 V / 50 mA (DC 19.2 ... 28.8 V)
£ 2.5 mm2 (³ AWG 14)
Analog outputs
Number
4 outputs
Analog−to−digital converter
12 Bit
Output range
Current
0 ... 20 mA
4 ... 20 mA
Actuator − input resistance
Delay time per channel
> 350 W
450 ms
Electrical isolation from backplane bus
Yes, via optocouplers
Information on tolerances can be
found in the chapter "Parameter
setting"
Communication
Output data
8 bytes (2 bytes per analog output)
Dimensions
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order number
EPM−T322
EDSPM−TXXX−9.0−11/2009
4.19−3
The modular system
4
4×analog input / output
4.20
4.20
Description
4×analog input / output
The module 4×analog input / output has two analog inputs and two analog outputs
which can be parameterised individually. The analog inputs and outputs are
isolated from the backplane bus and the voltage supply.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
2 analog inputs
l
2 analog outputs
l
DC 24 V supply voltage
l
The inputs and outputs can be parameterised individually
l
Input ranges: Voltage, current
l
Output ranges: Voltage, current
l
LED diagnostics displays a wire breakage in the current measuring range
Overview
0
1
2
epm−t015
Fig. 4.20−1
Overview of 4×analog input / output
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.20−1
4
The modular system
4.20
4×analog input / output
Status display and terminal
assignment
(
Stop!
The module will be destroyed if the connected signals or encoders
do not match the set measuring range:
l Max. 15 V input voltage in the voltage measuring range.
l No input voltage in the resistance measuring range.
l When the measuring range is changed, only assign the inputs
after the first gateway initialisation has been completed:
– During initialisation, the previous settings are still active.
Unsuitable input circuits may destroy the modules. Changes
will only become effective and permanently saved after
initialisation.
L
1
1
L+
1
+0
2
M0
3
+1
4
M1
5
Q0
7
Q1
8
M1
0
D
A
µP
3
4
PES
PES
D
6
PES
PES
+ DC 24 V
(DC 20.4
– … 28.8 V)
A
7
D
9
F
PES
5
.
6
M0
2
MUX
AI/AO 2/2x12BIT
8
PES
PES
A
10
9
PES
10
EPM – T330 1A. 10
epm−t127
Fig. 4.20−2
epm−t123
Front view and connection of 4×analog input / output
Status display F; LED (red) is lit in
case of the following faults:
No external supply voltage
Wire breakage in the current
measuring range
Input resistance of actuator
Sensor (voltage or current source)
PES HF shield termination through
large−surface connection to PE
4.20−2
Terminal strip assignment details
1
DC 24 V supply voltage
2
+ analog input E.0
3
− analog input E.0
4
+ analog input E.1
5
− analog input E.1
6
Analog output A.0
8
Analog output A.1
7, 9 GND (reference potential for
analog signals)
10 GND (reference potential for
supply voltage)
Connection to backplane bus
l
Short−circuit unused inputs (connect positive and negative terminals) or
deactivate them by setting parameters.
l
Ensure correct polarity when connecting the actuators.
l
Unused outputs remain unassigned.
l
The module does not provide any auxiliary supply for sensors / actuators.
For information on how to connect an auxiliary supply, please see the
documentation for the sensors / actuators.
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
4×analog input / output
4.20
Technical data
Type
4×analog input / output
Voltage supply
DC 5 V / 100 mA (via backplane bus)
External voltage supply
Short−circuit current
Connectable cable cross−section
DC 24 V / 110 mA (DC 20.4 ... 28.8 V)
30 mA
£ 2.5 mm2 (³ AWG 14)
Analog inputs
Number
Input area
Voltage
Current
Conversion rate
Processing time per channel
Resolution
2
0 ... +10 V
−10 ... +10 V
+1 ... +5 V
0 ... +20 mA
−20 ... +20 mA
+4 ... +20 mA
[Hz] 3.7
7.5
15
[ms] 290 150
84
[bit]
16
16
16
Electrical isolation from backplane bus
Information on tolerances
can be found in the chapter
"Parameter setting"
30
54
16
60
36
15
123
28
14
168
26
12
202
26
10
Yes, via optocouplers
Analog outputs
Number
2
Analog−to−digital converter
12 bits
Output ranges
(Tolerances refer to the upper limit of effective
range)
Voltage
0 ... +10 mA (±0.4 %)
−10 ... +10 mA (±0.2 %)
+1 ... +5 mA (±0.6 %)
Current
0 ... +20 mA (±0.6 %)
−20 ... +20 mA (±0.3 %)
+4 ... +20 mA (±0.8 %)
Actuator − input resistance
Voltage range
min. 1 kW (output current max. 10 mA)
Current range
Delay time
min. 500 W (output current max. 20 mA)
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
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order number
EPM−T330
EDSPM−TXXX−9.0−11/2009
4.20−3
The modular system
4
2/4×counter
4.21
4.21
Description
2/4×counter
The module 2/4×counter detects the pulses of the connected encoders and
processes these pulses according to the mode selected. The module has two
32−bit counters or four 16−bit counters. Each 32−bit counter has a digital output
which can be triggered depending on the mode.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
Two 32−bit counters or four 16−bit counters
l
One freely configurable digital output per 32−bit counter with an output
current of 0.5 A
l
Counter and compare registers loaded via control byte
l
Up / down counter, optionally with a channel width of 32 or 16 bits
l
Compare and Auto Reload functionality
l
Various modes for encoder pulses
l
Period and frequency measuring
l
LED displays status of the inputs and outputs
Overview
0
1
2
epm−t015
Fig. 4.21−1
Overview of 2/4×counter
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.21−1
4
The modular system
4.21
2/4×counter
Status display and terminal
assignment
L
0
1
2
3
1
4
2 Counter 2 DO
L+
1
R0
2
C0
3
D0
4
O0
5
R1
6
C1
7
D1
8
O1
9
F
10
2 IN1

C0
3 IN2
‚
4 IN3
5 OUT0

.
+ DC 24 V
Z
(DC 18
6 IN4

– … 30 V)
C2
7 IN5
‚
8 IN6
9 OUT1

Z
10 GND
EPM – T410 1A 10
epm−t038
Fig. 4.21−2
epm−t039
Front view and connection of 2/4×counter
Status display L+; LED (yellow) is
lit when a supply voltage is applied
Status display 00; LED (green) is lit
when the digital output OUT0 is
triggered by counter 0
Status display 01; LED (green) is lit
when the digital output OUT1 is
triggered by counter 1
Status display F; LED (red) is lit in
case of overload, overheating, and
short circuit
C0
C1

‚
Z
Terminal strip assignment details
1
DC 24 V supply voltage
2
IN1: Input 1 of counter 0
3
IN2: Input 2 of counter 0
4
IN3: Input 3 of counter 0
5
OUT0: Counter 0 output
6
IN4: Input 1 of counter 1
7
IN5: Input 2 of counter 1
8
IN6: Input 3 of counter 1
9
OUT1: Counter 1 output
10 GND (reference potential for
supply voltage)
Connection to backplane bus
32−bit counter 0
32−bit counter 1
Buffer
Counter register
Load
Counter mode overview
Mode of
IN1
IN2
32−bit counter
RES
1
Encoder 1 edge
03h
3
05h
5
[h]
[dec]
00h
0
01h
Function
IN3
IN4
IN5
CLK
DIR
RES
RES
A
B
Encoder 2 edges
RES
A
Encoder 4 edges
RES
A
0.1
0.2
2 counters
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
CLK
DIR
·
·
–
–
RES
A
B
·
·
–
–
B
RES
A
B
·
·
–
–
B
RES
A
B
·
·
–
–
1.1
1.2
0
4 counters
1
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
4.21−2
0
1
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
2/4×counter
4.21
Mode of
Function
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
[h]
[dec]
0Ch
12
2 × 32−bit counters
(counting direction up)
RES
CLK
GATE
RES
CLK
GATE
·
·
–
ü
0Dh
13
2 × 32−bit counters
(counting direction down)
RES
CLK
GATE
RES
CLK
GATE
·
·
–
ü
0Eh
14
2 × 32−bit counters
(counting direction up)
RES
CLK
GATE
RES
CLK
GATE
·
·
ü
ü
0Fh
15
2 × 32−bit counters
(counting direction down)
RES
CLK
GATE
RES
CLK
GATE
·
·
ü
ü
10h
16
Frequency measuring
RES
CLK
START
STOP
–
–
·
·
–
ü
11h
17
Measuring the period
RES
CLK
START
STOP
–
–
·
·
–
ü
12h
18
Frequency measuring
(Counter output on/off)
RES
CLK
START
STOP
–
–
·
·
–
ü
13h
19
Measuring the period
(Counter output on/off)
RES
CLK
START
STOP
–
–
·
·
–
ü
06h
6
Measuring the pulse width
(fref 50 kHz, counting direction is
selectable)
RES
PULSE
DIR
RES
PULSE
DIR
–
–
–
–
14h
20
Measuring the pulse width
(fref programmable, counting
direction is selectable)
RES
PULSE
DIR
RES
PULSE
DIR
–
–
–
–
15h
21
Measuring the pulse width
(fref programmable, counting
direction: Upwards)
RES
PULSE
GATE
RES
PULSE
GATE
–
–
–
–
16h
22
Measuring the pulse width
(fref programmable, counting
direction: Downwards)
RES
PULSE
GATE
RES
PULSE
GATE
–
–
–
–
1 counter
0/1
2 counters
0
2 counters
1
0
1
17h
23
2 × 32−bit counters
(counting direction up, "Set"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
18h
24
2 × 32−bit counters
(counting direction down, "Set"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
19h
25
2 × 32−bit counters
(counting direction up, "Reset"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
1Ah
26
2 × 32−bit counters
(counting direction down, "Reset"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
L
EDSPM−TXXX−9.0−11/2009
4.21−3
4
The modular system
4.21
2/4×counter
Mode of
Function
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
[h]
[dec]
1Bh
27
32−bit counter
G/RESû
CLK
DIR
G/RESû
CLK
DIR
·
·
–
–
1Ch
28
Encoder 1 edge
G/RESû
A
B
G/RESû
A
B
·
·
–
–
1Dh
29
Encoder 2 edges
G/RESû
A
B
G/RESû
A
B
·
·
–
–
1Eh
30
Encoder 4 edges
G/RESû
A
B
G/RESû
A
B
·
·
–
–
2 counters
0
2 counters
1
0
1
1Fh
31
2 × 32−bit counters
(counting direction up)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
–
ü
20h
32
2 × 32−bit counters
(counting direction down)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
–
ü
21h
33
2 × 32−bit counters
(counting direction up)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
ü
ü
22h
34
2 × 32−bit counters
(counting direction down)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
ü
ü
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
·
·
–
–
2 counters
0
1
·
ü
–
A
Auto Reload
Digital output can signal an event
Function available.
No function / function not available
Encoder signal A
"Auto Reload" causes the counter to accept a preset value as soon
as the counter content matches the Compare register content.
B
Encoder signal B
Compare Load You may use "Compare Load" to specify a counter limit value to
trigger an output when reached or to restart the counters via Auto
Reload.
CLK
Clock signal of a connected encoder
HIGH level starts and / or stops the counting process
DIR
Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: Downcounter
GATE
Gate signal is level−triggered
HIGH: Pulses are measured
G/RESû
Gate signal is level−triggered and reset signal is edge−triggered
HIGH: Pulses are measured
LOW−HIGH edge: Deletes one or both counters
PULSE
The pulse width of the supplied signal is measured with an internal
time base
RES
Reset signal is level−triggered
HIGH: Deletes one or both counters
RESû
Reset signal is edge−triggered
LOW−HIGH edge: Deletes one or both counters
START
Start signal is edge−triggered
STOP
Stop signal is edge−triggered
4.21−4
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
2/4×counter
4.21
Technical data
Type
2/4×counter
Voltage supply
DC 5 V / 80 mA (via backplane bus)
Connectable cable cross−section
£ 2.5 mm2 (³ AWG 14)
Counters
Number
2 × 32−bit counter or 4 × 16−bit counter
Operating modes
38 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 V
HIGH: 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
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order number
EPM−T410
EDSPM−TXXX−9.0−11/2009
4.21−5
The modular system
4
SSI interface
4.22
4.22
Description
SSI interface
An SSI interface (Synchronous Serial Interface) is a synchronously pulsed, serial
interface.
The SSI interface module permits the connection of absolutely coded sensors with
SSI interfaces. The module converts the serial information of the sensor into
parallel information and makes it available to the control.
)
Note!
l
l
Features
Use sensors with a binary data format. The module only
evaluates binary data.
The chapter "Parameter setting" describes how to parameterise
the module.
l
1 SSI channel
l
Data transmission in the Gray code or binary code (safe data collection by
using the Gray code)
l
Adjustable baud rate of 100 ... 600 kbits/s
l
Maximum data integrity by using symmetrical clock and data signals
l
Isolation from receiver and encoder by optocoupler
l
Two parameterisable digital outputs, one of which parameterisable as hold
input to "freeze" the current SSI encoder value
l
Integrated power supply unit of the interface electronics and the connected
sensor
l
LED shows the status
Overview
0
1
2
epm−t015
Fig. 4.22−1
Overview of SSI interface
LED for status display
Bit address label card
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.22−1
4
The modular system
4.22
SSI interface
Status display and terminal assignment
L
1
6
SSI
0
1
2
3
4
5
L+
1
Cl+
2
Cl-
3
D+
4
D-
5
2
PES
–
3
SSI
4
.
µP
+
5
+ DC 24 V
(DC 18
6
Us
6
M
7
.0
8
.1
9
8
F
10
9
– … 28.8 V)
7
PES
Z
10
EPM – T411 1A. 10
epm−t124
epm−t130
Fig. 4.22−2
Front view and connection of SSI interface
Status display L+; LED (yellow) is
lit when a supply voltage is applied
Terminal strip assignment details
1
DC 24 V supply voltage
2
Clock pulse
3
Clock pulse converted
4
Data
5
Data converted
6
DC 24 V supply voltage for
SSI sensor
7
GND (reference potential of
supply voltage for SSI sensor)
Status display Cl+; LED (yellow) is
lit with an output clock signal
Status display D+; LED (yellow) is
lit when the SSI sensor is receiving
data
Status display .0; LED (green) is lit
when a HIGH level is applied to or
output at input/output .0
8
9
10
Status display .1; LED (green) is lit
when a HIGH level is applied to or
output at input/output .1
SSI
Status display F; LED (red) is lit
Z
Input/output .0
Input/output .1
GND (reference potential for
supply voltage)
Connection to backplane bus
SSI sensor
Load
when the inputs / outputs .0 or .1
are short−circuited or overloaded
4.22−2
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
SSI interface
4.22
Technical data
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 (³ AWG 14)
SSI interface
External voltage supply
DC 24 V (DC 18 ... 28.8 V)
Number of channels
1
Data format of SSI sensor
binary
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 V
HIGH: 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
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
100 g
Order designation
EPM−T411
EDSPM−TXXX−9.0−11/2009
4.22−3
The modular system
4
1×counter/16×digital input
4.23
4.23
Description
1×counter/16×digital input
The module 1×counter/16×digital input detects the binary control signals of the
process level and transfers them to the master bus system. In addition, a counter
can be triggered via the first two inputs.
)
Note!
The chapter "Parameter setting" describes how to parameterise
the module.
Features
l
16 digital inputs
l
Adjustable counter function (pulse, frequency) for the first two inputs
l
Suitable for switches and proximity switches
l
LED displays the states of the digital inputs
Overview
0
1
epm−t129
Fig. 4.23−1
Overview of 1×counter/16×digital input
LED for status display
Plug−in terminal strip
L
EDSPM−TXXX−9.0−11/2009
4.23−1
4
The modular system
4.23
1×counter/16×digital input
Status display and terminal
assignment
1
1C/DI 16xDC24V
.0
.1
.2
.3
.4
.5
.6
.7
.0
.1
.2
.3
.4
.5
.6
.7
0

1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
‚
ƒ
A
1
B
2
3
4
.
14
15
16
17
EPM – T430 1A
18
–
+
DC 24 V (DC 18 … 28.8 V)
epm−t128
Fig. 4.23−2
epm−t131
Front view and connection 1×counter/16×digital input
2 × status display .0 ... .7; LED
(green) is lit when a HIGH level is
recognised
Terminal strip assignment details
1
2

‚
ƒ
GND (reference potential)
Digital input E.0 or counter
input A
3
Digital input E.1 or counter
input B
4
Digital input E.2
... ...
16 Digital input E.14
17 Digital input E.15
18 GND (reference potential)
Connection to backplane bus
Pre−assign the counter with a count
value
Output the current count value
32−bit counter with channel A and
channel B
Counter mode overview
Function
E.0
E.1
0
4−fold pulse evaluation
CLK
CLK
1
Pulse and direction evaluation
2
Clock up/clock down evaluation
3
4
Mode
CLK
DIR
CLK−UP
CLK−DOWN
Frequency measurement
CLK
–
Period measurement
CLK
–
–
CLK
CLK−UP
CLK−DOWN
DIR
4.23−2
No function
Clock signal of a connected encoder
HIGH level starts and / or stops the counting process
Clock signal of a connected encoder
With each LOW−HIGH edge the counter counts up by 1
Clock signal of a connected encoder
With each LOW−HIGH edge the counter counts down by 1
Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: Downcounter
EDSPM−TXXX−9.0−11/2009
L
The modular system
4
1×counter/16×digital input
4.23
Technical data
Type
1×counter/16×digital input
Voltage supply
DC 5 V / 100 mA (via backplane bus)
Connectable cable cross−section
£ 1.5 mm2 (³ AWG 16)
Digital inputs
Rated input voltage
DC 24 V (DC 18 ... 28.8 V)
Number of inputs
16
Level
LOW: DC 0 ... 5 V
HIGH: DC 15 ... 28.8 V
Input current
7 mA
Input resistance
3.3 kW
Delay time
3 ms
Delay − pulse input
100 ms
Counter
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
L
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T430
EDSPM−TXXX−9.0−11/2009
4.23−3
The modular system
4
Terminal module
4.24
4.24
Description
Terminal module
The terminal module offers two terminal strips with 11 terminals each. All terminals
of a terminal strip are connected with each other. The terminal strips are
potential−free.
Sensors which must be supplied with external voltage, for instance, can be wired
with the help of the terminal module with a minimum of effort.
)
Note!
Designing the modular system requires the consideration of the
terminal module.
Since the backplane bus is also guided via the terminal module, it
must be considered when calculating the project stage (max. 32
modules).
Features
l
2 terminal strips with 11 terminals each
l
All terminals of a terminal strip are interconnected with each other.
l
The terminal strips are potential−free
Overview
XX
XX
XX
xx
epm−t108
Fig. 4.24−1
L
epm−t109
Overview and internal wiring of the terminal module
EDSPM−TXXX−9.0−11/2009
4.24−1
4
The modular system
4.24
Terminal module
Technical data
Terminal module
Type
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 (³ AWG 14)
Dimensions
4.24−2
Width
25.4 mm
Height
76.0 mm
Depth
76.0 mm
Weight
50 g
Order designation
EPM−T940
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
Contents
5
The compact system
Contents
L
5.1
8×dig. I/O compact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1−1
5.2
16×dig. I/O compact (single−wire conductor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2−1
5.3
16×dig. I/O compact (three−wire conductor) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3−1
5.4
32×dig. I/O compact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.4−1
EDSPM−TXXX−9.0−11/2009
5.1
5
The compact system
8×dig. I/O compact
5.1
Description
5.1
8×dig. I/O compact
The 8×dig. I/O compact module consists of a CAN gateway which serves as an
interface to the master bus system as well as 8 digital inputs/outputs and 2
terminal strips.
The channels can be optionally used as digital inputs or outputs. Each output can
be loaded with up to 1 A. The status of the channels is displayed by LEDs.
Features
l
8 digital inputs or outputs, depending on the circuit configuration
l
Voltage supply via an external 24 V DC voltage source
l
Connection to the system bus (CAN) via a 9−pole Sub−D plug
l
Address and baud rate setting via coding switch
l
The baud rate is stored permanently in an EEPROM in the module
l
LEDs display the status
Overview
0
1
2
3
0
1
4
5
epm−t040
Fig. 5.1−1
8×dig. I/O compact
L
LEDs for status display
9−pole Sub−D plug for connection to the system bus (CAN)
Coding switch to set address and baud rate
External voltage supply connection
Terminal strip for digital input/output signals
Terminal strips, additional terminals for wiring
EDSPM−TXXX−9.0−11/2009
5.1−1
5
The compact system
5.1
8×dig. I/O compact
Connecting system
bus (CAN)/CANopen
6
7
8
9
1
2
3
4
5
epm−t023
Fig. 5.1−2
Connection to the system bus (CAN)/CANopen with 9−pole Sub−D plug
Pin
1
2
3
4
5
6
7
8
9
Baud rate and node address
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
l
Use the coding switch to set the baud rate.
l
The node address must be set via the coding switch.
– –
0 1
+ +
epm−t024
Fig. 5.1−3
Coding switch at CAN gateway
–
+
5.1−2
Decrease numerical value
Increase numerical value
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
8×dig. I/O compact
Baud rate setting
5.1
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.
Setting the node address
5. Now set the node address with the coding switch for the module. You have
five 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!
l
l
L
The node address can be changed any time with the coding
switch. The setting is accepted after switching on the supply
voltage.
After switching on the supply voltage, the compact system
needs approx. 1 ms for initialisation. During this time, no
parameters can be set.
EDSPM−TXXX−9.0−11/2009
5.1−3
5
The compact system
5.1
Status displays
8×dig. I/O compact
LED
PW (yellow)
ER (red)
RD (green)
Status
on
on
on
BA (yellow)
Meaning
Supply voltage is applied
Incorrect data transmission between microcontroller and digital inputs/outputs
Error−free data transmission between microcontroller and digital inputs/outputs
See table below
See table below
PW (yellow)
on
ER (red)
off
RD (green)
blinking (1 Hz)
BA (yellow)
off
on
off
on
on
System 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
on
blinking (1 Hz)
on
on
on
on
System bus (CAN)/CANopen "Offline"state
blinking (1 Hz)
blinking (10 Hz) System bus (CAN)/CANopen "Warning"state
on
Error during RAM or EEPROM initialisation
on
on
on
on
)
Meaning
Self test and initialisation in progress
blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
off
blinking (1 Hz)
off
Address setting mode active
Note!
NMT telegrams for changing to the different states can be found in
the chapter "Networking via system bus (CAN)" or "Networking via
CANopen".
5.1−4
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
8×dig. I/O compact
5.1
Status display and terminal
assignment
0
L
1 2
DIO 8xDC24V 1A
X3
PW
ER
RD
BA
0 1
ADR.
X1
DC
24V
+
– PE
DIO 8xDC24V 1A
X 2x11COM
L+
1
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
8
.7
9
F
10
X4
X4–
EPM-T830 1A.10
epm−t042
Fig. 5.1−4
Front view of 8×dig. I/O compact
L
Status display for digital inputs/outputs at terminal strip X3
L+
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 assignment
X3/1
+24 V DC (supply voltage)
X3/2 ... X3/9 Digital inputs/outputs E/A.0 ... E/A.7
X3/10
GND (reference potential)
Terminal strips (2 × 11 terminals)
X4
Electrically isolated terminal strip
X4–
Terminal strip GND
EDSPM−TXXX−9.0−11/2009
5.1−5
5
The compact system
5.1
8×dig. I/O compact
Connection
X3/1
X3/2
+
X3/3
X3/4
X3/5
X3/6
X3/7
X3/8
X3/9
µC
+
–
X3/10
X4
+
X4–
Z
Z
Z
+
0
Z
–
DC 24 V
(DC +18 … +35 V)
PE X1
epm−t041
Fig. 5.1−5
Wiring diagram of 8×dig. I/O compact
Emergency−off switch
X4, X4– Terminal strips
Load
Z
(
Stop!
If the voltage supply (DC 24 V) fails, the module will malfunction:
l Switched outputs carry voltage if one input is assigned with a
HIGH level,
l The module can be destroyed since the outputs are not
resistant to short circuits anymore.
The emergency−off switch ensures that when being operated the
outputs do not carry any voltage and the inputs are not assigned
with a HIGH level.
5.1−6
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
8×dig. I/O compact
Technical data
5.1
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 (³ 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
100
125
250
500
800
1000
Max. bus length [m]
5000 2500 1000 600
500
250
80
50
25
Max. number of nodes
63
20
50
Digital inputs/outputs
Number
8 optionally configurable digital inputs/outputs
Electrical isolation from system bus
Yes, via optocouplers
Digital inputs
Input resistance
3.3 kW
Delay time
3 ms
Level
LOW: DC 0 ... 5 V
HIGH: 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
L
Width
101 mm
Height
76 mm
Depth
48 mm
Weight
200 g
Order designation
EPM−T830
EDSPM−TXXX−9.0−11/2009
5.1−7
5
The compact system
16×dig. I/O compact (single−wire conductor)
5.2
Description
5.2
16×dig. I/O compact (single−wire conductor)
The 16×dig. I/O compact (single−wire conductor) module consists of 1 CAN
gateway which serves as an interface to the master bus system as well as 8 digital
inputs, 4 digital outputs and 4 digital inputs/outputs.
Each output can be loaded with up to 1 A. The status of the channels is displayed
by LEDs.
Features
l
8 digital inputs
l
4 digital inputs/outputs, depending on the circuit configuration
l
4 digital outputs
l
Voltage supply via an external 24 V DC voltage source
l
Connection to the system bus (CAN) via a 9−pole Sub−D plug
l
Address and baud rate setting via coding switch
l
The baud rate is stored permanently in an EEPROM in the module
l
LEDs display the status
Overview
0
1
2
3
0
1
4
5 6
epm−t050
Fig. 5.2−1
16×dig. I/O compact (single−wire conductor)
L
LEDs for status display
9−pole Sub−D plug for connection to the system bus (CAN)
Coding switch to set address and baud rate
External voltage supply connection
Terminal strip for digital input signals
Terminal strip for digital output signals
Terminal strip for digital input / output signals (optionally configurable)
EDSPM−TXXX−9.0−11/2009
5.2−1
5
The compact system
5.2
16×dig. I/O compact (single−wire conductor)
Connecting system
bus (CAN)/CANopen
6
7
8
9
1
2
3
4
5
epm−t023
Fig. 5.2−2
Connection to the system bus (CAN)/CANopen with 9−pole Sub−D plug
Pin
1
2
3
4
5
6
7
8
9
Baud rate and node address
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
l
Use the coding switch to set the baud rate.
l
The node address must be set via the coding switch.
– –
0 1
+ +
epm−t024
Fig. 5.2−3
Coding switch at CAN gateway
–
+
5.2−2
Decrease numerical value
Increase numerical value
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
16×dig. I/O compact (single−wire conductor)
Baud rate setting
5.2
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.
Setting the node address
5. Now set the node address with the coding switch for the module. You have
five 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!
l
l
L
The node address can be changed any time with the coding
switch. The setting is accepted after switching on the supply
voltage.
After switching on the supply voltage, the compact system
needs approx. 1 ms for initialisation. During this time, no
parameters can be set.
EDSPM−TXXX−9.0−11/2009
5.2−3
5
The compact system
5.2
Status displays
16×dig. I/O compact (single−wire conductor)
LED
PW (yellow)
ER (red)
RD (green)
Status
on
on
on
BA (yellow)
Meaning
Supply voltage is applied
Incorrect data transmission between microcontroller and digital inputs/outputs
Error−free data transmission between microcontroller and digital inputs/outputs
See table below
See table below
PW (yellow)
on
ER (red)
off
RD (green)
blinking (1 Hz)
BA (yellow)
off
on
off
on
on
System 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
on
blinking (1 Hz)
on
on
on
on
System bus (CAN)/CANopen "Offline"state
blinking (1 Hz)
blinking (10 Hz) System bus (CAN)/CANopen "Warning"state
on
Error during RAM or EEPROM initialisation
on
on
on
on
)
Meaning
Self test and initialisation in progress
blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
off
blinking (1 Hz)
off
Address setting mode active
Note!
NMT telegrams for changing to the different states can be found in
the chapter "Networking via system bus (CAN)" or "Networking via
CANopen".
5.2−4
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
16×dig. I/O compact (single−wire conductor)
Status display and terminal
assignment
5.2
0
L
12
DI 8xDC24V
3
DIO/DO 4/4xDC24V 1A
X3
PW
ER
RD
BA
0 1
ADR.
X1
DC
24V
+
– PE
DI 8xDC24V
DIO 4xDC24V 1A
DO 4xDC24V 1A
X4
L+
1
L+
1
.0
2
.0
2
.1
3
.1
3
.2
4
.2
4
.3
5
.3
5
.4
6
.4
6
.5
7
.5
7
.6
8
.6
8
.7
9
.7
9
F
10
F
10
EPM-T831 1A.10
epm−t051
Fig. 5.2−4
Front view of 16×dig. I/O compact (single−wire conductor)
Status display for digital inputs / outputs at the terminal strips X3 and X4
L+
.0 ... .7
L
LED (yellow) is lit when the supply voltage is applied.
LED (green) is lit when the output is triggered and/or a HIGH
level is detected at the input
F
LED (red) is lit in case of overload, overheating, short−circuit
errors.
Terminal strip X3 assignment
X3/1
Not assigned
X3/2 ... X3/9 Digital inputs E.0 ... E.7
X3/10
GND (reference potential)
Terminal strip X4 assignment
X4/1
DC 24 V supply voltage
X4/2 ... X4/5 Digital inputs/outputs E/A.0 ... E/A.3
X4/6 ... X4/9 Digital outputs A.4 ... A.7
X4/10
GND (reference potential)
EDSPM−TXXX−9.0−11/2009
5.2−5
5
The compact system
5.2
16×dig. I/O compact (single−wire conductor)
Connection
X3/1
+
X3/2
X3/3
X3/4
X3/5
X3/6
X3/7
X3/8
X3/9
X3/10
X4/1
+
X4/2
µC
Z
X4/3
X4/4
Z
X4/5
X5/6
X4/7
X4/8
X4/9
Z
Z
Z
Z
X4/10
+
+
0
–
+
–
DC 24 V
(DC +18 … +35 V)
PE X1
epm−t052
Fig. 5.2−5
Wiring diagram of 16×dig. I/O compact (single−wire conductor)
Z
(
Emergency−off switch
Load
Stop!
If the voltage supply (DC 24 V) fails, the module will malfunction:
l Switched outputs carry voltage if one input is assigned with a
HIGH level,
l The module can be destroyed since the outputs are not
resistant to short circuits anymore.
The emergency−off switch ensures that when being operated the
outputs do not carry any voltage and the inputs are not assigned
with a HIGH level.
5.2−6
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
16×dig. I/O compact (single−wire conductor)
Technical data
5.2
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 (³ 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
100
125
250
500
800
1000
Max. bus length [m]
5000 2500 1000 600
500
250
80
50
25
Max. number of nodes
63
20
50
Digital inputs/outputs
Number
8 digital inputs
8 optionally configurable digital inputs/outputs
4 digital outputs
Electrical isolation from system bus
Yes, via optocouplers
Digital inputs
Input resistance
3.3 kW
Delay time
3 ms
Level
LOW: DC 0 ... 5 V
HIGH: 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
L
Width
101 mm
Height
76 mm
Depth
48 mm
Weight
200 g
Order designation
EPM−T831
EDSPM−TXXX−9.0−11/2009
5.2−7
5
The compact system
16×dig. I/O compact (three−wire conductor)
5.3
Description
5.3
16×dig. I/O compact (three−wire conductor)
The 16×dig. I/O compact (three−wire conductor) module consists of 1 CAN
gateway which serves as an interface to the master bus system as well as 8 digital
inputs, 4 digital outputs and 4 digital inputs/outputs.
Each output can be loaded with up to 1 A. The status of the channels is displayed
by LEDs.
Features
l
8 digital inputs
l
4 digital inputs/outputs, depending on the circuit configuration
l
4 digital outputs
l
Voltage supply via an external 24 V DC voltage source
l
Connection to the system bus (CAN) via a 9−pole Sub−D plug
l
Address and baud rate setting via coding switch
l
The baud rate is stored permanently in an EEPROM in the module
l
LEDs display the status
Overview
0
1
2
3
0
1
4
5 6
75
epm−t044
Fig. 5.3−1
16×dig. I/O compact (three−wire conductor)
L
LEDs for status display
9−pole Sub−D plug for connection to the system bus (CAN)
Coding switch to set address and baud rate
External voltage supply connection
Terminal strip for digital input signals
Terminal strips, additional terminals for wiring
Terminal strip for digital output signals
Terminal strip for digital input / output signals (optionally configurable)
EDSPM−TXXX−9.0−11/2009
5.3−1
5
The compact system
5.3
16×dig. I/O compact (three−wire conductor)
Connecting system
bus (CAN)/CANopen
6
7
8
9
1
2
3
4
5
epm−t023
Fig. 5.3−2
Connection to the system bus (CAN)/CANopen with 9−pole Sub−D plug
Pin
1
2
3
4
5
6
7
8
9
Baud rate and node address
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
l
Use the coding switch to set the baud rate.
l
The node address must be set via the coding switch.
– –
0 1
+ +
epm−t024
Fig. 5.3−3
Coding switch at CAN gateway
–
+
5.3−2
Decrease numerical value
Increase numerical value
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
16×dig. I/O compact (three−wire conductor)
Baud rate setting
5.3
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.
Setting the node address
5. Now set the node address with the coding switch for the module. You have
five 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!
l
l
L
The node address can be changed any time with the coding
switch. The setting is accepted after switching on the supply
voltage.
After switching on the supply voltage, the compact system
needs approx. 1 ms for initialisation. During this time, no
parameters can be set.
EDSPM−TXXX−9.0−11/2009
5.3−3
5
The compact system
5.3
Status displays
16×dig. I/O compact (three−wire conductor)
LED
PW (yellow)
ER (red)
RD (green)
Status
on
on
on
BA (yellow)
Meaning
Supply voltage is applied
Incorrect data transmission between microcontroller and digital inputs/outputs
Error−free data transmission between microcontroller and digital inputs/outputs
See table below
See table below
PW (yellow)
on
ER (red)
off
RD (green)
blinking (1 Hz)
BA (yellow)
off
on
off
on
on
System 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
on
blinking (1 Hz)
on
on
on
on
System bus (CAN)/CANopen "Offline"state
blinking (1 Hz)
blinking (10 Hz) System bus (CAN)/CANopen "Warning"state
on
Error during RAM or EEPROM initialisation
on
on
on
on
)
Meaning
Self test and initialisation in progress
blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
off
blinking (1 Hz)
off
Address setting mode active
Note!
NMT telegrams for changing to the different states can be found in
the chapter "Networking via system bus (CAN)" or "Networking via
CANopen".
5.3−4
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
16×dig. I/O compact (three−wire conductor)
Status display and terminal
assignment
5.3
0
L
1 2
DI 8xDC24V
PW
ER
RD
BA
0 1
X1
DC
24V
+
– PE
DI 8xDC24V
DIO 4xDC24V 1A
DO 4xDC24V 1A
X 4x11COM
5
4
DIO/DO4/4xDC24V1A
X3
ADR.
3
X4
X5
X4–
L+
1
L+
1
.0
2
.0
2
.1
3
.1
3
.2
4
.2
4
.3
5
.3
5
.4
6
.4
6
.5
7
.5
7
.6
8
.6
8
.7
9
.7
9
F
10
F
10
X6
X6–
EPM-T833 1A.10
epm−t045
Fig. 5.3−4
Front view of 16×dig. I/O compact (three−wire conductor)
Status display for digital inputs / outputs at the terminal strips X3 and X5
L+
.0 ... .7
L
LED (yellow) is lit when the supply voltage is applied.
LED (green) is lit when the output is triggered and/or a HIGH
level is detected at the input
F
LED (red) is lit in case of overload, overheating, short−circuit
errors.
Terminal strip X3 assignment
X3/1
Not assigned
X3/2 ... X3/9 Digital inputs E.0 ... E.7
X3/10
GND (reference potential)
Terminal strips (2 × 11 terminals)
X4
Electrically isolated terminal strip
X4–
Terminal strip GND
Terminal strip X5 assignment
X5/1
DC 24 V supply voltage
X5/2 ... X5/5 Digital inputs/outputs E/A.0 ... E/A.3
X5/6 ... X5/9 Digital outputs A.4 ... A.7
X5/10
GND (reference potential)
Terminal strips (2 × 11 terminals)
X6
Electrically isolated terminal strip
X6–
Terminal strip GND
EDSPM−TXXX−9.0−11/2009
5.3−5
5
The compact system
5.3
16×dig. I/O compact (three−wire conductor)
Connection
X3/1
+
X3/2
X3/3
X3/4
X3/5
X3/6
X3/7
X3/8
X3/9
X3/10
X5/1
+
X5/2
µC
Z
X5/3
X5/4
Z
X5/5
X5/6
X5/7
X5/8
X5/9
Z
Z
Z
Z
X5/10
+
X4
X4–
X6
X6–
+
0
–
DC 24 V
(DC +18 … +35 V)
+
–
PE X1
epm−t046
Fig. 5.3−5
Wiring diagram of 16×dig. I/O compact (three−wire conductor)
Emergency−off switch
X4, X4– Terminal strips
X6, X6 Terminal strips
Load
Z
(
Stop!
If the voltage supply (DC 24 V) fails, the module will malfunction:
l Switched outputs carry voltage if one input is assigned with a
HIGH level,
l The module can be destroyed since the outputs are not
resistant to short circuits anymore.
The emergency−off switch ensures that when being operated the
outputs do not carry any voltage and the inputs are not assigned
with a HIGH level.
5.3−6
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
16×dig. I/O compact (three−wire conductor)
Technical data
Type
Voltage supply
Connectable cable cross−section
Communication
Communication protocol
16×dig. I/O compact (three−wire conductor)
DC 24 V / 55 mA (DC 20.4 ... 28.8 V)
£ 2.5 mm2 (³ AWG 14)
Communication medium
Network topology
Baud rate [kbit/s]
Max. bus length [m]
Max. number of nodes
Digital inputs/outputs
Number
DIN ISO 11898
Line (terminated at both ends)
10
20
50
100 125
5000 2500 1000 600 500
63
Electrical isolation from system bus
Digital inputs
Input resistance
Delay time
Level
Digital outputs
Rated load voltage
Max. output current per output
Current consumption if all outputs
= LOW
L
5.3
· System bus (CAN)
· CANopen (CAL−based communication profile DS301/DS401)
500
80
800
50
1000
25
8 digital inputs
8 optionally configurable digital inputs/outputs
4 digital outputs
Yes, via optocouplers
3.3 kW
3 ms
LOW: DC 0 ... 5 V
HIGH: DC 15 ... 30 V
DC 24 V (DC 18 ... 35 V)
1 A (resistant to short circuits)
50 mA
Delay time
Communication
Input data
Output data
Diagnostic data
Dimensions
Width
Height
Depth
Weight
< 1 ms
Order designation
EPM−T833
EDSPM−TXXX−9.0−11/2009
250
250
2 bytes
1 byte
2 bits
152 mm
76 mm
48 mm
300 g
5.3−7
5
The compact system
32×dig. I/O compact
5.4
Description
5.4
32×dig. I/O compact
The 32×dig. I/O compact module consists of 1 CAN gateway which serves as the
interface 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 displayed
by LEDs.
Features
l
24 digital inputs
l
8 digital outputs
l
Voltage supply via an external 24 V DC voltage source
l
Connection to the system bus (CAN) via a 9−pole Sub−D plug
l
Address and baud rate setting via coding switch
l
The baud rate is stored permanently in an EEPROM in the module
l
LEDs display the status
Overview
0
1
2
3
0
1
4
5
epm−t047
Fig. 5.4−1
32×dig. I/O compact
L
LEDs for status display
9−pole Sub−D plug for connection to the system bus (CAN)
Coding switch to set address and baud rate
External voltage supply connection
Terminal strips for digital input signals
Terminal strip for digital output signals
EDSPM−TXXX−9.0−11/2009
5.4−1
5
The compact system
5.4
32×dig. I/O compact
Connecting system
bus (CAN)/CANopen
6
7
8
9
1
2
3
4
5
epm−t023
Fig. 5.4−2
Connection to the system bus (CAN)/CANopen with 9−pole Sub−D plug
Pin
1
2
3
4
5
6
7
8
9
Baud rate and node address
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
l
Use the coding switch to set the baud rate.
l
The node address must be set via the coding switch.
– –
0 1
+ +
epm−t024
Fig. 5.4−3
Coding switch at CAN gateway
–
+
5.4−2
Decrease numerical value
Increase numerical value
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
32×dig. I/O compact
Baud rate setting
5.4
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.
Setting the node address
5. Now set the node address with the coding switch for the module. You have
five 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!
l
l
L
The node address can be changed any time with the coding
switch. The setting is accepted after switching on the supply
voltage.
After switching on the supply voltage, the compact system
needs approx. 1 ms for initialisation. During this time, no
parameters can be set.
EDSPM−TXXX−9.0−11/2009
5.4−3
5
The compact system
5.4
Status displays
32×dig. I/O compact
LED
PW (yellow)
ER (red)
RD (green)
Status
on
on
on
BA (yellow)
Meaning
Supply voltage is applied
Incorrect data transmission between microcontroller and digital inputs/outputs
Error−free data transmission between microcontroller and digital inputs/outputs
See table below
See table below
PW (yellow)
on
ER (red)
off
RD (green)
blinking (1 Hz)
BA (yellow)
off
on
off
on
on
System 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
on
blinking (1 Hz)
on
on
on
on
System bus (CAN)/CANopen "Offline"state
blinking (1 Hz)
blinking (10 Hz) System bus (CAN)/CANopen "Warning"state
on
Error during RAM or EEPROM initialisation
on
on
on
on
)
Meaning
Self test and initialisation in progress
blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active
blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting
off
blinking (1 Hz)
off
Address setting mode active
Note!
NMT telegrams for changing to the different states can be found in
the chapter "Networking via system bus (CAN)" or "Networking via
CANopen".
5.4−4
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
32×dig. I/O compact
5.4
0
Status display and terminal
assignment
L
1 2
DI 8xDC24V
3 4
DI 8xDC24V
X3
PW
ER
RD
BA
0 1
ADR.
X1
DC
24V
+
– PE
56
DI 8xDC24V
X4
7
DO 8xDC24V 1A
X5
X6
L+
1
L+
1
L+
1
L+
1
.0
2
.0
2
.0
2
.0
2
.1
3
.1
3
.1
3
.1
3
.2
4
.2
4
.2
4
.2
4
.3
5
.3
5
.3
5
.3
5
.4
6
.4
6
.4
6
.4
6
.5
7
.5
7
.5
7
.5
7
.6
8
.6
8
.6
8
.6
8
.7
9
.7
9
.7
9
.7
9
F
10
F
10
F
10
F
10
DI 24xDC24V
DO 8xDC24V 1A
EPM-T832 1A.10
epm−t049
Fig. 5.4−4
Front view of 32×dig. I/O compact
Status display for digital inputs/outputs at terminal strips X3, X4, X5, and X6
L+
.0 ... .7
L
LED (yellow) is lit when the supply voltage is applied.
LED (green) is lit when the output is triggered and/or a HIGH
level is detected at the input
F
LED (red) is lit in case of overload, overheating, short−circuit
errors.
Terminal strip X3 assignment
X3/1
Not assigned
X3/2 ... X3/9 Digital inputs E.0 ... E.7
X3/10
GND (reference potential)
Terminal strip X4 assignment
X4/1
Not assigned
X4/2 ... X4/9 Digital inputs E.0 ... E.7
X4/10
GND (reference potential)
Terminal strip X5 assignment
X5/1
Not assigned
X5/2 ... X5/9 Digital inputs E.0 ... E.7
X5/10
GND (reference potential)
Terminal strip X6 assignment
X6/1
DC 24 V supply voltage
X6/2 ... X6/9 Digital outputs A.0 ... A.7
X6/10
GND (reference potential)
EDSPM−TXXX−9.0−11/2009
5.4−5
5
The compact system
5.4
32×dig. I/O compact
Connection
X3/1
X3/2
X3/9
X3/10
X4/1
X4/2
X4/9
X4/10
µC
X5/1
X5/2
X5/9
X5/10
X6/1
X6/2
X6/9
Z
Z
X6/10
+
+
–
PE X1
DC 24 V
–
epm−t048
Fig. 5.4−5
Wiring diagram of 32×dig. I/O compact
Z
5.4−6
Load
EDSPM−TXXX−9.0−11/2009
L
5
The compact system
32×dig. I/O compact
Technical data
5.4
Type
Voltage supply
Connectable cable cross−section
Communication
Communication protocol
32×dig. I/O compact
DC 24 V / 55 mA (DC 20.4 ... 28.8 V)
£ 2.5 mm2 (³ AWG 14)
Communication medium
Network topology
Baud rate [kbit/s]
Max. bus length [m]
Max. number of nodes
Digital inputs/outputs
Number
DIN ISO 11898
Line (terminated at both ends)
10
20
50
100 125
5000 2500 1000 600 500
63
Electrical isolation from system bus
Digital inputs
Input resistance
Delay time
Level
Digital outputs
Rated load voltage
Max. output current per output
Current consumption if all outputs
= LOW
L
· System bus (CAN)
· CANopen (CAL−based communication profile DS301/DS401)
500
80
800
50
1000
25
24 digital inputs
8 digital outputs
Yes, via optocouplers
3.3 kW
3 ms
LOW: DC 0 ... 5 V
HIGH: DC 15 ... 30 V
DC 24 V (DC 18 ... 35 V)
1 A (resistant to short circuits)
50 mA
Delay time
Communication
Input data
Output data
Diagnostic data
Dimensions
Width
Height
Depth
Weight
< 1 ms
Order designation
EPM−T832
EDSPM−TXXX−9.0−11/2009
250
250
3 bytes
1 byte
2 bits
152 mm
76 mm
48 mm
300 g
5.4−7
6
Mechanical installation
Contents
6
Mechanical installation
Contents
L
6.1
The modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1−1
6.2
The compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2−1
EDSPM−TXXX−9.0−11/2009
6.1
6
Mechanical installation
The modular system
6.1
6.1
The modular system
Mounting dimensions and other dimensions
80 mm
7.5/15 mm
0
25.4 mm
60 mm
27 mm
76 mm
35 mm
76 mm
1
74 mm
25.4 mm
80 mm
74 mm
90 mm
110 mm
epm−t053
Fig. 6.1−1
L
Module dimensions of the modular system
EDSPM−TXXX−9.0−11/2009
6.1−1
6
Mechanical installation
6.1
The modular system
Mounting
(
Stop!
Incorrect handling destroys the modules!
Modules may be destroyed if live during installation.
Protective measures:
l Make sure the supply voltage is disconnected before you insert
modules into the backplane bus.
1
3
2
4
CLACK!
#0
#1
#2
#n <
_ 33
epm−t055
Fig. 6.1−2
Mounting the module on the DIN rail

Mount the DIN rail. Provide enough mounting clearance for the modules
(Fig. 6.1−1):
At the top: Min. 80 from the middle of the DIN rail
At the bottom: Min. 60 mm from the middle of the DIN rail
‚
ƒ
„
)
Note!
l
l
l
l
l
l
6.1−2
Press the backplane bus onto the DIN rail until it safely engages
Lower the module on to the DIN rail at an angle of approx. 45 °
Turn the module downward
Connection to the backplane bus is established once the module has audibly
engaged with the DIN rail.
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 must
always 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 the
backplane bus.
A module is electrically connected only once it has audibly
engaged.
Slots to the right of the last module may remain unassigned.
The number of modules is limited to max. 32.
EDSPM−TXXX−9.0−11/2009
L
6
Mechanical installation
The modular system
Dismounting
6.1
(
Stop!
Incorrect handling destroys the modules!
Modules may be destroyed if live when disassembled or removed
without a suitable tool.
Protective measures:
l Only remove modules from the backplane bus when the supply
voltage is disconnected.
l It is essential to use a screw driver to dismount the modules.
1
2
3
4
epm−t056
Fig. 6.1−3
Removing the module from the backplane bus
How to remove modules from the backplane bus:
1. Insert the screw driver into the slot of the unlocking pin.
2. Press the screw driver upwards to pull the unlocking pin downwards.
3. Turn the module upwards to disconnect from the backplane bus.
4. Remove the module from the DIN rail by pulling it upwards.
)
Note!
Unplugging a module leaves the backplane bus interrupted at that
particular location.
L
EDSPM−TXXX−9.0−11/2009
6.1−3
6
Mechanical installation
The compact system
6.2
6.2
The compact system
Mounting dimensions and other dimensions
34 mm
EPM-T830
34 mm
101 mm
EPM-T831
101 mm
30 mm
7.5/15 mm
69 mm
34 mm
76 mm
27 mm
34 mm
1
48 mm
48 mm
EPM-T832
34 mm
152 mm
152 mm
0
1
34 mm
34 mm
69 mm
76 mm
1
69 mm
0
EPM-T833
76 mm
34 mm
76 mm
0
1
35 mm
0
48 mm
48 mm
epm−t054
Fig. 6.2−1
L
Module dimensions of the compact system
EDSPM−TXXX−9.0−11/2009
6.2−1
6
Mechanical installation
6.2
The compact system
Mounting
1
2
3
4
60
CLACK!
40
0
1
epm−t057
Fig. 6.2−2
Mounting the module on the DIN rail

‚
ƒ
„
Dismounting
1
Mount the DIN rail to allow the module an installation clearance of min. 60 mm
at 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 downward
Allow the module to audibly engage with the DIN rail
2
3
4
epm−t058
Fig. 6.2−3
Remove the module from the DIN rails

‚
ƒ
„
6.2−2
Insert the screw driver into the withdrawal slot
Press the screw driver upward to disengage the module
Pull the module towards the front by its bottom edge.
Remove the module from the DIN rail by pulling it upwards.
EDSPM−TXXX−9.0−11/2009
L
7
Electrical installation
Contents
7
Electrical installation
Contents
L
7.1
Wiring according to EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1−1
7.2
Wiring of terminal strips . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2−1
7.3
Supply voltage connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3−1
7.4
System bus (CAN) / CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.1
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4.2
Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.4−1
7.4−1
7.4−1
7.5
PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.1
Wiring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5.2
Communication connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.5−1
7.5−1
7.5−3
EDSPM−TXXX−9.0−11/2009
7.1
7
Electrical installation
Wiring according to EMC
7.1
General notes
Wiring according to EMC
· The electromagnetic compatibility of the I/O system IP20 depends on the type and accuracy of the installation. Special attention should be
·
·
Assembly
·
·
Shielding
Earthing
L
7.1
·
·
·
·
·
·
·
·
·
·
paid 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 with
the EMC Directive. This for instance applies 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 Directive
and / 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 cause
electromagnetic interference to these devices by the decentralised I/O system IP20.
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.
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).
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.
EDSPM−TXXX−9.0−11/2009
7.1−1
7
Electrical installation
Wiring of terminal strips
7.2
7.2
Wiring of terminal strips
(
Stop!
Insert the screw driver only into the rectangular opening of the
terminal strip !
Using force to insert the screw driver into the round opening for
the cable will destroy the spring−mounted terminal !
0
2 
1
6 mm
<
_ 2.5mm²
>
_ AWG 14
‚
<
_ 1.5 mm²
_ AWG 16
>
ƒ
epm−t060
Fig. 7.2−1
Wiring of the terminal strips
Plugging and unplugging the terminal strip
Stripping length and max. permitted cable cross−section
Wiring of the terminal strip

‚
ƒ
L
Insert a suitable screw driver into the rectangular opening
To open the contact spring, press the screw driver in the shown direction
and hold in position
Insert the stripped core into the round opening. By removing the screw
driver, the wire is securely connected to the terminal strip via a spring
contact
EDSPM−TXXX−9.0−11/2009
7.2−1
7
Electrical installation
Supply voltage connection
7.3
7.3
Supply voltage connection
Modular system
L1
N
PE
0
PE
PE
PE
EPM-T1xx
EPM-T2XX
EPM-T3XX
EPM-T4XX
GND
GND
~
–
X1
+
–
DC 24 V (DC 20.4 … 28.8 V)
epm−t063
Fig. 7.3−1
Connecting the supply voltage
PE connection of the modules is effected by means of the DIN rail and is
established via a contact on the backplane of the module
Compact system
L1
N
PE
EPM-T83X
GND
~
–
X1 +
–
DC 24 V (DC 20.4 … 28.8 V)
PE
0
epm−t132
Fig. 7.3−2
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 module
description:
l Modular system ( 4.1 ff)
l Compact system ( 5.1 ff)
L
EDSPM−TXXX−9.0−11/2009
7.3−1
Electrical installation
7
System bus (CAN) / CANopen
Wiring
7.4
7.4.1
7.4
System bus (CAN) / CANopen
7.4.1
Wiring
EPM-T1XX
EPM-T83X
A1
A2
HI
A3
HI
LO CG
An
LO CG
HI
LO CG
120
120
6 7 8 9
1 2
3 4 5
PES
PES
PES
PES
PES
CAN-GND
CAN-HIGH
CAN-LOW
PES
120
epm−t061
Fig. 7.4−1
Basic wiring of the system bus (CAN) / CANopen
A1
A2
A3
An
Specification of the transmission
cable 3
Nodes 1 EPM−T110 or EPM−T8XX
Node 2
Node 3
Node n (e.g. PLC), n = max. 63
We recommend the use of CAN cables according to ISO 11898−2:
CAN cable according to ISO 11898−2
Cable type
Impedance
Cable resistance
Signal propagation delay
7.4.2
Communication connection
Assignment of Sub−D plug4
View
6
7
8
9
1
2
3
4
5
epm−t023
L
Twisted pair with shielding
120 W (95 ... 140 W)
Cable length £ 300 m £ 70 mW/m
Cable length £ 1000 m £ 40 mW/m
£ 5 ns/m
Pin
1
2
3
4
5
6
7
8
9
Assignment
Not assigned
CAN−LOW
CAN−GND
Not assigned
Not assigned
Not assigned
CAN−HIGH
Not assigned
Not assigned
EDSPM−TXXX−9.0−11/2009
Explanation
−
Data line
Data ground
−
−
−
Data line
−
−
7.4−1
Electrical installation
7
PROFIBUS−DP
Wiring
7.5
7.5.1
7.5
PROFIBUS−DP
7.5.1
Wiring
Basic wiring of PROFIBUS5
The design of the bus system PROFIBUS−DP is shown in the general drawing.
1
3
64
32
16
PW 8
4
2
ER 1
RD
AD
1
0
DE
DC
24
V
X1
2
–T
12
EP
2
0
x xx
X1
.xx
2
12
EP
2
x xx
.xx
2
R.
1
0
+
X1
1
–T
AD
DE
DC
24
V
+
M
3
64
32
16
PW 8
4
2
ER 1
RD
R.
1
1
M
AD
DE
DC
24
V
+
-
EP
3
64
32
16
PW 8
4
2
ER 1
RD
R.
1
M
–T
12
2
x xx
.xx
1200 m
epm−t222
Fig. 7.5−1
PROFIBUS−DP with RS485 cabling (without repeater)
Note
Master computer, e.g. PC or PLC with PROFIBUS−DP master interface module
Adjust the baud rate to the length of the bus cable
PROFIBUS Gateway or PROFIBUS GatewayECO
Element
1
Master
2
Bus cable
3
Slave
)
Note!
When using a repeater, max. 125 devices can communicate via
the PROFIBUS.
L
EDSPM−TXXX−9.0−11/2009
7.5−1
7
Electrical installation
7.5
7.5.1
PROFIBUS−DP
Wiring
Number of bus stations
M
R
S
S
S
R
S
1
S
2
3
2133PFB004
Fig. 7.5−2
Number of nodes in the bus system PROFIBUS−DP
Master (M)
1
2
−
−
Segment
1
2
3
)
Slave (S)
31
30
31
30
Repeater (R)
−
−
1
2
Note!
Repeaters do not have a device address, but they are also
included in the calculation of the maximum slave number of
nodes.
Repeaters can be used to create line and tree topologies. The
maximum total extension of the bus system depends on
l the used baud rate,
l the number of repeaters.
Baud rate / length of bus cable
Baud rate [kBit/s]
9.6 − 93.75
187.5
500
1500
3000 − 12000
Specification of the transmission
cable 6
Please follow our recommendations for signal cables.
Length [m]
1200
1000
400
200
100
Specification bus cable
Cable resistance
Capacitance per unit length
Loop resistance
Core diameter
Core cross−section
Cores
7.5−2
135 − 165 W/km, (f = 3 − 20 MHz)
£ 30 nF/km
< 110 W/km
> 0.64 mm
> 0.34 mm2
Double twisted, insulated and shielded
EDSPM−TXXX−9.0−11/2009
L
Electrical installation
7
PROFIBUS−DP
Communication connection
7.5
7.5.2
7.5.2
Communication connection
Assignment of Sub−D socket7
View
9
8
7
6
5
4
3
2
1
EPM−T223
L
Pin
1
2
3
4
Assignment
Not assigned
Not assigned
RxD/TxD−P
RTS
5
6
7
8
9
M5V2
P5V2
Not assigned
RxD/TxD−N
Not assigned
EDSPM−TXXX−9.0−11/2009
Explanation
−
−
Data line B (received / transmitted data plus)
Request To Send (received / transmitted data, no differential
signal)
Data ground (ground at 5 V)
DC 5 V / 30 mA (bus termination)
−
Data line A (received / transmitted data minus)
−
7.5−3
Networking via system bus (CAN)
8
Contents
8
Networking via system bus (CAN)
Contents
L
8.1
Via system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.1
Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.2
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1.3
Saving changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.1−1
8.1−1
8.1−2
8.1−2
8.2
Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.2−1
8.3
Transmitting process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.1
Process data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.2
Identifier of the process data objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.3
Assigning individual parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.4
Process data transmission mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.5
Process image of the modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.6
Process image of the compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3.7
Compatibility with Lenze drive and automation components . . . . . . . . . . . . . . . . . . .
8.3.8
Data transmission between I/O system IP20 and controller . . . . . . . . . . . . . . . . . . .
8.3.9
Indices for setting the process data transmission . . . . . . . . . . . . . . . . . . . . . . . . . .
8.3−1
8.3−1
8.3−2
8.3−3
8.3−3
8.3−5
8.3−8
8.3−9
8.3−10
8.3−11
8.4
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.1
Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.2
Writing a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4.3
Reading a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.4−1
8.4−1
8.4−4
8.4−5
8.5
Setting of baud rate and node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.5−1
8.6
Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.6−1
8.7
Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.7−1
8.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.8−1
8.9
Monitoring
8.9.1
8.9.2
8.9.3
...............................................................
Time monitoring for PDO1−Rx ... PDO10−Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital output monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.9−1
8.9−1
8.9−2
8.9−3
8.10
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.1
Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.2
Operating state of system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.3
Reading out the module identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.4
Status of the digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.5
Status of the digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.6
Status of the analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10.7
Status of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
8.10−1
8.10−2
8.10−3
8.10−3
8.10−3
8.10−4
8.10−5
8.10−5
EDSPM−TXXX−9.0−11/2009
8.1
Networking via system bus (CAN)
8
Via system bus (CAN)
Structure of the CAN data telegram
8.1
8.1.1
8.1
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, functions
of the communication profile CANopen have been integrated to DS301 which
came into being under the umbrella organisation of CiA (CAN in Automation) in
conformance with the CAL (CAN Application Layer).
)
Note!
l
l
8.1.1
The communication profile system bus (CAN) can be selected
with 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 the
chapter "The modular system".
– Information on how to proceed with the compact system is
included in the description of the corresponding module in the
chapter "The compact system".
– Lenze setting: System bus (CAN)
Additional information on the system bus (CAN) can be found in
the Lenze CAN Communication Manual.
Structure of the CAN data telegram
Control field
RTR bit
Start
Identifier
1 bit
Fig. 8.1−1
)
11 bits
1 bit
6 bits
User data (0 ... 8 bytes)
· Network management
· Process data
· Parameter data
CRC delimit.
ACK delimit.
CRC sequence
ACK slot
End
15 bits
1 bit
1 bit
1 bit
7 bits
Basic structure of the CAN telegram
Note!
Only the identifier and the user data are relevant to the user. All
other data of the CAN telegram are automatically processed by
the system.
L
EDSPM−TXXX−9.0−11/2009
8.1−1
8
Networking via system bus (CAN)
8.1
8.1.2
Via system bus (CAN)
Identifier
8.1.2
Identifier
The principle of CAN communication is based on a message−oriented data
exchange between a transmitter and many receivers. Therefore, all nodes can
transmit and receive more or less at the same time.
The so−called identifier in the CAN telegram, also called COB−ID (Communication
Object Identifier), controls which node is to receive a transmitted message. In
addition to the addressing, the identifier contains information on the priority of the
message and the type of user data.
The identifier consists of a ’basic identifier’ and the node address of the device to
be approached:
Identifier = Basic identifier + node address
8.1.3
l
This node address is set with the coding switch at the module:
– Modular system: At CAN gateway
– Compact system: At each module
l
Network management and sync telegram only require the basic identifier.
l
The identifiers can also be set individually. (
Saving changes
)
Note!
l
l
8.1−2
8.3−3)
Changes of the baud rate, node address, identifiers for PDOs,
and the transmission mode for PDOs must be saved with
I2003h = 1, for being maintained even after switching off the
supply 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
EDSPM−TXXX−9.0−11/2009
L
8
Networking via system bus (CAN)
Network management (NMT)
8.2
8.2
Network management (NMT)
Via the network management, the master can change a communication status for
the whole CAN network.
Communication phases
Status
"Initialisation"
"Pre−Operational"
"Operational"
"Stopped"
Explanation
Initialisation starts when the I/O system is switched on. In this phase, the I/O
system does not take part in the bus data transfer.
Furthermore it is in each NMT status possible to restart the entire initialisation or
parts of it by transferring different telegrams (see "Status transitions"). All
parameters already set are overwritten with their standard values.
After initialisation has been completed, the I/O system is automatically set to the
status "Pre−operational".
The I/O system can receive parameter data.
Process data are ignored.
The I/O system can receive parameter and process data.
Parameter and process data cannot be received. Network management telegrams
can be received.
The module outputs switch to the configured status (see chapter "Monitoring").
Telegram structure
Identifier
Value = 0
User data
Only contains command
11 bit
Fig. 8.2−1
2 byte
Telegram for changing the communication phase
The telegram used for network management contains an identifier and the
command which is part of the user data and consists of command byte and node
address.
Telegrams with the identifier 0 and two bytes user data are used to change
between the communication phases.
Only the network master (e.g. controller) can change a communication status for
the whole network.
)
Note!
Communication via process data only is possible with a state
change to operational"!
Example:
For changing the state of all nodes on the bus from
"pre−operational" to operational" via the CAN master, the
following identifier and user data must be set in the telegram:
l Identifier: 00 (broadcast telegram)
l User data: 0100 (hex)
L
EDSPM−TXXX−9.0−11/2009
8.2−1
8
Networking via system bus (CAN)
8.2
Network management (NMT)
State transitions
(1)
Initialisation
(2)
(14)
(11)
Pre-Operational
(7)
(4)
(13)
(3)
(12)
(10)
(5)
Stopped
(6)
(9)
(8)
Operational
E82ZAFU004
Fig. 8.2−2
Status
transition
Network management status transitions
Command
(hex)
Network status
after change
Effects on process and parameter data
Initialisation starts automatically when the mains is
switched on.
During initialisation, the I/O system does not take part in
the data transfer.
(1)
−
Initialisation
After initialisation has been completed, the device sends a
boot−up message with an identifier to the master. The
device is automatically set to the status "Pre−operational".
In this phase, the master determines the I/O system
(2)
−
Pre−Operational
communication.
From that moment on, the master changes a status for the whole network. A target address, which is part of the
command, selects the slave(s).
Network management telegrams, sync, emergency,
process data (PDOs) and parameter data (SDOs) are active.
Optional:
(3), (6)
01 xx
Operational
When the status is changed, event and time−controlled
process data (PDOs) will be sent once.
Network management telegrams, sync, emergency and
parameter data (SDOs) are active (like Enter
(4), (7)
80 xx
Pre−Operational
pre−operational state)
Parameter and process data cannot be received. Network
(5), (8)
02 xx
Stopped
management telegrams can be received.
No effects. The device is automatically set to the status
(9)
"Pre−operational".
81 xx
(10)
Initialisation
(11)
No effects. The device is automatically set to the status
(12)
"Pre−operational".
82 xx
(13)
(14)
xx = 00h
xx = node ID
8.2−2
With this assignment, all controllers connected are addressed by the telegram. All controllers can change their status at the same time.
If a node address is indicated, the status will only be changed for the controller addressed.
EDSPM−TXXX−9.0−11/2009
L
Networking via system bus (CAN)
8
Transmitting process data
Process data telegram
8.3
8.3.1
8.3
Transmitting process data
Process data are used for control−specific purposes, such as setpoint and actual
values, for example.
l
8.3.1
Process data or the input / output data of the I/O system IP20 are
transmitted as so−called PDOs (Process Data Objects).
Process data telegram
Structure of the process data telegram:
11 bits
Identifier
Byte 1
Byte 2
Byte 3
8 bytes of user data
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Identifier
Information on the identifier can be found in chapter "Structure of the CAN data
telegram".
User data
The eight bytes of user data transmit the input signals (sent user data) and the
output signals (received user data) of the modules.
L
EDSPM−TXXX−9.0−11/2009
8.3−1
8
Networking via system bus (CAN)
8.3
8.3.2
Transmitting process data
Identifier of the process data objects (PDO)
8.3.2
Identifier of the process data objects (PDO)
The identifiers of process data objects PDO1 ... PDO10 consist of the so−called
basic identifiers and the set node address:
Identifier = Basic identifier + node address
Basic identifiers of the process
data objects
Basic identifier
PDOs
Available for
dec
hex
CAN gateway
8×dig. I/O compact
16×dig. I/O compact
32×dig. I/O compact
PDO1−Rx
PDO1−Tx
768
767
300
2FF
ü
ü
PDO2−Rx
PDO2−Tx
640
639
280
27F
ü
—
PDO3−Rx
PDO3−Tx
512
384
200
180
ü
—
PDO4−Rx
PDO4−Tx
832
896
340
380
ü
—
PDO5−Rx
PDO5−Tx
1024
448
400
1C0
ü
—
PDO6−Rx
PDO6−Tx
1088
704
440
2C0
ü
—
PDO7−Rx
PDO7−Tx
1152
960
480
3C0
ü
—
PDO8−Rx
PDO8−Tx
1280
1216
500
4C0
ü
—
PDO9−Rx
PDO9−Tx
1344
1728
540
6C0
ü
—
PDO10−Rx
PDO10−Tx
1664
1984
680
7C0
ü
—
Process data object 1
Process data object 2
Process data object 3
Process data object 4
Process data object 5
Process data object 6
Process data object 7
Process data object 8
Process data object 9
Process data object 10
8.3−2
EDSPM−TXXX−9.0−11/2009
L
Networking via system bus (CAN)
8
Transmitting process data
Assigning individual parameters
8.3
8.3.3
8.3.3
Assigning individual parameters
For larger networks with many nodes, it may be useful to set individual identifiers
for process data objects PDO1 ... PDO10 that are independent of the set node
address.
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!
l
l
8.3.4
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.
Process data transmission mode
Process data transmission mode
The transmission mode is configured via the index I1400h, subindex 2
(PDO1−Rx) ... I1409h, subindex 2 (PDO10−Rx):
l
Sync−controlled reception
l
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 the
master. Finally, the process input data are accepted.
l
Process output data
transmission method
Event−controlled reception (Lenze setting)
The transmission mode is configured via the index I1800h, subindex 2
(PDO1−Tx) ... I1809h, subindex 2 (PDO10−Tx):
l
Sync−controlled transmission
l
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 the
master.
l
Event−controlled transmission (Lenze setting)
)
Note!
After changing to the CAN state "Operational", the current
process image is transmitted from the I/O system IP20.
L
EDSPM−TXXX−9.0−11/2009
8.3−3
8
Networking via system bus (CAN)
8.3
8.3.4
Transmitting process data
Process data transmission mode
Sync telegram for cyclic process
data
A special telegram, the sync telegram, is required for synchronisation when cyclic
process data are transmitted.
The sync telegram must be generated by another node. It initiates the
transmission for the cyclic process data of the I/O system I/P20 and at the same
time triggers data acceptance of cyclic process data received in the I/O system
IP20.


PDO1-TX
1.
PDO1-RX
2.
3.
4.
epm−t111
Fig. 8.3−1
Synchronisation of cyclical process data with the help of a sync telegram
(asynchronous data not considered)

Transmission sequence
Sync telegram
1. After receiving a sync telegram, the I/O system IP20 transmits the cyclic
process output data (PDO1−Tx) if "sync−controlled transmission" is active.
2. Once the transmission is completed, the I/O system IP20 receives the cyclic
process 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) are
accepted asynchronously by the I/O system IP20 after transmission.
8.3−4
EDSPM−TXXX−9.0−11/2009
L
Networking via system bus (CAN)
8
Transmitting process data
Process image of the modular system
8.3
8.3.5
8.3.5
Process image of the modular system
The process image of the modular system is explained on the basis of the following
example. In addition to the CAN gateway, maximally 32 modules can be
connected.
L
0
L
L
L
L
L
L
L
16×DI
8×DO
4×AI
2 bytes
TX
1 byte RX
8 bytes
TX
M5
M6
M7
2/4×
Counter
10 bytes
TX
10 bytes
RX
M8
L
L
1
Module
EPM – T211
Process
data
Module
No.
L
CAN
8×DI
8×DI
8×DI
8×DI
Gateway
—
1 byte TX 1 byte TX 1 byte TX 1 byte TX
M0
M1
M2
M3
M4
EPM – T211
EDSPM−TXXX−9.0−11/2009
SSI
interface
1×counter
/ 16×DI
4×AI/AO
—
—
...
M32
4 bytes TX 6 bytes TX 4 bytes TX
4 bytes
6 bytes
4 bytes
RX
RX
RX
M9
M10
M11
8.3−5
8
Networking via system bus (CAN)
8.3
8.3.5
Transmitting process data
Process image of the modular system
Process image
PDO1
Fixed for the first
DIO
PDO2
Fixed for the first
AIO
PDO3
DIO or AIO 1)
PDO4
DIO or AIO 1)
PDO5
DIO or AIO 1)
PDO6
DIO or AIO 1)
...
PDO10
...
DIO or AIO 1)
PDO1−RX
PDO1−TX
PDO2−RX
PDO2−TX
PDO3−RX
PDO3−TX
PDO4−RX
PDO4−TX
PDO5−Rx
PDO5−Tx
PDO6−Rx
PDO6−Tx
...
PDO10−RX
PDO10−TX
1)
Byte 0
M6
M1
M8
M7
M8
M8
—
M8
M10
M10
M9
M9
Byte 1
—
M2
M8
M7
M8
M8
—
M8
M10
M10
M9
M9
Byte 2
—
M3
M8
M7
M11
M8
—
M11
M10
M10
M9
M9
Byte 3
—
M4
M8
M7
M11
M8
—
M11
M10
M10
M9
M9
Byte 4
—
M5
M8
M7
M11
M8
—
M11
M10
M10
—
—
Byte 5
—
M5
M8
M7
M11
M8
—
M11
M10
M10
—
—
Byte 6
—
—
M8
M7
—
M8
—
—
—
—
—
—
Byte 7
—
—
M8
M7
—
M8
—
—
—
—
—
—
...
...
...
...
...
...
...
...
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
A PDO can be either assigned to AIO or DIO.
The modules are assigned according to the slot
sequence, with the DIO being assigned first.
AI
AO
DI
DO
AIO
DIO
Analog input data
Analog output data
Digital input data
Digital output data
Analog input and output data
Digital input and output data
Special features of the modules 1×counter/16×digital input and SSI interface:
Transmission times
l
The module 1×counter/16×digital input always assigns the next to last and
the SSI interface module always the last of the PDOs used.
l
The modules cannot be assigned to PDO1 and PDO2. Thus, only eight of
these modules can be used in a system.
l
The modules assign a whole PDO (8 bytes) each.
The transmission times of the input / output signals within the I/O system IP20 can
be calculated with a formula.
t t + t c ) (N PDOTX @ 8ms) ) (N PDORX @ 2ms) ) t d ) 742ms
tt
tc
NPDOTX
NPDORX
td
742 ms
Transmission time of input / output signals of a module between
fieldbus connection and input / output terminals.
Time required for copying into the CAN object directory
Transmitting the PDO number (PDO1−Tx ... PDO10−Tx)
Receiving the PDO number (PDO1−Rx ... PDO10−Rx)
Module delay time
Fixed internal processing time
Time required for copying into the CAN object directory:
DO modules
tc = 50 ms + n × 14 ms
n
8.3−6
DI modules
tc = 50 ms + n × 25 ms
AO modules
tc = 50 ms + n × 210 ms
AI modules
tc = 50 ms + n × 250 ms
Number of bytes assigned by the module in the PDOs
EDSPM−TXXX−9.0−11/2009
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Networking via system bus (CAN)
8
Transmitting process data
Process image of the modular system
8.3
8.3.5
Example
In the I/O system shown in the example, the transmission time of the input signals
at the module M3 (8×digital input) to the master is to be detected. The baud rate
amounts to 500 kbits/s.
Solution:
l
For transmitting the input signals, the module assigns one byte (byte 3) of
the process data channel PDO1−Tx.
l
The delay time td within the module amounts to 3 ms.
1. Calculating the time required for copying tc into the CAN object directory:
t c + 50ms ) 1 @ 25ms + 75ms
2. Calculating the transmission time tt of the input signals to the fieldbus:
t t + 75ms ) (1 @ 8ms) ) (0 @ 2ms) ) 3000ms ) 742ms + 3825ms
3. Calculating the transmission time tCAN via the fieldbus:
l
L
L
t CAN
DI 8xDC24V
1
PW
ER
.0
2
RD
.1
3
BA
.2
4
.3
5
.4
6
.5
7
ADR.
0 1
.6
X1
DC
+
24V
.7
8
9
10
–
EPM – T110 1A.10 EPM – T210 1A
epm−t135
t CAN +
CANtelegramlength
+ 111bits
+ 222ms
500kbits
Baudrate
s
4. Calculating the total transmission time t:
t + t t ) t CAN + 3825ms ) 222ms + 4047ms + 4.047ms
)
Note!
The internal processing times of the controller must also be
considered.
L
EDSPM−TXXX−9.0−11/2009
8.3−7
8
Networking via system bus (CAN)
8.3
8.3.6
Transmitting process data
Process image of the compact system
8.3.6
Process image of the compact system
The process image of the compact system is explained on the basis of the module
32×dig. I/O compact.
L
Module
Process data
Slot
0 1
CAN gateway
—
M0
Process image
PDO1
PDO1−RX
PDO1−TX
1 byte
M1
Byte 0
M4
M1
DI
DO
8.3−8
8×DI
1 byte DI
M2
8×DI
1 byte DI
M3
Byte 1
—
M2
Byte 2
—
M3
8×DO
1 byte DO
M4
Byte 3
—
—
Byte 4
—
—
Byte 5
—
—
Byte 6
—
—
Byte 7
—
—
Digital input data
Digital output data
EDSPM−TXXX−9.0−11/2009
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Networking via system bus (CAN)
8
Transmitting process data
Compatibility with Lenze drive and automation components
8.3
8.3.7
8.3.7
Compatibility with Lenze drive and automation components
The tables below will assist you in finding out at which stage a modular system or
which compact module, respectively, can be operated in combination with a Lenze
drive 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 requires
Modular system
8×digital input
16×digital input
8×digital output 1A
8×digital output 2A
16×digital output 1A
8×digital input / output
4×relay
4×analog input
4×analog output
4×analog input / output
2/4×counter
SSI interface
1×counter/16×digital input
Compact system
8×dig. I/O compact
16×dig. I/O compact
16×dig. I/O compact (single−wire conductor)
16×dig. I/O compact (three−wire conductor)
PDO−Rx
PDO−Tx
—
—
1/8
1/8
2/8
1/8
1/8
—
8/8
8/8
8/8 + 2/8
8/8
8/8
1/8
2/8
—
—
—
1/8
—
8/8
—
8/8
8/8 + 1/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
Process data objects (PDO) of the Lenze drive and automation components (master)
Components
9300 Servo PLC
Drive PLC
9300 inverter (all standard types)
8200 vector frequency inverter
8200 motec frequency inverter
Communication module EMF2175
)
l
l
L
PDO−Tx [xPDO−Tx]
>10
>10
2
2
Note!
l
Example
PDO−Rx [xPDO−Rx]
A modular system allows the connection of max. 32 modules in
addition to the CAN gateway.
A modular system offers max. 20 PDOs (10 PDO−Rx and
10 PDO−Tx) for process data exchange.
Since 9300 Servo PLC and Drive PLC are able to manage more
than 20 process data objects, several modular systems can be
operated on a Servo PLC or Drive PLC. For this each CAN
gateway must be assigned to a unique node address.
A control task requires the connection of 4 digital outputs, 10 digital inputs and
3 analog outputs to an 8200 vector frequency inverter.
EDSPM−TXXX−9.0−11/2009
8.3−9
8
Networking via system bus (CAN)
8.3
8.3.8
Transmitting process data
Data transmission between I/O system IP20 and controller
Solution
The planned solution is a modular system with the following modules:
I/O system IP20
Modular system
Number
modules
8×digital input / output
8×digital input
4×analog input
Sum
1
1
1
3
Required PDOs
PDO−Rx
1/8
–
1
9/8
PDO−Tx
1/8
1/8
–
2/8
For exchanging the process data, the 8200 vector makes enough PDOs available:
Available PDOs
Frequency inverter
PDO−Rx
2
8200 vector
8.3.8
PDO−Tx
2
Data transmission between I/O system IP20 and controller
l
The basic identifiers of PDO1−Rx and PDO1−Tx are pre−assigned in such a
way that they can exchange data with the process data objects of
CAN−IN3/OUT3 of a controller.
l
The basic identifiers of PDO2−Rx and PDO2−Tx are pre−assigned in such a
way that they can exchange data with the process data objects of
CAN−IN2/OUT2 of a controller.
l
0

‚
1
CAN_OUT3
CAN_IN3
PDO1-Rx
PDO1-Tx
ƒ
„
L
L
L
DO 8xDC24V 1A
DI 8xDC24V
1
L+
1
ER
.0
2
.0
2
RD
.1
3
.1
3
BA
.2
4
.2
4
.3
5
.3
5
.4
6
.4
6
.5
7
.5
7
.6
8
.6
8
9
.7
9
10
F
10
PW
ADR.
0 1
X1
DC
+
24V
.7
–
EPM – T110 1A.10 EPM – T210 1A
EPM – T220 1A
epm−t112
Fig. 8.3−2
Data transmission between I/O system IP20 and controller
PDO−Rx The I/O system IP20 receives the status information from the controller
PDO−Tx The I/O system IP20 transmits the status information to the controller
Controller with node address 1 (C0350 = 1)

769d (basic identifier) + 1 (node address) = 770d (identifier)
‚
768d (basic identifier) + 1 (node address) = 769d (identifier)
CAN gateway of the modular system (or a module of the compact system)
with node address 2
ƒ
768d (basic identifier) + 2 (node address) = 770d (identifier)
„
767d (basic identifier) + 2 (node address) = 769d (identifier)
8.3−10
EDSPM−TXXX−9.0−11/2009
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Networking via system bus (CAN)
8
Transmitting process data
Indices for setting the process data transmission
8.3
8.3.9
8.3.9
Indices for setting the process data transmission
Process data objects for input data
Index
Name
Possible settings
Lenze
Important
Selection
I1400h
¿
Index is available in the modular and
compact system
1 COB−ID used by
RxPDO 1
2 Transmisson type
768
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
8.3−3
2047 Defining the individual identifiers for
process data object 1
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
Every received value is accepted
... ...
I1409h
¿
Index is only available in the modular
system
1 COB−ID used by
RxPDO 10
2 Transmisson type
L
1665
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
EDSPM−TXXX−9.0−11/2009
8.3−3
2047 Defining the individual identifiers for
process data object 10
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
Every received value is accepted
8.3−11
8
Networking via system bus (CAN)
8.3
8.3.9
Transmitting process data
Indices for setting the process data transmission
Process data objects for output data
Index
Name
Possible settings
Lenze
Important
Selection
8.3−3
I1800h
¿
1 COB−ID used by
TxPDO 1
2 Transmisson type
767
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
... ...
0
0
0
{1}
2047 Defining the individual identifiers for
process data object 1
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
I1809h
¿
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
1 COB−ID used by
TxPDO 10
2 Transmisson type
1984
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
8.3−12
0
0
0
0
{1}
8.3−3
2047 Defining the individual identifiers for
process data object 10
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
65535 Inhibit time
65535 Cycle time
EDSPM−TXXX−9.0−11/2009
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8
Transmitting parameter data
Telegram structure
8.4
8.4.1
8.4
Transmitting parameter data
Parameter data are the so−called indices.
Parameters are usually set only once during commissioning.
Parameter data are transmitted as so−called SDOs (Service Data Objects) via the
system bus and acknowledged by the receiver, i.e. the transmitter gets a feedback
if the transmission was successful.
8.4.1
Telegram structure
Structure of the telegram for parameter data:
11 bits
Identifier
8 bytes of user data
Index
Instruction
Subindex Data 1
code
LOW byte HIGH byte
Data 2
Data 3
Data 4
l
The subchapters below explain the individual telegram components in detail.
l
Chapter 8.4.2 contains an example of how to write a parameter. (
8.4−4)
l
Chapter 8.4.3 contains an example of how to read a parameter. (
8.4−5)
Identifier
Identifier
Index
Instruction
Subindex
code
LOW byte HIGH byte
Data 1
Data 2
Data 3
Data 4
Two parameter channels are available for parameter data transmission. They are
addressed via the identifier.
Identifier =
SDOs
Parameter channel 1
Output (transmit)
Input (receive)
Parameter channel 2
Output (transmit)
Input (receive)
)
Basic identifier
+ node address of the device
dec
hex
1408
1536
580
600
+ value set with coding switch
1472
1600
5C0
640
+ value set with coding switch
Note!
There is an offset of 64 between the identifiers for parameter
channels 1 and 2:
l Output of parameter channel 1 = 1536
l Output of parameter channel 2 = 1536 + 64 = 1600
L
EDSPM−TXXX−9.0−11/2009
8.4−1
8
Networking via system bus (CAN)
8.4
8.4.1
Transmitting parameter data
Telegram structure
Instruction code
Identifier
Index
Instruction
Subindex
code
LOW byte HIGH byte
Data 1
Data 2
Data 3
Data 4
The instruction code contains the command to be executed and information about
the parameter data length. It is structured as follows:
bits 7
(MSB)
Command
bits 6
bits 5
bits 4
bits 3
Command Specifier (cs)
Write Request
Write Response
Read Request
Read Response
Error Response
0
0
0
0
1
0
1
1
1
0
1
1
0
0
0
0
0
0
0
0
bits 2
bit 1
bit 0
Length
E
s
00 = 4 bytes
01 = 3 bytes
10 = 2 bytes
11 = 1 byte
1
0
0
1
0
1
0
0
1
0
0
0
Instruction code for parameters with 4 bytes of data length:
4 bytes of data
(32 bits)
Instruction Error Response"
Command
hex
dec
Information
Write Request
Write Response
Read Request
Read Response
Error Response
23
60
40
43
80
35
96
64
67
128
Transmitting parameters to a node
Node response to the Write Request (acknowledgement)
Request to read a parameter from a node
Response to the read request with the actual value
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 error
code:
Command code Error Response
80h
8.4−2
Data 3
Data 4
Error message
3
5
6
6
Access denied
Wrong subindex
Wrong index
EDSPM−TXXX−9.0−11/2009
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Networking via system bus (CAN)
8
Transmitting parameter data
Telegram structure
8.4
8.4.1
Parameter addressing
(Index/subindex)
Identifier
Index
Instruction
Subindex
code
LOW byte HIGH byte
Data 1
Data 2
Data 3
Data 4
The index of the telegram is used to address the index to be read or written:
Example
l
The index value must be entered in left−justified Intel format and divided into
Low byte and High byte (see example).
l
For subindices, the number of the associated subindex must be entered into
the telegram’s subindex.
l
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
Identifier
8 bytes of user data
Index
Instruction
Subindex Data 1
code
LOW byte HIGH byte
00h
24h
1
Data 2
Data 3
Data 4
Identifier
Index
Instruction
Subindex
code
LOW byte HIGH byte
Data 2
Data 3
Data 4
Parameter data (data 1 ... data 4)
Data 1
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).
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
Identifier
8 bytes of user data
Index
Instruction
Subindex Data 1
code
LOW byte HIGH byte
E8h
(LSB)
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EDSPM−TXXX−9.0−11/2009
Data 2
Data 3
Data 4
03h
00h
00h
(MSB)
8.4−3
8
Networking via system bus (CAN)
8.4
8.4.2
Transmitting parameter data
Writing a parameter (example)
8.4.2
Writing a parameter (example)
Task
An I/O system IP20 has the node address 2. For the first analog module (4×analog
output), the function of the output A.0 (voltage signal 0 ... +10 V, 12 bits) is to be
shown.
Telegram to the I/O system IP20
Identifier
Instruction
code:
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
11 Bit
Formula
= Basic identifier + node address
= 1536 + 2 =1538 = 602h
= 23h
Information
· Basic identifier for parameter channel 1 (output) = 1536
· Node address of the I/O system IP20 = 2
· Command Write Request" (transmitting parameters to
the I/O system IP20)
= I3001h
=1
= 00h
= 00h
= 05h
= 3Bh
= 00 00 05 3Bh
·
·
·
·
·
·
Index first analog module
Subindex = 1 (function for output A.1 among others)
Diagnostics (Lenze setting)
Reserved
Output A.0 (voltage signal 0 ... +10 V, 12 bits)
Output A.1 (Lenze setting)
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
23h
01h
30h
1
00h
Identifier
602h
Data 2
Data 3
Data 4
00h
05h
3Bh
(LSB)
L
Write Request
Write Response
(MSB)
L
Identifier = 1538
Identifier = 1410
0 1
epm−t118
Fig. 8.4−1
Telegram from the I/O
system IP20 (acknowledgement
when being executed faultlessly)
Identifier
Instruction
code:
Index
Subindex
Data 1 ... 4
11 Bit
Identifier
1410
8.4−4
Writing a parameter
Formula
= Basic identifier + node address
= 1408 + 2
= 1410
= 60h
Information
· Basic identifier for parameter channel 1 (input) = 1408
· Node address of the I/O system IP20 = 2
· Command Write Response" (acknowledgement from the
I/O system IP20)
= Index of the read request
= Subindex of the read request
=0
· Acknowledgement only
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
60h
01h
30h
0
0
EDSPM−TXXX−9.0−11/2009
Data 2
Data 3
Data 4
0
0
3
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Networking via system bus (CAN)
8
Transmitting parameter data
Reading a parameter (example)
8.4
8.4.3
8.4.3
Reading a parameter (example)
Task
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.
Telegram to the I/O system IP20
Identifier
Instruction
code:
Formula
Information
= Basic identifier + node address
= 1536 + 2 =1538 = 602h
= 40h
· Basic identifier for parameter channel 1 (output) = 1536
· Node address of the I/O system IP20 = 2
· Command Read Request" (request for reading a
= I3001h
=1
= 00h
= 00h
= 00h
= 00h
= 00 00 00 00h
· Index first analog module
· Subindex = 1 (function for output A.0 among others)
· Read request only
parameter of the I/O system IP20)
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
11 bits
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
40h
01h
30h
1
00h
Identifier
602h
L
Read Request
Read Response
Data 2
Data 3
Data 4
00h
00h
00h
L
Identifier = 1538
Identifier = 1410
0 1
epm−t119
Fig. 8.4−2
Telegram from the I/O system
IP20 (value of the requested
parameter):
Reading a parameter
Identifier
Instruction
code:
Information
= Basic identifier + node address
= 1408 + 2
= 1410
= 43h
· Basic identifier for parameter channel 1 (input) = 1408
· Node address of the I/O system IP20 = 2
· Command Read Response" (response to the read
request with the current value)
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
11 bits
Identifier
1410
Formula
= Index of the read request
= Subindex of the read request
= 00h
= 00h
= 05h
= 3Bh
= 00 00 05 3Bh
· Assumption: Analog output A.0 outputs a voltage signal
0 ... +10 V at a 12 bit resolution.
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
43h
01h
30h
0
00h
(LSB)
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EDSPM−TXXX−9.0−11/2009
Data 2
Data 3
Data 4
00h
05h
3Bh
(MSB)
8.4−5
8
Networking via system bus (CAN)
Setting of baud rate and node address (node ID)
8.5
8.5
Setting of baud rate and node address (node ID)
Baud rate
For establishing communication, all devices must use the same baud rate for the
data transfer.
l
The baud rate can be set via the coding switch at the module.
Node address
Each node of the network must be assigned to a node address, also called Node ID
within a range of 1 ... 63 for clear identification.
l
A node address in a network may be used only once.
l
The node address must be set with the coding switch at the module.
– –
0 1
+ +
epm−t024
Fig. 8.5−1
Coding switch at CAN gateway
–
+
Baud rate setting
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.
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EDSPM−TXXX−9.0−11/2009
8.5−1
8
Networking via system bus (CAN)
8.5
Setting of baud rate and node address (node ID)
5. Now set the node address with the coding switch for the module. You have
five seconds for this.
– Each node address must be assigned only once.
Setting the node address
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 coding
switch. The setting is accepted after switching on the supply
voltage.
Indices for setting
Index
Name
Possible settings
I100Bh
Node ID
Lenze
0
I2001h
CAN baud rate
8.5−2
1
Important
Selection
0
0
0
1
2
3
4
5
6
7
8
{1}
{1}
1000 kbits/s
500 kbits/s
250 kbits/s
125 kbits/s
100 kbits/s
50 kbits/s
20 kbits/s
10 kbits/s
800 kbits/s
63 Display only
System bus node address
255 Display only
System bus baud rate
EDSPM−TXXX−9.0−11/2009
L
8
Networking via system bus (CAN)
Node Guarding
8.6
8.6
Node Guarding
NMT-Master
request
COB-ID = 1792 + Node-ID
Remote transmit request
0
s
response
6…0
7
Node
Guard
time
indication
1
t
confirm
NMT-Slave 1 )
COB-ID = 1792 + Node-ID
Node
Time
Life
request
Remote transmit request
0
confirm
1
s
t
7
response
6…0
indication
Node Guarding Event
indication
2 )
indication
Life Guarding Event 2
epm−t133
Fig. 8.6−1
Node Guarding Protocol
1)
s
T
Description
I/O system IP20
Status of the I/O system IP20
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 Guarding
telegram to the slave. If one of both indices is set to zero, the monitoring time is
also zero and hence deactivated. The slave sends a telegram with its current status
to the master.
With event−controlled process data transmission, Node Guarding ensures cyclical
node monitoring.
L
l
The master starts the Node Guarding by sending the Node Guarding
telegram.
l
If the slave (I/O system IP20) does not receive a telegram within the
monitoring time, the Node Guarding Event is activated. The I/O system IP20
switches to the state set in I1029h. The outputs switch to a defined state
(also see the chapter Configuration ® Diagnostics).
l
A change to the Operational status triggers a reset.
EDSPM−TXXX−9.0−11/2009
8.6−1
8
Networking via system bus (CAN)
8.6
Node Guarding
Status telegram
1 byte of user data
Device status (bits 0 ... 6)
11 bits
Identifier
1792d (700h)
Toggle bit
Identifier:
Identifier
Formula
= Basic identifier + node address
= 1792d + xx
Information
The basic identifier for Node Guarding is
firmly 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)
04
05
7F
Device status
Stopped
Operational
Pre−Operational
Indices for setting
Index
Name
I100Ch * Guard time
I100Dh * Life time factor
I100Eh
Possible settings
Lenze
0
0
Selection
0
0
Important
{1 ms}
{1}
65535 Node Guarding
Monitoring time
0 = monitoring not active
255 Node Guarding
Response time computation factor
0 = monitoring not active
The response time is computed as:
monitoring period x factor
8.6−1
8.6−1
Display only
8.6−1
Identifier = Basic identifier + node address
(basic identifier cannot be modified)
Node Guarding
identifier
)
Note!
The Lenze PLC’s 9300 servo PLC and Drive PLC in connection
with the function library LenzeCanDSxDrv.lib support the "Node
Guarding" function.
8.6−2
EDSPM−TXXX−9.0−11/2009
L
8
Networking via system bus (CAN)
Heartbeat
8.7
8.7
Heartbeat
Heartbeat
Producer
COB-ID = 1792 + Node-ID
0
request
1
s
r
6…0
7
Heartbeat
Producer
Time
Heartbeat
Consumer
indication
indication
indication
0
request
indication
1
s
r
7
6…0
indication
indication
indication
Heartbeat
Consumer
Time
indication
Heartbeat
Consumer
Time
Heartbeat Event
epm−t134
Fig. 8.7−1
Heartbeat Protocol
r
s
Heartbeat Consumer
Reserved
State of the Heartbeat Producer
The I/O system IP20 can monitor up to five nodes. The status telegrams of the
nodes to be monitored must arrive cyclically within a certain time at the I/O system
IP20. If a status telegram is not received within this time, the I/O system IP20
switches to the status set in I1029h. The outputs switch to a defined status (also
see the chapter Configuration ® Diagnostics).
Settings are made in the index I1016h.
Heartbeat Producer
The I/O system IP20 assigns a status telegram to the fieldbus and can thus be
monitored by other nodes.
Settings are made in index I1017h.
L
l
Producer heartbeat is automatically started if a time > 0 is entered into the
index 1017h and the I/O system IP20 changes to the status "Operational".
l
After the cycle time has been completed, the status telegram is transmitted
to the fieldbus by the I/O system IP20.
l
A change to the Operational status triggers a reset.
EDSPM−TXXX−9.0−11/2009
8.7−1
8
Networking via system bus (CAN)
8.7
Heartbeat
Status telegram
1 byte of user data
Device status (bits 0 ... 6)
11 bits
Identifier
1792d (700h)
bits 7
reserved
Identifier:
Identifier
Formula
= Basic identifier + node address
= 1792d + xx
Information
The basic identifiers for heartbeat is firmly
adjusted to 1792d (700h)
xx = node address of the I/O system IP20
Device status (bit 1 ... 6) of the heartbeat producer:
Command
(hex)
00
05
04
7F
Status
Boot−up
Operational
Stopped
Pre−Operational
Indices for setting
Name
Index
Possible settings
Lenze
I1016h
¿
Heartbeat
consumer time
1 Heartbeat time
Heartbeat time
Node ID
Reserved
Byte 0
Byte 1
Byte 2
Byte 3
00h
00h
00h
00h
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
Node ID
0
0
{1}
Heartbeat producer
time
0
0
{1 ms}
0
Function is not active
Node ID
2 Heartbeat time
Node ID
3 Heartbeat time
Node ID
4 Heartbeat time
Node ID
5 Heartbeat time
I1017h
¿
Important
Selection
Data contents
)
I/O system IP20 can monitor up to five
8.7−1
nodes (subindex 1 ... 5).
If the monitored node does not respond, I/O
system IP20 changes to the status
"Pre−Operational". The outputs switch to a
defined state.
65535 · In the compact system, only subindex 1
is available
255 · Heartbeat time:
– The monitored node must respond
65535
within the time set. The time is set in
byte 0 and 1.
255
– If the monitored node does not
respond within the set time, I/O
65535
system IP20 switches to the
communication status set under
255
I1029h
– The communication status is reset
65535
when a new heartbeat telegram is
received
255
· Node ID:
65535
– Node address of the node to be
monitored. The address is set in
255
byte 2.
65535 I/O system IP20 can be monitored by other
nodes.
Within this time the device status of I/O
system IP20 is transmitted to the fieldbus.
Not available for system bus (CAN)
communication protocol
8.7−1
Note!
The Lenze 9300 servo PLC and Drive PLC in connection with the
function library LenzeCanDSxDrv.lib support the "heartbeat"
function.
8.7−2
EDSPM−TXXX−9.0−11/2009
L
8
Networking via system bus (CAN)
Reset node
8.8
8.8
Reset node
Changes of transmission modes and identifiers will be accepted after "reset node"
only.
Index
Name
I2358h * CAN reset node
L
l
Switch the supply voltage on again
l
Execute NMT command "81h" (see chapter "Network management (NMT)")
l
Set I2358h = 1
Possible settings
Lenze
0
Important
Selection
0
1
No function
CAN reset node
EDSPM−TXXX−9.0−11/2009
Reset node
8.8−1
8.8−1
Networking via system bus (CAN)
8
Monitoring
Time monitoring for PDO1−Rx ... PDO10−Rx
8.9
8.9.1
8.9
Monitoring
8.9.1
Time monitoring for PDO1−Rx ... PDO10−Rx
A time monitoring can be configured for the inputs of the process data objects
PDO1−Rx ... PDO10−Rx via the index I2400h.
Index
Name
Possible settings
Lenze
I2400h
¿
1
2
3
4
5
6
7
8
9
10
Timer value
PD01
PD02
PD03
PD04
PD05
PD06
PD07
PD08
PD09
PD10
L
Selection
0
Important
{1 ms}
0
0
0
0
0
0
0
0
0
0
EDSPM−TXXX−9.0−11/2009
8.9−1
65535 Monitoring time for process data input
objects
For the compact system, only index I2400h,
subindex 1 is available
8.9−1
8
Networking via system bus (CAN)
8.9
8.9.2
Monitoring
Digital output monitoring
8.9.2
Digital output monitoring
Via the index I6206h you can configure the reactions of the digital outputs which
are to take place when no telegrams, "node guarding events" or "heartbeat" have
been received in the adjusted monitoring time.
Index
Name
Possible settings
Lenze
I6206h
¿
Error mode digital
output
0
Module 1
Module 2
...
Module 64
Name
I6207h
¿
Error value digital
output
All digital outputs retain the last status output.
Response from I6207h
Via index I6207h the response can be configured individually for each digital
output.
Possible settings
Lenze
0
8.9−2
Module 1
Module 2
...
Module 64
Important
Selection
0
{1}
8 bits of information
Bit value Output switches to LOW
0
Bit value
1
1
2
...
64
In I6207h, the response can be configured
individually for each digital output
0
0
...
0
Individual response setting
Index
8.9−2
255 Configures digital output monitoring
For the compact system, only index I6206h,
subindex 1 is available
{1}
0
255
1
2
...
64
Important
Selection
8.9−2
255 Configures the individual digital output
responses
For the compact system, only index I6207h,
subindex 1 is available
Output retains last status output
0
0
...
0
EDSPM−TXXX−9.0−11/2009
L
Networking via system bus (CAN)
8
Monitoring
Digital output monitoring
8.9
8.9.3
8.9.3
Monitoring of the analog outputs
Via the index I6443h you can configure the reactions of the analog outputs which
are to take place when no telegrams, "node guarding events" or "heartbeat" have
been received in the adjusted monitoring time.
Index
Name
Monitoring is started on receipt of the next PDO telegram after the settings.
l
If a telegram is not transmitted within the adjusted time, the module
switches to the "Pre−Operational" state. No further process data are
transmitted.
l
A change into the "Operational" state triggers a reset.
Possible settings
Lenze
I6443h
¿
l
Error mode analog
output
0
{1}
0
255
1
2
...
36
Channel 1
Channel 2
...
Channel 36
Name
1
2
...
36
Possible settings
Error value analog
output
Channel 1
Channel 2
...
Channel 36
L
All analog outputs retain the last value output
Response from I6444h
8.9−3
In I6444h the response can be configured
individually for each analog output
Via index I6444h the response can be configured individually for each analog
output.
Lenze
I6444h
¿
255 Configures analog output monitoring
Index is only available in the modular
system
0
0
...
0
Individual response setting
Index
Important
Selection
Important
Selection
−32768
{1}
0
0
...
0
EDSPM−TXXX−9.0−11/2009
32767 Configures the individual analog output
responses
The analog outputs provide the set value
Index is only available in the modular
system
8.9−3
8.9−3
Networking via system bus (CAN)
8
Diagnostics
8.10
8.10
Diagnostics
The following indices can be used for the diagnostics. They display operating
states. Settings are not possible.
Index
I1014h
I2359h
I1027h
I6000h
I6200h
I6401h
I6411h
I1003h
L
Information displayed
Emergency telegram
Operating status of the system bus
Module ID read
Digital input status
Digital output status
Analog input status
Analog output status
Current errors
EDSPM−TXXX−9.0−11/2009
Description
8.10−2
8.10−3
8.10−3
8.10−3
8.10−4
8.10−5
8.10−5
8.10−1
8
Networking via system bus (CAN)
8.10
8.10.1
Diagnostics
Emergency telegram
8.10.1
Emergency telegram
By means of the emergency telegram, the I/O system IP20 communicates internal
device errors to other system bus nodes with high priority. 8 bytes of user data are
available.
Index
Name
Possible settings
Lenze
I1014h
Important
Selection
COB ID emergency
Emergency telegram
Identifier 80h + node address is displayed
after boot−up.
8.10−2
Emergency telegram structure
Byte 0
LOW byte
Error code
Byte 1
HIGH byte
Error code
Byte 2
Error register
I1001h
Byte 3
Byte 4
Byte 5
Error information
3
Byte 6
Byte 7
1
2
4
5
Byte 3
00h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
01h
00h
00h
00h
00h
02h
03h
05h
Slot number
Slot number
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
06h
00h
00h
00h
00h
30h
40h +
Slot number
80h +
Slot number
Slot number
00h
00h
00h
Contents of the emergency telegram
Error cause
Emergency telegram reset
Error on initialisation of modules linked to
backplane bus
Error on module configuration check
Error on module read/write
Module configuration was changed
Configuration of the modules has been
changed. The module is in the Pre−Operational
state.
Incorrect module parameterisation
Diagnostic alarm − analog module
Byte 0 Byte 1
0000h
1000h
Process alarm − analog module
Heartbeat error (monitoring time exceeded).
Node guarding error (monitoring time
exceeded).
8.10−2
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
FFh
10h
PDO number
Monitoring time
(LOW byte)
Monitoring time
(HIGH byte)
6300h
Map index
(LOW byte)
Map index
(HIGH byte)
Number of entries
00h
00h
8130h
Subindex
Node address
Monitoring time
(LOW byte)
Monitoring time
(HIGH byte)
00h
8130h
Guard time
(LOW byte)
Guard time
(HIGH byte)
Life time
00h
00h
PDO control (monitoring time in I2400h has
been exceeded).
SDO/PDO mapping error
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
EDSPM−TXXX−9.0−11/2009
L
8
Networking via system bus (CAN)
Diagnostics
Operating state of system bus (CAN)
8.10.2
8.10
8.10.2
Operating state of system bus (CAN)
Index I2359h displays the operating status of the system bus.
I2359h
0
1
Operating status
Operational
Pre−Operational
Description
The system bus is fully functional. The I/O system can transmit and receive parameter and process data.
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
3
Bus off
The I/O system has received incorrect telegrams and becomes passive in the overall system bus environment, i. e., the I/O
system 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
The I/O system has disconnected itself from the system bus after receiving too many incorrect telegrams.
Index
Name
Possible settings
I2359h
CAN state
Lenze
8.10.3
Important
Selection
0
0
1
2
3
{1}
Operational
Pre−Operational
Warning
Bus off
8.10−3
3 Display only
System bus status
Reading out the module identifiers
When using the modular system, the number of the modules connected to the
backplane 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
0
I1027h
1 ... 32
Reading...
... the number of plugged modules (0 ... 32)
... the module type in slots 1 ... 32
Module type
—
No module
8×digital input
16×digital input
1×counter/16×digital input
8×digital output 1A
16×digital output 1A
8×digital output 2A
4×relay
8×digital input / output
4×analog input
4×analog output
4×analog input / output
2/4×counter
SSI interface
8.10.4
Module identifier
0h ... 20h
0h
9FC1h
9FC2h
08C0h
AFC8h
BFC9h
15C4h
A5E0h
45DBh
B5F4h
B5DBh
Status of the digital inputs
Via the index I6000h the status of the digital inputs can be displayed.
L
EDSPM−TXXX−9.0−11/2009
8.10−3
8
Networking via system bus (CAN)
8.10
8.10.5
Diagnostics
Status of the digital outputs
Index
Name
I6000h
Digital input
Module 1
Module 2
...
Module 64
Possible settings
Lenze
1
2
...
64
8.10.5
Selection
0
Important
{1}
255 Display only
Digital input status
8.10−3
Status of the digital outputs
Via the index I6200h the status of the digital outputs can be displayed:
Index
Name
I6200h *
1
2
...
64
Digital output
Module 1
Module 2
...
Module 64
Possible settings
Lenze
8.10−4
Important
Selection
0
{1}
255 · Digital output status
· The outputs can be set manually
(forcing):
– Depends on CAN status and I2360h
EDSPM−TXXX−9.0−11/2009
8.10−4
L
8
Networking via system bus (CAN)
Diagnostics
Status of the analog inputs
8.10.6
8.10
8.10.6
Status of the analog inputs
Via the index I6401h the status of the analog inputs can be displayed.
Index
Name
Possible settings
Lenze
I6401h
1
2
...
36
Analog input
Channel 1
Channel 2
...
Channel 36
8.10.7
Selection
−32768
Important
{1}
32767 Display only
Analog input status
Index is only available in the modular
system
8.10−5
Status of the analog outputs
Via the index I6411h the status of the analog outputs can be displayed:
Index
Name
Possible settings
Lenze
I6411h *
1
2
...
36
Analog output
Channel 1
Channel 2
...
Channel 36
L
Important
Selection
−32768
{1}
EDSPM−TXXX−9.0−11/2009
32767 · Analog output status
· The outputs can be set manually
(forcing):
– Depends on CAN status and I2360h
· Index is only available in the modular
system
8.10−5
8.10−5
9
Network via CANopen
Contents
9
Networking via CANopen
Contents
L
9.1
About CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.1
Structure of the CAN data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.2
Identifier . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1.3
Saving changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.1−1
9.1−1
9.1−2
9.1−2
9.2
Network management (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.2−1
9.3
Transmitting process data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.1
Process data telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.2
Identifier of the process data objects (PDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.3
Assigning individual parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.4
Process data transmission mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.5
Process image of the modular system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.6
Process image of the compact system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3.7
Compatibility with Lenze drive and automation components . . . . . . . . . . . . . . . . . . .
9.3.8
Data transmission between I/O system IP20 and controller . . . . . . . . . . . . . . . . . . .
9.3.9
Indices for setting the process data transmission . . . . . . . . . . . . . . . . . . . . . . . . . .
9.3−1
9.3−1
9.3−2
9.3−3
9.3−3
9.3−5
9.3−8
9.3−9
9.3−11
9.3−12
9.4
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.1
Telegram structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.2
Writing a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4.3
Reading a parameter (example) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.4−1
9.4−1
9.4−4
9.4−5
9.5
Setting of baud rate and node address (node ID) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.5−1
9.6
Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.6−1
9.7
Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.7−1
9.8
Reset node . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.8−1
9.9
Monitoring
9.9.1
9.9.2
9.9.3
...............................................................
Time monitoring for PDO1−Rx ... PDO10−Rx . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Digital output monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
Monitoring of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.9−1
9.9−1
9.9−2
9.9−3
9.10
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.1
Emergency telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.2
Operating state of system bus (CAN) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.3
Reading out the module identifiers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.4
Status of the digital inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.5
Status of the digital outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.6
Status of the analog inputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10.7
Status of the analog outputs . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
9.10−1
9.10−2
9.10−3
9.10−3
9.10−3
9.10−4
9.10−5
9.10−5
EDSPM−TXXX−9.0−11/2009
9.1
Network via CANopen
9
About CANopen
Structure of the CAN data telegram
9.1
9.1.1
9.1
About CANopen
The I/O system IP20 supports the CANopen communication module.
The CANopen protocol is a standardised layer−7 protocol for the CAN bus. This
layer is based on the CAN Application Layer (CAL) which was developed as a
universal protocol.
However, as the practice shows, applications with CAL were too complex for the
users. CANopen provides a uniform and simple structure for connecting the CAN
devices of the various manufacturers.
)
Note!
l
l
9.1.1
The communication profile CANopen can be selected with
setting the node address (Node−ID).
– Information on how to proceed with the modular system is
included in the description of the CAN Gateway module in the
chapter "The modular system".
– Information on how to proceed with the compact system is
included in the description of the corresponding module in the
chapter "The compact system".
– Lenze setting: System bus (CAN)
Additional information on CANopen can be found in the Lenze
CAN Communication Manual.
Structure of the CAN data telegram
Control field
RTR bit
Start
Identifier
1 bit
Fig. 9.1−1
)
11 bits
1 bit
6 bits
User data (0 ... 8 bytes)
· Network management
· Process data
· Parameter data
CRC delimit.
ACK delimit.
CRC sequence
ACK slot
End
15 bits
1 bit
1 bit
1 bit
7 bits
Basic structure of the CAN telegram
Note!
Only the identifier and the user data are relevant to the user. All
other data of the CAN telegram are automatically processed by
the system.
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EDSPM−TXXX−9.0−11/2009
9.1−1
9
Network via CANopen
9.1
9.1.2
About CANopen
Identifier
9.1.2
Identifier
The principle of CAN communication is based on a message−oriented data
exchange between a transmitter and many receivers. Therefore, all nodes can
transmit and receive more or less at the same time.
The so−called identifier in the CAN telegram, also called COB−ID (Communication
Object Identifier), controls which node is to receive a transmitted message. In
addition to the addressing, the identifier contains information on the priority of the
message and the type of user data.
The identifier consists of a ’basic identifier’ and the node address of the device to
be approached:
Identifier = Basic identifier + node address
9.1.3
l
This node address is set with the coding switch at the module:
– Modular system: At CAN gateway
– Compact system: At each module
l
Network management and sync telegram only require the basic identifier.
l
The identifiers can also be set individually. (
Saving changes
)
Note!
l
l
9.1−2
9.3−3)
Changes of the baud rate, node address, identifiers for PDOs,
and the transmission mode for PDOs must be saved with
I2003h = 1, for being maintained even after switching off the
supply 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
EDSPM−TXXX−9.0−11/2009
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9
Network via CANopen
Network management (NMT)
9.2
9.2
Network management (NMT)
Via the network management, the master can change a communication status for
the whole CAN network.
Communication phases
Status
"Initialisation"
"Pre−Operational"
"Operational"
"Stopped"
Explanation
Initialisation starts when the I/O system is switched on. In this phase, the I/O
system does not take part in the bus data transfer.
Furthermore it is in each NMT status possible to restart the entire initialisation or
parts of it by transferring different telegrams (see "Status transitions"). All
parameters already set are overwritten with their standard values.
After initialisation has been completed, the I/O system is automatically set to the
status "Pre−operational".
The I/O system can receive parameter data.
Process data are ignored.
The I/O system can receive parameter and process data.
Parameter and process data cannot be received. Network management telegrams
can be received.
The module outputs switch to the configured status (see chapter "Monitoring").
Telegram structure
Identifier
Value = 0
User data
Only contains command
11 bit
Fig. 9.2−1
2 byte
Telegram for changing the communication phase
The telegram used for network management contains an identifier and the
command which is part of the user data and consists of command byte and node
address.
Telegrams with the identifier 0 and two bytes user data are used to change
between the communication phases.
Only the network master (e.g. controller) can change a communication status for
the whole network.
)
Note!
Communication via process data only is possible with a state
change to operational"!
Example:
For changing the state of all nodes on the bus from
"pre−operational" to operational" via the CAN master, the
following identifier and user data must be set in the telegram:
l Identifier: 00 (broadcast telegram)
l User data: 0100 (hex)
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EDSPM−TXXX−9.0−11/2009
9.2−1
9
Network via CANopen
9.2
Network management (NMT)
State transitions
(1)
Initialisation
(2)
(14)
(11)
Pre-Operational
(7)
(4)
(13)
(3)
(12)
(10)
(5)
Stopped
(6)
(9)
(8)
Operational
E82ZAFU004
Fig. 9.2−2
Status
transition
Network management status transitions
Command
(hex)
Network status
after change
Effects on process and parameter data
Initialisation starts automatically when the mains is
switched on.
During initialisation, the I/O system does not take part in
the data transfer.
(1)
−
Initialisation
After initialisation has been completed, the device sends a
boot−up message with an identifier to the master. The
device is automatically set to the status "Pre−operational".
In this phase, the master determines the I/O system
(2)
−
Pre−Operational
communication.
From that moment on, the master changes a status for the whole network. A target address, which is part of the
command, selects the slave(s).
Network management telegrams, sync, emergency,
process data (PDOs) and parameter data (SDOs) are active.
Optional:
(3), (6)
01 xx
Operational
When the status is changed, event and time−controlled
process data (PDOs) will be sent once.
Network management telegrams, sync, emergency and
parameter data (SDOs) are active (like Enter
(4), (7)
80 xx
Pre−Operational
pre−operational state)
Parameter and process data cannot be received. Network
(5), (8)
02 xx
Stopped
management telegrams can be received.
Initialises all indices with the Lenze setting.
(9)
81 xx
(10)
Initialisation
(11)
Initialises all communication parameters (index 0−1FFFh)
(12)
with the Lenze setting.
82 xx
(13)
(14)
xx = 00h
xx = node ID
9.2−2
With this assignment, all controllers connected are addressed by the telegram. All controllers can change their status at the same time.
If a node address is indicated, the status will only be changed for the controller addressed.
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Network via CANopen
9
Transmitting process data
Process data telegram
9.3
9.3.1
9.3
Transmitting process data
Process data are used for control−specific purposes, such as setpoint and actual
values, for example.
l
9.3.1
Process data or the input / output data of the I/O system IP20 are
transmitted as so−called PDOs (Process Data Objects).
Process data telegram
Structure of the process data telegram:
11 bits
Identifier
Byte 1
Byte 2
Byte 3
8 bytes of user data
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Identifier
Information on the identifier can be found in chapter "Structure of the CAN data
telegram".
User data
The eight bytes of user data transmit the input signals (sent user data) and the
output signals (received user data) of the modules.
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EDSPM−TXXX−9.0−11/2009
9.3−1
9
Network via CANopen
9.3
9.3.2
Transmitting process data
Identifier of the process data objects (PDO)
9.3.2
Identifier of the process data objects (PDO)
The identifiers of process data objects PDO1 ... PDO10 consist of the so−called
basic identifiers and the set node address:
Identifier = Basic identifier + node address
Basic identifiers of the process
data objects
Basic identifier
PDOs
Available for
dec
hex
CAN gateway
8×dig. I/O compact
16×dig. I/O compact
32×dig. I/O compact
PDO1−Rx
PDO1−Tx
512
384
200
180
ü
ü
PDO2−RX
PDO2−TX
768
640
300
280
ü
—
PDO3−Rx
PDO3−Tx
1024
896
400
380
ü
—
PDO4−Rx
PDO4−Tx
1280
1152
500
480
ü
—
PDO5−Rx
PDO5−Tx
1920
1664
780
680
ü
—
PDO6−Rx
PDO6−Tx
576
448
240
1C0
ü
—
PDO7−Rx
PDO7−Tx
832
704
340
2C0
ü
—
PDO8−Rx
PDO8−Tx
1088
960
440
3C0
ü
—
PDO9−Rx
PDO9−Tx
1344
1216
540
4C0
ü
—
PDO10−Rx
PDO10−Tx
1984
1728
7C0
6C0
ü
—
Process data object 1
Process data object 2
Process data object 3
Process data object 4
Process data object 5
Process data object 6
Process data object 7
Process data object 8
Process data object 9
Process data object 10
9.3−2
EDSPM−TXXX−9.0−11/2009
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Network via CANopen
9
Transmitting process data
Assigning individual parameters
9.3
9.3.3
9.3.3
Assigning individual parameters
For larger networks with many nodes, it may be useful to set individual identifiers
for process data objects PDO1 ... PDO10 that are independent of the set node
address.
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!
l
l
9.3.4
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.
Process data transmission mode
Process data transmission mode
The transmission mode is configured via the index I1400h, subindex 2
(PDO1−Rx) ... I1409h, subindex 2 (PDO10−Rx):
l
Sync−controlled reception
l
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 the
master. Finally, the process input data are accepted.
l
Process output data
transmission method
Event−controlled reception (Lenze setting)
The transmission mode is configured via the index I1800h, subindex 2
(PDO1−Tx) ... I1809h, subindex 2 (PDO10−Tx):
l
Sync−controlled transmission
l
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 the
master.
l
Event−controlled transmission (Lenze setting)
)
Note!
After changing to the CAN state "Operational", the current
process image is transmitted from the I/O system IP20.
L
EDSPM−TXXX−9.0−11/2009
9.3−3
9
Network via CANopen
9.3
9.3.4
Transmitting process data
Process data transmission mode
Sync telegram for cyclic process
data
A special telegram, the sync telegram, is required for synchronisation when cyclic
process data are transmitted.
The sync telegram must be generated by another node. It initiates the
transmission for the cyclic process data of the I/O system I/P20 and at the same
time triggers data acceptance of cyclic process data received in the I/O system
IP20.


PDO1-TX
1.
PDO1-RX
2.
3.
4.
epm−t111
Fig. 9.3−1
Synchronisation of cyclical process data with the help of a sync telegram
(asynchronous data not considered)

Transmission sequence
Sync telegram
1. After receiving a sync telegram, the I/O system IP20 transmits the cyclic
process output data (PDO1−Tx) if "sync−controlled transmission" is active.
2. Once the transmission is completed, the I/O system IP20 receives the cyclic
process 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) are
accepted asynchronously by the I/O system IP20 after transmission.
9.3−4
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Network via CANopen
9
Transmitting process data
Process image of the modular system
9.3
9.3.5
9.3.5
Process image of the modular system
The process image of the modular system is explained on the basis of the following
example. In addition to the CAN gateway, maximally 32 modules can be
connected.
L
0
L
L
L
L
L
L
L
16×DI
8×DO
4×AI
2 bytes
TX
1 byte RX
8 bytes
TX
M5
M6
M7
2/4×
Counter
10 bytes
TX
10 bytes
RX
M8
L
L
1
Module
EPM – T211
Process
data
Module
No.
L
CAN
8×DI
8×DI
8×DI
8×DI
Gateway
—
1 byte TX 1 byte TX 1 byte TX 1 byte TX
M0
M1
M2
M3
M4
EPM – T211
EDSPM−TXXX−9.0−11/2009
SSI
interface
1×counter
/ 16×DI
4×AI/AO
—
—
...
M32
4 bytes TX 6 bytes TX 4 bytes TX
4 bytes
6 bytes
4 bytes
RX
RX
RX
M9
M10
M11
9.3−5
9
Network via CANopen
9.3
9.3.5
Transmitting process data
Process image of the modular system
Process image
PDO1
Fixed for the first
DIO
PDO2
Fixed for the first
AIO
PDO3
DIO or AIO 1)
PDO4
DIO or AIO 1)
PDO5
DIO or AIO 1)
PDO6
DIO or AIO 1)
...
PDO10
...
DIO or AIO 1)
PDO1−RX
PDO1−TX
PDO2−RX
PDO2−TX
PDO3−RX
PDO3−TX
PDO4−RX
PDO4−TX
PDO5−Rx
PDO5−Tx
PDO6−Rx
PDO6−Tx
...
PDO10−RX
PDO10−TX
1)
Byte 0
M6
M1
M8
M7
M8
M8
—
M8
M10
M10
M9
M9
Byte 1
—
M2
M8
M7
M8
M8
—
M8
M10
M10
M9
M9
Byte 2
—
M3
M8
M7
M11
M8
—
M11
M10
M10
M9
M9
Byte 3
—
M4
M8
M7
M11
M8
—
M11
M10
M10
M9
M9
Byte 4
—
M5
M8
M7
M11
M8
—
M11
M10
M10
—
—
Byte 5
—
M5
M8
M7
M11
M8
—
M11
M10
M10
—
—
Byte 6
—
—
M8
M7
—
M8
—
—
—
—
—
—
Byte 7
—
—
M8
M7
—
M8
—
—
—
—
—
—
...
...
...
...
...
...
...
...
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
—
A PDO can be either assigned to AIO or DIO.
The modules are assigned according to the slot
sequence, with the DIO being assigned first.
AI
AO
DI
DO
AIO
DIO
Analog input data
Analog output data
Digital input data
Digital output data
Analog input and output data
Digital input and output data
Special features of the modules 1×counter/16×digital input and SSI interface:
Transmission times
l
The module 1×counter/16×digital input always assigns the next to last and
the SSI interface module always the last of the PDOs used.
l
The modules cannot be assigned to PDO1 and PDO2. Thus, only eight of
these modules can be used in a system.
l
The modules assign a whole PDO (8 bytes) each.
The transmission times of the input / output signals within the I/O system IP20 can
be calculated with a formula.
t t + t c ) (N PDOTX @ 8ms) ) (N PDORX @ 2ms) ) t d ) 742ms
tt
tc
NPDOTX
NPDORX
td
742 ms
Transmission time of input / output signals of a module between
fieldbus connection and input / output terminals.
Time required for copying into the CAN object directory
Transmitting the PDO number (PDO1−Tx ... PDO10−Tx)
Receiving the PDO number (PDO1−Rx ... PDO10−Rx)
Module delay time
Fixed internal processing time
Time required for copying into the CAN object directory:
DO modules
tc = 50 ms + n × 14 ms
n
9.3−6
DI modules
tc = 50 ms + n × 25 ms
AO modules
tc = 50 ms + n × 210 ms
AI modules
tc = 50 ms + n × 250 ms
Number of bytes assigned by the module in the PDOs
EDSPM−TXXX−9.0−11/2009
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Network via CANopen
9
Transmitting process data
Process image of the modular system
9.3
9.3.5
Example
In the I/O system shown in the example, the transmission time of the input signals
at the module M3 (8×digital input) to the master is to be detected. The baud rate
amounts to 500 kbits/s.
Solution:
l
For transmitting the input signals, the module assigns one byte (byte 3) of
the process data channel PDO1−Tx.
l
The delay time td within the module amounts to 3 ms.
1. Calculating the time required for copying tc into the CAN object directory:
t c + 50ms ) 1 @ 25ms + 75ms
2. Calculating the transmission time tt of the input signals to the fieldbus:
t t + 75ms ) (1 @ 8ms) ) (0 @ 2ms) ) 3000ms ) 742ms + 3825ms
3. Calculating the transmission time tCAN via the fieldbus:
l
L
L
t CAN
DI 8xDC24V
1
PW
ER
.0
2
RD
.1
3
BA
.2
4
.3
5
.4
6
.5
7
ADR.
0 1
.6
X1
DC
+
24V
.7
8
9
10
–
EPM – T110 1A.10 EPM – T210 1A
epm−t135
t CAN +
CANtelegramlength
+ 111bits
+ 222ms
500kbits
Baudrate
s
4. Calculating the total transmission time t:
t + t t ) t CAN + 3825ms ) 222ms + 4047ms + 4.047ms
)
Note!
The internal processing times of the controller must also be
considered.
L
EDSPM−TXXX−9.0−11/2009
9.3−7
9
Network via CANopen
9.3
9.3.6
Transmitting process data
Process image of the compact system
9.3.6
Process image of the compact system
The process image of the compact system is explained on the basis of the module
32×dig. I/O compact.
L
Module
Process data
Slot
0 1
CAN gateway
—
M0
Process image
PDO1
PDO1−RX
PDO1−TX
1 byte
M1
Byte 0
M4
M1
DI
DO
9.3−8
8×DI
1 byte DI
M2
8×DI
1 byte DI
M3
Byte 1
—
M2
Byte 2
—
M3
8×DO
1 byte DO
M4
Byte 3
—
—
Byte 4
—
—
Byte 5
—
—
Byte 6
—
—
Byte 7
—
—
Digital input data
Digital output data
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Transmitting process data
Compatibility with Lenze drive and automation components
9.3
9.3.7
9.3.7
Compatibility with Lenze drive and automation components
The tables below will assist you in finding out at which stage a modular system or
which compact module, respectively, can be operated in combination with a Lenze
drive 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 requires
Modular system
8×digital input
16×digital input
8×digital output 1A
8×digital output 2A
16×digital output 1A
8×digital input / output
4×relay
4×analog input
4×analog output
4×analog input / output
2/4×counter
SSI interface
1×counter/16×digital input
Compact system
8×dig. I/O compact
16×dig. I/O compact
16×dig. I/O compact (single−wire conductor)
16×dig. I/O compact (three−wire conductor)
PDO−Rx
PDO−Tx
—
—
1/8
1/8
2/8
1/8
1/8
—
8/8
8/8
8/8 + 2/8
8/8
8/8
1/8
2/8
—
—
—
1/8
—
8/8
—
8/8
8/8 + 1/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
8/8
Process data objects (PDO) of the Lenze drive and automation components (master)
Components
9300 Servo PLC
Drive PLC
9300 inverter (all standard types)
8200 vector frequency inverter
8200 motec frequency inverter
Communication module EMF2175
)
l
l
L
PDO−Tx [xPDO−Tx]
>10
>10
2
2
Note!
l
Example
PDO−Rx [xPDO−Rx]
A modular system allows the connection of max. 32 modules in
addition to the CAN gateway.
A modular system offers max. 20 PDOs (10 PDO−Rx and
10 PDO−Tx) for process data exchange.
Since 9300 Servo PLC and Drive PLC are able to manage more
than 20 process data objects, several modular systems can be
operated on a Servo PLC or Drive PLC. For this each CAN
gateway must be assigned to a unique node address.
A control task requires the connection of 4 digital outputs, 10 digital inputs and
3 analog outputs to an 8200 vector frequency inverter.
EDSPM−TXXX−9.0−11/2009
9.3−9
9
Network via CANopen
9.3
9.3.7
Transmitting process data
Compatibility with Lenze drive and automation components
Solution
The planned solution is a modular system with the following modules:
I/O system IP20
Modular system
8×digital input / output
8×digital input
4×analog input
Sum
Number
modules
1
1
1
3
Required PDOs
PDO−Rx
1/8
–
1
9/8
PDO−Tx
1/8
1/8
–
2/8
For exchanging the process data, the 8200 vector makes enough PDOs available:
Available PDOs
Frequency inverter
PDO−Rx
2
8200 vector
9.3−10
EDSPM−TXXX−9.0−11/2009
PDO−Tx
2
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Network via CANopen
9
Transmitting process data
Data transmission between I/O system IP20 and controller
9.3
9.3.8
9.3.8
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 are
set for the communication protocol "system bus (CAN)".
For communicating with Lenze controllers the basic identifiers for the process data
object 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 are
accepted.
l
0

‚
1
CAN_OUT3
CAN_IN3
PDO1-Rx
PDO1-Tx
ƒ
„
L
L
L
DO 8xDC24V 1A
DI 8xDC24V
1
L+
1
ER
.0
2
.0
2
RD
.1
3
.1
3
BA
.2
4
.2
4
.3
5
.3
5
.4
6
.4
6
.5
7
.5
7
8
.6
8
9
.7
9
10
F
10
PW
ADR.
0 1
.6
X1
DC
+
24V
.7
–
EPM – T110 1A.10 EPM – T210 1A
EPM – T220 1A
epm−t112
Fig. 9.3−2
Data transmission between I/O system IP20 and controller
PDO−Rx The I/O system IP20 receives the status information of the controller
PDO−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
ƒ
767d (Basic identifier) + 2 (node address) = 769d (identifier)
„
768d (Basic identifier) + 2 (node address) = 770d (identifier)
L
EDSPM−TXXX−9.0−11/2009
9.3−11
9
Network via CANopen
9.3
9.3.9
Transmitting process data
Indices for setting the process data transmission
9.3.9
Indices for setting the process data transmission
Process data objects for input data
Index
Name
Possible settings
Lenze
Important
Selection
I1400h
¿
Index is available in the modular and
compact system
1 COB−ID used by
RxPDO 1
2 Transmisson type
768
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
9.3−3
2047 Defining the individual identifiers for
process data object 1
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
Every received value is accepted
... ...
I1409h
¿
Index is only available in the modular
system
1 COB−ID used by
RxPDO 10
2 Transmisson type
9.3−12
1665
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
9.3−3
2047 Defining the individual identifiers for
process data object 10
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
Every received value is accepted
EDSPM−TXXX−9.0−11/2009
L
Network via CANopen
9
Transmitting process data
Indices for setting the process data transmission
9.3
9.3.9
Process data objects for output data
Index
Name
Possible settings
Lenze
Important
Selection
9.3−3
I1800h
¿
1 COB−ID used by
TxPDO 1
2 Transmisson type
767
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
... ...
0
0
0
{1}
2047 Defining the individual identifiers for
process data object 1
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
I1809h
¿
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
1 COB−ID used by
TxPDO 10
2 Transmisson type
1984
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
L
0
0
0
0
{1}
9.3−3
2047 Defining the individual identifiers for
process data object 10
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
EDSPM−TXXX−9.0−11/2009
65535 Inhibit time
65535 Cycle time
9.3−13
Network via CANopen
9
Transmitting parameter data
Telegram structure
9.4
9.4.1
9.4
Transmitting parameter data
Parameter data are the so−called indices.
Parameters are usually set only once during commissioning.
Parameter data are transmitted as so−called SDOs (Service Data Objects) via the
system bus and acknowledged by the receiver, i.e. the transmitter gets a feedback
if the transmission was successful.
9.4.1
Telegram structure
Structure of the telegram for parameter data:
11 bit
Identifier
8 bytes of user data
Index
Instruction
Subindex Data 1
code
Low byte High byte
Data 2
Data 3
Data 4
l
The subchapters below explain the individual telegram components in detail.
l
The chapter 9.4.2 contains an example of how to write a parameter.
( 9.4−4)
l
The chapter 9.4.3 contains an example of how to read a parameter. (
Identifier
Identifier
Index
Instruction
Subindex
code
Low byte High byte
Data 1
Data 2
Data 3
9.4−5)
Data 4
One parameter channel is available for parameter data transmission, which is
addressed via the identifier.
Identifier =
SDO
L
Parameter channel 1
Output (transmit)
Input (receive)
EDSPM−TXXX−9.0−11/2009
Basic identifier
dec
hex
1408
1536
580
600
+ node address of the device
+ value set with coding switch
9.4−1
9
Network via CANopen
9.4
9.4.1
Transmitting parameter data
Telegram structure
Instruction code
Identifier
Index
Instruction
Subindex
code
Low byte High byte
Data 1
Data 2
Data 3
Data 4
The instruction code contains the command to be executed and information about
the parameter data length. It is structured as follows:
Bit 7
(MSB)
Command
Bit 6
Bit 5
Bit4
Bit 3
Command Specifier (cs)
Write Request
Write Response
Read Request
Read Response
Error Response
0
0
0
0
1
0
1
1
1
0
1
1
0
0
0
0
0
0
0
0
Bit 2
Bit 1
Bit 0
Length
E
s
00 = 4 bytes
01 = 3 bytes
10 = 2 bytes
11 = 1 byte
1
0
0
1
0
1
0
0
1
0
0
0
Instruction code for parameters with 4 bytes of data length:
4 bytes of data
(32 bits)
Instruction Error Response"
Command
hex
dec
Information
Write Request
Write Response
Read Request
Read Response
Error Response
23
60
40
43
80
35
96
64
67
128
Transmitting parameters to a node
Node response to the Write Request (acknowledgement)
Request to read a parameter from a node
Response to the read request with the actual value
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 error
code:
Command code Error Response
80h
9.4−2
Data 3
Data 4
Error message
3
5
6
6
Access denied
Wrong subindex
Wrong index
EDSPM−TXXX−9.0−11/2009
L
Network via CANopen
9
Transmitting parameter data
Telegram structure
9.4
9.4.1
Parameter addressing
(Index/subindex)
Identifier
Index
Instruction
Subindex
code
Low byte High byte
Data 1
Data 2
Data 3
Data 4
The index of the telegram is used to address the index to be read or written:
Example
l
The index value must be entered in flush−left Intel format and divided into
Low byte and High byte (see example).
l
For subindices, the number of the associated subindex must be entered into
the telegram’s subindex.
l
For indices without subindex, the subindex always has the value 0’.
The subindex 1 of index I2400h (monitoring time for PDO1) is to be addressed:
11 bit
Identifier
8 bytes of user data
Index
Instruction
Subindex Data 1
code
Low byte High byte
00h
24h
1
Data 2
Data 3
Data 4
Identifier
Index
Instruction
Subindex
code
Low byte High byte
Data 2
Data 3
Data 4
Parameter data (data 1 ... data 4)
Data 1
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).
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 bit
Identifier
8 bytes of user data
Index
Instruction
Subindex Data 1
code
Low byte High byte
E8h
(LSB)
L
EDSPM−TXXX−9.0−11/2009
Data 2
Data 3
Data 4
03h
00h
00h
(MSB)
9.4−3
9
Network via CANopen
9.4
9.4.2
Transmitting parameter data
Writing a parameter (example)
9.4.2
Writing a parameter (example)
Task
An I/O system IP20 has the node address 2. For the first analog module (4×analog
output), the function of the output A.0 (voltage signal 0 ... +10 V, 12 bits) is to be
shown.
Telegram to the I/O system IP20
Identifier
Instruction
code:
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
11 Bit
Formula
= Basic identifier + node address
= 1536 + 2 =1538 = 602h
= 23h
Information
· Basic identifier for parameter channel 1 (output) = 1536
· Node address of the I/O system IP20 = 2
· Command Write Request" (transmitting parameters to
the I/O system IP20)
= I3001h
=1
= 00h
= 00h
= 05h
= 3Bh
= 00 00 05 3Bh
·
·
·
·
·
·
Index first analog module
Subindex = 1 (function for output A.1 among others)
Diagnostics (Lenze setting)
Reserved
Output A.0 (voltage signal 0 ... +10 V, 12 bits)
Output A.1 (Lenze setting)
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
23h
01h
30h
1
00h
Identifier
602h
Data 2
Data 3
Data 4
00h
05h
3Bh
(LSB)
L
Write Request
Write Response
(MSB)
L
Identifier = 1538
Identifier = 1410
0 1
epm−t118
Fig. 9.4−1
Telegram from the I/O
system IP20 (acknowledgement
when being executed faultlessly)
Identifier
Instruction
code:
Index
Subindex
Data 1 ... 4
11 Bit
Identifier
1410
9.4−4
Writing a parameter
Formula
= Basic identifier + node address
= 1408 + 2
= 1410
= 60h
Information
· Basic identifier for parameter channel 1 (input) = 1408
· Node address of the I/O system IP20 = 2
· Command Write Response" (acknowledgement from the
I/O system IP20)
= Index of the read request
= Subindex of the read request
=0
· Acknowledgement only
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
60h
01h
30h
0
0
EDSPM−TXXX−9.0−11/2009
Data 2
Data 3
Data 4
0
0
3
L
Network via CANopen
9
Transmitting parameter data
Reading a parameter (example)
9.4
9.4.3
9.4.3
Reading a parameter (example)
Task
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.
Telegram to the I/O system IP20
Identifier
Instruction
code:
Formula
Information
= Basic identifier + node address
= 1536 + 2 =1538 = 602h
= 40h
· Basic identifier for parameter channel 1 (output) = 1536
· Node address of the I/O system IP20 = 2
· Command Read Request" (request for reading a
= I3001h
=1
= 00h
= 00h
= 00h
= 00h
= 00 00 00 00h
· Index first analog module
· Subindex = 1 (function for output A.0 among others)
· Read request only
parameter of the I/O system IP20)
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
11 bits
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
40h
01h
30h
1
00h
Identifier
602h
L
Read Request
Read Response
Data 2
Data 3
Data 4
00h
00h
00h
L
Identifier = 1538
Identifier = 1410
0 1
epm−t119
Fig. 9.4−2
Telegram from the I/O system
IP20 (value of the requested
parameter):
Reading a parameter
Identifier
Instruction
code:
Information
= Basic identifier + node address
= 1408 + 2
= 1410
= 43h
· Basic identifier for parameter channel 1 (input) = 1408
· Node address of the I/O system IP20 = 2
· Command Read Response" (response to the read
request with the current value)
Index
Subindex
Data 1
Data 2
Data 3
Data 4
Data 1 ... 4
11 bits
Identifier
1410
Formula
= Index of the read request
= Subindex of the read request
= 00h
= 00h
= 05h
= 3Bh
= 00 00 05 3Bh
· Assumption: Analog output A.0 outputs a voltage signal
0 ... +10 V at a 12 bit resolution.
8 bytes of user data
Index
Instruction
Subindex Data 1
code:
LOW byte HIGH byte
43h
01h
30h
0
00h
(LSB)
L
EDSPM−TXXX−9.0−11/2009
Data 2
Data 3
Data 4
00h
05h
3Bh
(MSB)
9.4−5
9
Network via CANopen
Setting of baud rate and node address (node ID)
9.5
9.5
Setting of baud rate and node address (node ID)
Baud rate
For establishing communication, all devices must use the same baud rate for the
data transfer.
l
The baud rate can be set via the coding switch at the module.
Node address
Each node of the network must be assigned to a node address, also called Node ID
within a range of 1 ... 63 for clear identification.
l
A node address in a network may be used only once.
l
The node address must be set with the coding switch at the module.
– –
0 1
+ +
epm−t024
Fig. 9.5−1
Coding switch at CAN gateway
–
+
Baud rate setting
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.
L
EDSPM−TXXX−9.0−11/2009
9.5−1
9
Network via CANopen
9.5
Setting of baud rate and node address (node ID)
5. Now set the node address with the coding switch for the module. You have
five seconds for this.
– Each node address must be assigned only once.
Setting the node address
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 coding
switch. The setting is accepted after switching on the supply
voltage.
Indices for setting
Index
Name
Possible settings
I100Bh
Node ID
Lenze
0
I2001h
CAN baud rate
9.5−2
1
Important
Selection
0
0
0
1
2
3
4
5
6
7
8
{1}
{1}
1000 kbits/s
500 kbits/s
250 kbits/s
125 kbits/s
100 kbits/s
50 kbits/s
20 kbits/s
10 kbits/s
800 kbits/s
63 Display only
System bus node address
255 Display only
System bus baud rate
EDSPM−TXXX−9.0−11/2009
L
9
Network via CANopen
Node Guarding
9.6
9.6
Node Guarding
NMT-Master
request
COB-ID = 1792 + Node-ID
Remote transmit request
0
s
response
6…0
7
Node
Guard
time
indication
1
t
confirm
NMT-Slave 1 )
COB-ID = 1792 + Node-ID
Node
Time
Life
request
Remote transmit request
0
confirm
1
s
t
7
response
6…0
indication
Node Guarding Event
indication
2 )
indication
Life Guarding Event 2
epm−t133
Fig. 9.6−1
Node Guarding Protocol
1)
s
T
Description
I/O system IP20
Status of the I/O system IP20
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 Guarding
telegram to the slave. If one of both indices is set to zero, the monitoring time is
also zero and hence deactivated. The slave sends a telegram with its current status
to the master.
With event−controlled process data transmission, Node Guarding ensures cyclical
node monitoring.
L
l
The master starts the Node Guarding by sending the Node Guarding
telegram.
l
If the slave (I/O system IP20) does not receive a telegram within the
monitoring time, the Node Guarding Event is activated. The I/O system IP20
switches to the state set in I1029h. The outputs switch to a defined state
(also see the chapter Configuration ® Diagnostics).
l
A change to the Operational status triggers a reset.
EDSPM−TXXX−9.0−11/2009
9.6−1
9
Network via CANopen
9.6
Node Guarding
Status telegram
1 byte of user data
Device status (bits 0 ... 6)
11 bits
Identifier
1792d (700h)
Toggle bit
Identifier:
Identifier
Formula
= Basic identifier + node address
= 1792d + xx
Information
The basic identifier for Node Guarding is
firmly 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)
04
05
7F
Device status
Stopped
Operational
Pre−Operational
Indices for setting
Index
Name
I100Ch * Guard time
I100Dh * Life time factor
I100Eh
Possible settings
Lenze
0
0
Selection
0
0
Important
{1 ms}
{1}
65535 Node Guarding
Monitoring time
0 = monitoring not active
255 Node Guarding
Response time computation factor
0 = monitoring not active
The response time is computed as:
monitoring period x factor
9.6−1
9.6−1
Display only
9.6−1
Identifier = Basic identifier + node address
(basic identifier cannot be modified)
Node Guarding
identifier
)
Note!
The Lenze PLC’s 9300 servo PLC and Drive PLC in connection
with the function library LenzeCanDSxDrv.lib support the "Node
Guarding" function.
9.6−2
EDSPM−TXXX−9.0−11/2009
L
9
Network via CANopen
Heartbeat
9.7
9.7
Heartbeat
Heartbeat
Producer
COB-ID = 1792 + Node-ID
0
request
1
s
r
6…0
7
Heartbeat
Producer
Time
Heartbeat
Consumer
indication
indication
indication
0
request
indication
1
s
r
7
6…0
indication
indication
indication
Heartbeat
Consumer
Time
indication
Heartbeat
Consumer
Time
Heartbeat Event
epm−t134
Fig. 9.7−1
Heartbeat Protocol
r
s
Heartbeat Consumer
Reserved
State of the Heartbeat Producer
The I/O system IP20 can monitor up to five nodes. The status telegrams of the
nodes to be monitored must arrive cyclically within a certain time at the I/O system
IP20. If a status telegram is not received within this time, the I/O system IP20
switches to the status set in I1029h. The outputs switch to a defined status (also
see the chapter Configuration ® Diagnostics).
Settings are made in the index I1016h.
Heartbeat Producer
The I/O system IP20 assigns a status telegram to the fieldbus and can thus be
monitored by other nodes.
Settings are made in index I1017h.
L
l
Producer heartbeat is automatically started if a time > 0 is entered into the
index 1017h and the I/O system IP20 changes to the status "Operational".
l
After the cycle time has been completed, the status telegram is transmitted
to the fieldbus by the I/O system IP20.
l
A change to the Operational status triggers a reset.
EDSPM−TXXX−9.0−11/2009
9.7−1
9
Network via CANopen
9.7
Heartbeat
Status telegram
1 byte of user data
Device status (bits 0 ... 6)
11 bits
Identifier
1792d (700h)
bits 7
reserved
Identifier:
Identifier
Formula
= Basic identifier + node address
= 1792d + xx
Information
The basic identifiers for heartbeat is firmly
adjusted to 1792d (700h)
xx = node address of the I/O system IP20
Device status (bit 1 ... 6) of the heartbeat producer:
Command
(hex)
00
05
04
7F
Status
Boot−up
Operational
Stopped
Pre−Operational
Indices for setting
Name
Index
Possible settings
Lenze
I1016h
¿
Heartbeat
consumer time
1 Heartbeat time
Heartbeat time
Node ID
Reserved
Byte 0
Byte 1
Byte 2
Byte 3
00h
00h
00h
00h
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
Node ID
0
0
{1}
Heartbeat producer
time
0
0
{1 ms}
0
Function is not active
Node ID
2 Heartbeat time
Node ID
3 Heartbeat time
Node ID
4 Heartbeat time
Node ID
5 Heartbeat time
I1017h
¿
Important
Selection
Data contents
)
I/O system IP20 can monitor up to five
9.7−1
nodes (subindex 1 ... 5).
If the monitored node does not respond, I/O
system IP20 changes to the status
"Pre−Operational". The outputs switch to a
defined state.
65535 · In the compact system, only subindex 1
is available
255 · Heartbeat time:
– The monitored node must respond
65535
within the time set. The time is set in
byte 0 and 1.
255
– If the monitored node does not
respond within the set time, I/O
65535
system IP20 switches to the
communication status set under
255
I1029h
– The communication status is reset
65535
when a new heartbeat telegram is
received
255
· Node ID:
65535
– Node address of the node to be
monitored. The address is set in
255
byte 2.
65535 I/O system IP20 can be monitored by other
nodes.
Within this time the device status of I/O
system IP20 is transmitted to the fieldbus.
Not available for system bus (CAN)
communication protocol
9.7−1
Note!
The Lenze 9300 servo PLC and Drive PLC in connection with the
function library LenzeCanDSxDrv.lib support the "heartbeat"
function.
9.7−2
EDSPM−TXXX−9.0−11/2009
L
9
Network via CANopen
Reset node
9.8
9.8
Reset node
Changes of transmission modes and identifiers will be accepted after "reset node"
only.
Index
Name
I2358h * CAN reset node
L
l
Switch the supply voltage on again
l
Execute NMT command "81h" (see chapter "Network management (NMT)")
l
Set I2358h = 1
Possible settings
Lenze
0
Important
Selection
0
1
No function
CAN reset node
EDSPM−TXXX−9.0−11/2009
Reset node
9.8−1
9.8−1
Network via CANopen
9
Monitoring
Time monitoring for PDO1−Rx ... PDO10−Rx
9.9
9.9.1
9.9
Monitoring
9.9.1
Time monitoring for PDO1−Rx ... PDO10−Rx
A time monitoring can be configured for the inputs of the process data objects
PDO1−Rx ... PDO10−Rx via the index I2400h.
Index
Name
Possible settings
Lenze
I2400h
¿
1
2
3
4
5
6
7
8
9
10
Timer value
PD01
PD02
PD03
PD04
PD05
PD06
PD07
PD08
PD09
PD10
L
Selection
0
Important
{1 ms}
0
0
0
0
0
0
0
0
0
0
EDSPM−TXXX−9.0−11/2009
9.9−1
65535 Monitoring time for process data input
objects
For the compact system, only index I2400h,
subindex 1 is available
9.9−1
9
Network via CANopen
9.9
9.9.2
Monitoring
Digital output monitoring
9.9.2
Digital output monitoring
Via the index I6206h you can configure the reactions of the digital outputs which
are to take place when no telegrams, "node guarding events" or "heartbeat" have
been received in the adjusted monitoring time.
Index
Name
Possible settings
Lenze
I6206h
¿
Error mode digital
output
0
Module 1
Module 2
...
Module 64
Name
I6207h
¿
Error value digital
output
All digital outputs retain the last status output.
Response from I6207h
Via index I6207h the response can be configured individually for each digital
output.
Possible settings
Lenze
0
9.9−2
Module 1
Module 2
...
Module 64
Important
Selection
0
{1}
8 bits of information
Bit value Output switches to LOW
0
Bit value
1
1
2
...
64
In I6207h, the response can be configured
individually for each digital output
0
0
...
0
Individual response setting
Index
9.9−2
255 Configures digital output monitoring
For the compact system, only index I6206h,
subindex 1 is available
{1}
0
255
1
2
...
64
Important
Selection
9.9−2
255 Configures the individual digital output
responses
For the compact system, only index I6207h,
subindex 1 is available
Output retains last status output
0
0
...
0
EDSPM−TXXX−9.0−11/2009
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Network via CANopen
9
Monitoring
Digital output monitoring
9.9
9.9.3
9.9.3
Monitoring of the analog outputs
Via the index I6443h you can configure the reactions of the analog outputs which
are to take place when no telegrams, "node guarding events" or "heartbeat" have
been received in the adjusted monitoring time.
Index
Name
Monitoring is started on receipt of the next PDO telegram after the settings.
l
If a telegram is not transmitted within the adjusted time, the module
switches to the "Pre−Operational" state. No further process data are
transmitted.
l
A change into the "Operational" state triggers a reset.
Possible settings
Lenze
I6443h
¿
l
Error mode analog
output
0
{1}
0
255
1
2
...
36
Channel 1
Channel 2
...
Channel 36
Name
1
2
...
36
Possible settings
Error value analog
output
Channel 1
Channel 2
...
Channel 36
L
All analog outputs retain the last value output
Response from I6444h
9.9−3
In I6444h the response can be configured
individually for each analog output
Via index I6444h the response can be configured individually for each analog
output.
Lenze
I6444h
¿
255 Configures analog output monitoring
Index is only available in the modular
system
0
0
...
0
Individual response setting
Index
Important
Selection
Important
Selection
−32768
{1}
0
0
...
0
EDSPM−TXXX−9.0−11/2009
32767 Configures the individual analog output
responses
The analog outputs provide the set value
Index is only available in the modular
system
9.9−3
9.9−3
Network via CANopen
9
Diagnostics
9.10
9.10
Diagnostics
The following indices can be used for the diagnostics. They display operating
states. Settings are not possible.
Index
I1014h
I2359h
I1027h
I6000h
I6200h
I6401h
I6411h
I1003h
L
Information displayed
Emergency telegram
Operating status of the system bus
Module ID read
Digital input status
Digital output status
Analog input status
Analog output status
Current errors
EDSPM−TXXX−9.0−11/2009
Description
9.10−2
9.10−3
9.10−3
9.10−3
9.10−4
9.10−5
9.10−5
9.10−1
9
Network via CANopen
9.10
9.10.1
Diagnostics
Emergency telegram
9.10.1
Emergency telegram
By means of the emergency telegram, the I/O system IP20 communicates internal
device errors to other system bus nodes with high priority. 8 bytes of user data are
available.
Index
Name
Possible settings
Lenze
I1014h
Important
Selection
COB ID emergency
Emergency telegram
Identifier 80h + node address is displayed
after boot−up.
9.10−2
Emergency telegram structure
Byte 0
LOW byte
Error code
Byte 1
HIGH byte
Error code
Byte 2
Error register
I1001h
Byte 3
Byte 4
Byte 5
Error information
3
Byte 6
Byte 7
1
2
4
5
Byte 3
00h
Byte 4
00h
Byte 5
00h
Byte 6
00h
Byte 7
00h
01h
00h
00h
00h
00h
02h
03h
05h
Slot number
Slot number
00h
00h
00h
00h
00h
00h
00h
00h
00h
00h
06h
00h
00h
00h
00h
30h
40h +
Slot number
80h +
Slot number
Slot number
00h
00h
00h
Contents of the emergency telegram
Error cause
Emergency telegram reset
Error on initialisation of modules linked to
backplane bus
Error on module configuration check
Error on module read/write
Module configuration was changed
Configuration of the modules has been
changed. The module is in the Pre−Operational
state.
Incorrect module parameterisation
Diagnostic alarm − analog module
Byte 0 Byte 1
0000h
1000h
Process alarm − analog module
Heartbeat error (monitoring time exceeded).
Node guarding error (monitoring time
exceeded).
9.10−2
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
FFh
10h
PDO number
Monitoring time
(LOW byte)
Monitoring time
(HIGH byte)
6300h
Map index
(LOW byte)
Map index
(HIGH byte)
Number of entries
00h
00h
8130h
Subindex
Node address
Monitoring time
(LOW byte)
Monitoring time
(HIGH byte)
00h
8130h
Guard time
(LOW byte)
Guard time
(HIGH byte)
Life time
00h
00h
PDO control (monitoring time in I2400h has
been exceeded).
SDO/PDO mapping error
Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3
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9
Network via CANopen
Diagnostics
Operating state of system bus (CAN)
9.10.2
9.10
9.10.2
Operating state of system bus (CAN)
Index I2359h displays the operating status of the system bus.
I2359h
0
1
Operating status
Operational
Pre−Operational
Description
The system bus is fully functional. The I/O system can transmit and receive parameter and process data.
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
3
Bus off
The I/O system has received incorrect telegrams and becomes passive in the overall system bus environment, i. e., the I/O
system 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
The I/O system has disconnected itself from the system bus after receiving too many incorrect telegrams.
Index
Name
Possible settings
I2359h
CAN state
Lenze
9.10.3
Important
Selection
0
0
1
2
3
{1}
Operational
Pre−Operational
Warning
Bus off
9.10−3
3 Display only
System bus status
Reading out the module identifiers
When using the modular system, the number of the modules connected to the
backplane 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
0
I1027h
1 ... 32
Reading...
... the number of plugged modules (0 ... 32)
... the module type in slots 1 ... 32
Module type
—
No module
8×digital input
16×digital input
1×counter/16×digital input
8×digital output 1A
16×digital output 1A
8×digital output 2A
4×relay
8×digital input / output
4×analog input
4×analog output
4×analog input / output
2/4×counter
SSI interface
9.10.4
Module identifier
0h ... 20h
0h
9FC1h
9FC2h
08C0h
AFC8h
BFC9h
15C4h
A5E0h
45DBh
B5F4h
B5DBh
Status of the digital inputs
Via the index I6000h the status of the digital inputs can be displayed.
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EDSPM−TXXX−9.0−11/2009
9.10−3
9
Network via CANopen
9.10
9.10.5
Diagnostics
Status of the digital outputs
Index
Name
I6000h
Digital input
Module 1
Module 2
...
Module 64
Possible settings
Lenze
1
2
...
64
9.10.5
Selection
0
Important
{1}
255 Display only
Digital input status
9.10−3
Status of the digital outputs
Via the index I6200h the status of the digital outputs can be displayed:
Index
Name
I6200h *
1
2
...
64
Digital output
Module 1
Module 2
...
Module 64
Possible settings
Lenze
9.10−4
Important
Selection
0
{1}
255 · Digital output status
· The outputs can be set manually
(forcing):
– Depends on CAN status and I2360h
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9.10−4
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Diagnostics
Status of the analog inputs
9.10.6
9.10
9.10.6
Status of the analog inputs
Via the index I6401h the status of the analog inputs can be displayed.
Index
Name
Possible settings
Lenze
I6401h
1
2
...
36
Analog input
Channel 1
Channel 2
...
Channel 36
9.10.7
Selection
−32768
Important
{1}
32767 Display only
Analog input status
Index is only available in the modular
system
9.10−5
Status of the analog outputs
Via the index I6411h the status of the analog outputs can be displayed:
Index
Name
Possible settings
Lenze
I6411h *
1
2
...
36
Analog output
Channel 1
Channel 2
...
Channel 36
L
Important
Selection
−32768
{1}
EDSPM−TXXX−9.0−11/2009
32767 · Analog output status
· The outputs can be set manually
(forcing):
– Depends on CAN status and I2360h
· Index is only available in the modular
system
9.10−5
9.10−5
Networking via PROFIBUS−DP
10
Contents
10
Networking via PROFIBUS−DP
Contents
L
10.1
Via Profibus−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.1−1
10.2
System configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.1
Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.2
Mono−master system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2.3
Multi−master system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.2−1
10.2−1
10.2−1
10.2−2
10.3
Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.1
Bus access . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.2
Cyclic data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.3
Acyclic data transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3.4
Communication medium . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.3−1
10.3−1
10.3−2
10.3−3
10.3−4
10.4
Project planning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.1
Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.2
GSE file for PROFIBUS connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.3
Setting of the station address . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4.4
Setting of the baud rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.4−1
10.4−1
10.4−1
10.4−1
10.4−1
10.5
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.1
PROFIBUS−DP−V0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.2
PROFIBUS−DP−V1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.3
Addressing with slot and index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5.4
Consistent parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.5−1
10.5−1
10.5−2
10.5−3
10.5−7
10.6
Diagnostics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.1
Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.2
Diagnostic data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6.3
Alarm messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
10.6−1
10.6−1
10.6−1
10.6−6
EDSPM−TXXX−9.0−11/2009
10.1
Networking via PROFIBUS−DP
10
Via Profibus−DP
10.1
10.1
Via Profibus−DP
Power section DP−V0
Profibus−DP−V0 (Decentralised Peripherals) provides the basic functions of DP.
This includes the cyclic data exchange as well as diagnostic functions.
l
Power section DP−V1
Diagnostic functions for fast error localisation:
– Code−related diagnostics
– Module status
– Channel−related diagnostics
Power section DP−V1 includes enhanced functions of DP−V0 with regard to
process automation:
l
Alarms for enhanced diagnostics
– Status alarm, update alarm, manufacturer−specific alarm
l
Simultaneously to the cyclic process data transfer, an acyclic data circuit to
the slaves is created in order to
– parameterise the slaves,
– evaluate alarms.
)
Note!
Power section DP−V1 can only be used if it is supported by the
master and the slaves.
Introduction
PROFIBUS is an integrated, open, digital communication system with a wide
application range mainly in manufacturing and process automation. PROFIBUS is
suitable for fast, time−critical and complex communication tasks.
PROFIBUS−DP can be used for manufacturing automation. It provides for an easy,
fast, cyclic and deterministic process data exchange between a master and the
assigned slaves. Power section DP−V0 is provided with these basic functions.
Power section DP−V1 was enhanced by an acyclic data exchange between master
and slave.
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Networking via PROFIBUS−DP
System configuration
Types
10.2
10.2.1
10.2
System configuration
10.2.1
Types
PROFIBUS differentiates between active nodes (master) and passive nodes
(slave).
Class 1 master (DPM 1)
A class 1 master (DPM 1) is a central control which exchanges data with the slaves
in a fixed cycle. Typical DPM 1 are, for example, PLC or PC. Via an active bus
access, measured data is read cyclically from the input modules of the slaves and
setpoints are written to the output modules of the slaves.
Class 2 master (DPM 2)
Class 2 masters (DPM 2) are used for engineering, configuration or operation.
During commissioning, maintenance and diagnostics, for example, DPM 2 can be
used to configure the connected slaves, evaluate measured values and
parameters and query the status of the slaves. The data is transmitted acyclically.
DPM 2 do not have to be permanently connected to the bus. DPM 2 are provided
with active bus access.
Slave
Slaves are peripherals (PROFIBUS Gateway, PROFIBUS GatewayECO) making
process information (input data and output data) available. Slaves only respond to
direct requests by the master.
10.2.2
Mono−master system
Master
(DPM 1)
Slave 1
Slave 2
Slave 3
epm−t227
Fig. 10.2−1
PROFIBUS−DP mono−master system
In the case of mono−master systems, only one master on the bus is active during
operation. The slaves are coupled to the master via the transmission medium in
a decentralised manner. This system configuration achieves the shortest bus cycle
time.
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10.2−1
10
Networking via PROFIBUS−DP
10.2
10.2.3
10.2.3
System configuration
Multi−master system
Multi−master system
Token
2
Master 1
(DPM 1)
Slave 1
Slave 2
Master 2
(DPM 2)
Slave 3
0
Master 3
(DPM 1)
Slave 4
Slave 5
Slave 6
1
epm−t226
Fig. 10.2−2
PROFIBUS−DP multi−master system
Subsystem consisting of master 1 and slaves 1 ... 3 with cyclic data transfer.
Subsystem consisting of master 3 and slaves 4 ... 6 with cyclic data transfer.
For configuration and diagnostics, master 2 can communicate with slave 1 ... 6.
The data transfer is acyclic.
In multi−master operation, several masters are connected to one bus. They either
form independent subsystems consisting of one class 1 master (DPM 1) each and
the corresponding slaves, or additional class 2 masters (DPM 2) for configuration
and diagnostics. The input and output images of the slaves can be read by all
masters. Only the respective class 1 master (DPM 1) can write the outputs.
10.2−2
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Networking via PROFIBUS−DP
Communication
Bus access
10
10.3
10.3.1
10.3
Communication
10.3.1
Bus access
The transmission protocol offers two bus access procedures.
Master « Master
The master communication is also referred to as token passing procedure. The
token passing procedure makes sure that the bus access authorisation is
assigned. The bus access authorisation is given by means of a "token". The token
is a special telegram transmitted via the bus.
If a master has a token, it can communicate with all of the other bus nodes. The
token hold time is defined during system configuration. Once the token hold time
has elapsed, the token is passed on to the next master which is then in possession
of the bus access authorisation and can communicate with all of the other nodes.
The data transfer between the master and the slaves assigned to it is automatically
controlled by the master and takes place in a fixed and recurring sequence. The
slaves are assigned to a master during configuration. In addition, it can be defined
which slaves participate in the cyclic process data transfer.
Master « Slave
Before master and slave can communicate, the configuration and the parameter
setting are checked for errors after startup.
The following are checked: type, format information, length information and the
number of inputs and outputs.
If the parameters are valid, the slave changes over to the DataExchange (DE) state.
The master can now transmit output data to the slave and receive the current input
data from the slave.
While the process data transfer is in progress, the master can transmit new
parameter data to the slave.
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10
Networking via PROFIBUS−DP
10.3
10.3.2
10.3.2
Communication
Cyclic data transfer
Cyclic data transfer
The data communication with PROFIBUS−DP−V0 includes cyclic diagnostics as
well as cyclic process data and parameter data transfer.
Master
(DPM 1)
Slave
Communications
processor
0
1
buffer receive
PA
buffer send
PE

‚
epm−t228
Fig. 10.3−1
DP cycle and cycle of backplane bus
Backplane bus with transmit and receive buffer
Input / output modules

‚
Backplane bus cycle
PROFIBUS cycle
10.3−2
PO: process image of outputs
PI: process image of inputs
PROFIBUS cycle
Backplane bus cycle
During a backplane bus cycle
l
the input data (PI) on the inputs is collected and transmitted to the transmit
buffer (buffer send),
l
the output data (PO) of the receive buffer (buffer receive) is written to the
outputs.
During a PROFIBUS cycle, the master successively addresses all its assigned
slaves with a DataExchange. During a DataExchange, the memory areas assigned
to the PROFIBUS are transmitted.
l
The data of the PROFIBUS input area is transmitted to the receive buffer
(buffer receive).
l
The data of the transmit buffer (buffer send) is transmitted to the PROFIBUS
output area.
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Networking via PROFIBUS−DP
Communication
Acyclic data transfer
10.3.3
10.3
10.3.3
Acyclic data transfer
The PROFIBUS−DP−V1 service can be used as an optional extension to enable an
acyclic parameter data transfer. PROFIBUS−DP−V0 and PROFIBUS−DP−V1 may
be operated simultaneously in one network.
The integration of the acyclic service in a fixed bus cycle depends on the correct
configuration of DPM 1:
Parameter data transfer
between DPM 1 and slaves
l
If configured, a time slot is reserved.
l
If not configured, the acyclic service is added when a DP−V1 slave is
accessed acyclically with a DPM 2.
l
The acyclic service always has lower priority.
Token
Master 1
(DPM 1)
Slave 1
Slave 2
Master 2
(DPM 2)
Slave 3
epm−t229
Fig. 10.3−2
Acyclic data transfer
Cyclic process data transfer between DPM 1 and slave 1 ... 3
Acyclic parameter data transfer between DPM 1 and slave 3
1. DPM 1 has the send authorisation (token) and communicates in a fixed
sequence with slave 1, then with slave 2 etc. up to the last slave of the
current list via the MS0 channel by means of request and response.
2. DPM 1 transfers the token to DPM 2.
3. During the remaining cycle time (time slot), DPM 2 establishes an acyclical
connection to one of the slaves in order to transmit parameter data via the
MS2 channel.
4. At the end of the running cycle time, DPM 2 returns the token to DPM 1.
– Depending on the remaining cycle time, several time slots may be required
for the acyclical data record transfer.
5. Once all of the data records have been transferred, DPM 2 establishes the
connection within one time slot.
)
Note!
DPM 1 can perform the acyclical parameter data exchange via the
MS1 channel.
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10.3−3
10
Networking via PROFIBUS−DP
10.3
10.3.4
Communication
Communication medium
Services for the acyclic
parameter data transfer
Data transfer between DPM 1 and slaves
The connection is established by DPM 1 via the MS1 channel. The connection to
the slave can only be established by the master that has parameterised and
configured the slave.
Service
Read
Write
Alarm
Description
The master reads a data block from the slave.
The master writes a data block to the slave.
The slave transmits an alarm message to the master. The master acknowledges
receipt. To prevent alarm messages from being overwritten, the slave can only transmit
a new alarm message if it has received the acknowledgement.
The master transmits an acknowledgement to the slave, confirming that it has received
an alarm message.
The slave transmits a status message to the master. The master does not acknowledge
receipt.
Alarm_Acknowledge
Status
Data transfer between DPM 2 and slaves
The connection is established by DPM 2 via the MS1 channel using the "Initiate"
service. One slave can maintain several active connections at the same time. The
number of connections is limited depending on the resources available in the
slave.
Service
Initiate / Abort
Description
Establishing or terminating a connection for the acyclic data transfer between DPM 2
and a slave.
The master reads a data block from the slave.
The master writes a data block to the slave.
The master writes user−specific data (defined in profiles) to the slave and, if required, it
reads data from the slave in the same cycle.
Read
Write
Data_Transport
)
Note!
For further information on the services and communication with
DP−V0 and DP−V1, refer to standard IEC 61158.
10.3.4
10.3−4
Communication medium
l
The communication medium is an RS485 interface.
l
The bus can be configured as line or tree topology.
l
The bus structure under RS485 enables the reactionless connection and
disconnection of stations as well as the gradual commissioning of the
system. Subsequent enhancements do not affect the stations already in
operation. It is automatically detected whether a node has failed or just been
connected to the mains.
l
PROFIBUS Gateway and PROFIBUS GatewayECO are provided with a 9−pin
Sub−D socket to ensure that they can be connected to the bus.
EDSPM−TXXX−9.0−11/2009
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10
Networking via PROFIBUS−DP
Project planning
Important notes
10.4
10.4.1
10.4
Project planning
10.4.1
Important notes
The I/O system IP20 is configured via the master. The following work steps must
be carried out:
10.4.2
l
Install the GSE file (device description) on the master
l
Address nodes
l
Set the baud rate
l
Parameterise slaves
GSE file for PROFIBUS connection
Before the I/O system IP20 can be configured, the device description (GSE file)
has to be installed on the master.
Note that the GSE file has to match the PROFIBUS Gateway (slave) and the
communication protocol used.
Slave
PROFIBUS Gateway
PROFIBUS GatewayECO
Installing the GSE file
Communication protocol
PROFIBUS−DP−V0
PROFIBUS−DP−V1
PROFIBUS−DP−V0
PROFIBUS−DP−V1
GSE file
LE000A68.gse
LENZ0A68.gse
LE000A69.gse
LENZ0A69.gse
1. Download the correct GSE file from the Internet.
– You can find the GSE files on the Internet under the section "Services &
Downloads" at http://www.Lenze.com.
2. Install the GSE file on the master.
– For notes on the installation, refer to the documentation on the master and
the documentation on the configuration tool.
10.4.3
Setting of the station address
Every node at the PROFIBUS is identified by an address.
10.4.4
l
Each address may only be assigned once in a bus system
l
Addresses between 1 ... 125 can be assigned.
l
At the PROFIBUS Gateway (slave), the address with the front DIP switch is
set.
l
At the master, the address is set during the configuration.
Setting of the baud rate
The baud rate is set in the configuration tool.
l
L
The baud rate must correspond to the length of the bus cable.
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Networking via PROFIBUS−DP
Transmitting parameter data
PROFIBUS−DP−V0
10.5
10.5.1
10.5
Transmitting parameter data
10.5.1
PROFIBUS−DP−V0
Structure of the PROFIBUS
telegram
SD
Header
DU
DU
(1 Byte)
(1 Byte)
…
DU
(1 Byte)
Checksum
ED
epm−t230
Fig. 10.5−1
Cycle of a PROFIBUS telegram
DU
SD
ED
Parameter data
For the communication protocol PROFIBUS−DP−V0, the following parameter data
are available:
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
L
Data Unit (user data)
Value range: 1 ... 244 bytes
Start Delimiter (start of the telegram)
End Delimiter (end of the telegram)
Assignment
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 0
0
1
Bit 1
0
1
Bit 2
0
1
Bit 3
Bit4
0
1
Bit 5
0
1
Bit 6
0
1
Bit7
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Code−related diagnostics activated
Code−related diagnostics deactivated
Module status enabled
Module status inhibited
Channel−related diagnostics activated
Channel−related diagnostics deactivated
Reserved
Manufacturer−specific alarm deactivated
Manufacturer−specific alarm activated
Diagnostic alarm deactivated
Diagnostic alarm activated
Process alarm deactivated
Process alarm activated
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
EDSPM−TXXX−9.0−11/2009
Lenze setting
00h
00h
08h
0Ah
81h
00h
00h
70h
00h
00h
00h
00h
00h
10.5−1
10
Networking via PROFIBUS−DP
10.5
10.5.2
10.5.2
Transmitting parameter data
PROFIBUS−DP−V1
PROFIBUS−DP−V1
Structure of the PROFIBUS
telegram
SD Header
DU
DU
(1 Byte)
(1 Byte)
…
DU
MSG
(1 Byte)
(4 Byte)
Checksum
ED
epm−t232
Fig. 10.5−2
Cycle of a PROFIBUS telegram
DU
Data Unit (user data)
Value range: 1 ... 240 bytes
MSG Parameter data
SD Start Delimiter (start of the telegram)
ED End Delimiter (end of the telegram)
Parameter data
For the communication protocol PROFIBUS−DP−V1, the following parameter data
are available:
Byte
0
1
2
3
4
5
6
7
8
9
10
11
12
10.5−2
Assignment
Bit 7 ... 0
Bit 3 ... 0
Bit4
0
1
Bit 5
0
1
Bit 6
0
1
Bit7
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 0
0
1
Bit 1
0
1
Bit 2
0
1
Bit 7 ... 3
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Reserved
Reserved
Manufacturer−specific alarm deactivated
Manufacturer−specific alarm activated
Diagnostic alarm deactivated
Diagnostic alarm activated
Process alarm deactivated
Process alarm activated
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
Code−related diagnostics activated
Code−related diagnostics deactivated
Module status activated
Module status deactivated
Channel−related diagnostics activated
Channel−related diagnostics deactivated
Reserved
Reserved
Reserved
Reserved
Reserved
Reserved
EDSPM−TXXX−9.0−11/2009
Lenze setting
C4h
70h
08h
0Ah
81h
00h
00h
00h
00h
00h
00h
00h
00h
L
10
Networking via PROFIBUS−DP
Transmitting parameter data
Addressing with slot and index
10.5.3
Description
10.5
10.5.3
Addressing with slot and index
)
Note!
Prerequisite for addressing data via slot and index:
l Master and slave have to support the communication protocol
PROFIBUS−DP−V1.
– The connection can be established via a class 1 master
(DPM 1) or class 2 masters (DPM 2).
l The function blocks SFB 52 (read) and SFB 53 (write) must be
integrated in the slaves PROFIBUS Gateway and PROFIBUS
GatewayECO.
– For further information, refer to the documentation on SFB 52
and SFB 53 (Siemens).
PROFIBUS interprets a slave as a logic entity with a physical modular structure.
Module
Slot number
Index
8×digital
output 1A
16×digital
output 1A
8×digital
input
4×analog
input
...
0
0 ... 255
1
0 ... 255
2
0 ... 255
3
0 ... 255
4
0 ... 255
...
...
Request
...
1 byte
(slot number 1)
2 bytes
(slot number 2)
...
Response
...
1 byte
(slot number 3)
8 bytes
(slot number 4)
...
Fig. 10.5−3
L
PROFIBUS
Gateway
Example of slave configuration
EDSPM−TXXX−9.0−11/2009
10.5−3
10
Networking via PROFIBUS−DP
10.5
10.5.3
Transmitting parameter data
Addressing with slot and index
Data addressing is based on identifications defining the module type as input,
output or a combination of the two. The identifications as a whole define the
configuration of the slave. When the slave is initialised, the configuration is
checked by DPM 1.
The data blocks enabled for read or write access are assigned to modules and can
be addressed by means of slot number and index.
10.5−4
l
The slot number addresses the module:
– Slot number = 0 addresses data of PROFIBUS Gateway or PROFIBUS
GatewayECO.
– Slot number > 0 addresses data of the electronic modules.
l
The index addresses the data blocks of the module:
– One data block may have a size of up to 244 bytes (4 bytes header,
240 bytes user data).
– The length specification in the read or write command also allows for
reading or writing parts of a data block.
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Networking via PROFIBUS−DP
Transmitting parameter data
Addressing with slot and index
Data of PROFIBUS Gateway
10.5
10.5.3
The following PROFIBUS Gateway elements can be accessed via slot number 0:
Slot number
0
Index
A0h
A1h
A2h
A3h
A4h
Access
R
R
R
R
R
D0h
R
W
R
D1h
W
Description
Read out device name (PROFIBUS Gateway or PROFIBUS GatewayECO)
Read out hardware version
Read out software version
Read out serial number (e.g. 000347 = 30h, 30h, 30h, 33h, 34h, 37h)
Read out device configuration
(see table "Device configuration")
Read out number of saved diagnostics
Delete diagnostic input
Read out stored diagnostic input
(see table "Structure of a saved diagnostic input")
Save diagnostic input in FLASH−ROM
R = read
W = write
Device configuration
The electronic modules belonging to PROFIBUS Gateway can be output via index
A4h:
Electronic module
Identification
8×digital input
16×digital input
8×digital output 1A
16×digital output 1A
8×digital output 2A
4×relay
8×digital input / output
4×analog input
4×analog input ±10V
4×analog input ±20mA
4×analog output
4×analog output ±10V
4×analog output 0...20mA
4×analog input / output
2/4×counter
SSI interface
1×counter/16×digital input
9FC1h
9FC2h
AFC8h
AFD0h
AFC8h
AFC8h
BFC9h
15C4h
15C4h
15C4h
25E0h
25E0h
25E0h
45DBh
B5F4h
B5DBh
08C0h
Input data
[Byte]
1
2
−
−
−
−
1
8
8
8
−
−
−
4
10
4
6
Output data
[Byte]
−
−
1
2
1
1
1
−
−
−
8
8
8
4
10
4
6
Structure of saved diagnostic entry
Every time index D1h is accessed, a saved diagnostic entry is read out. When it is
accessed for the first time, the last entry is read out, when it is accessed the second
time, the penultimate entry is read out, etc.
Byte 1
Byte 2
Length of diagnostic
data
L
Byte 3
Byte 4
Byte 5
Internal time stamp
EDSPM−TXXX−9.0−11/2009
Byte 6
Byte 7
Byte 8
...
Diagnostic data
(maximum 20 bytes)
Byte 26
10.5−5
10
Networking via PROFIBUS−DP
10.5
10.5.3
Data of electronic modules
Transmitting parameter data
Addressing with slot and index
l
In the case of PROFIBUS Gateway, the 32 electronic modules can be
accessed via slot numbers 1 ... 32.
l
In the case of GatewayECO, the 8 electronic modules can be accessed via
slot numbers 1 ... 8.
Slot number
1 ... 32
Index
00h
01h
Access
R
W
R
F1h
F2h
R
R
Description
Read out diagnostic data record 0
Write parameters to the module
The corresponding diagnostic data record of the electronic module can be
read out via the index.
· Example:
– Index 01h: read out diagnostic data record 1
– Index 02h: read out diagnostic data record 2
Read out the module parameters
Read out the process image of the module
R = read
W = write
10.5−6
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Networking via PROFIBUS−DP
Transmitting parameter data
Consistent parameter data
10.5.4
10.5
10.5.4
Consistent parameter data
In the PROFIBUS communication system, a permanent data exchange takes
place between the master computer (CPU + PROFIBUS master) and the slave.
The PROFIBUS master and the CPU (central processing unit) of the master
computer access a common storage medium for this purpose − the dual port
memory (DPM).
The DPM enables a data exchange into both directions (read/write):
Central Processing Unit
(CPU)
ó
Dual Port Memory (DPM)
ó
PROFIBUS Master
Without any further data organisation, a slower write action of the PROFIBUS
master might be overtaken by a faster read action of the CPU within a cycle.
To prevent this from happening, the parameter data to be transferred must be
marked as "consistent".
Data communication with
existing consistency
With consistency either "read" or "write" is possible in the data memory if master
and CPU have access at the same time:
l
The PROFIBUS master only transfers the data as a complete data record.
l
The CPU can only access completely updated data records.
l
The PROFIBUS master cannot read or write data as long as the CPU
accesses consistent data.
The result is shown in the following example:
Central Processing Unit
(CPU)
ó
Dual Port Memory (DPM)
ó
PROFIBUS Master
CPU wants to read!
PROFIBUS master wants to write at the same time!
1. Due to the fact that the PROFIBUS master can only write if the CPU does not read, the
PROFIBUS master has to wait until the CPU has read all of the data.
2. The PROFIBUS master only writes complete data records into the DPM.
Configuration of consistent data
L
Consistency is achieved by configuring the PROFIBUS master accordingly. Use
the corresponding instructions of your configuration software for this purpose.
EDSPM−TXXX−9.0−11/2009
10.5−7
Networking via PROFIBUS−DP
10
Diagnostics
Description
10.6
Diagnostics
10.6.1
Description
10.6.2
Diagnostic data
10.6
10.6.1
Comprehensive diagnostic functions in PROFIBUS−DP ensure that errors can be
quickly located. The diagnostic data is transmitted to the master where it can be
evaluated.
The diagnostics in power section DP−V1 can also trigger alarms. An alarm consists
of an alarm message and a status message.
Internal diagnostic messages
Diagnostic messages such as the "READY" and the "DataExchange" states are
stored internally in the slave. They are not transmitted to the master.
Every time the state changes from "READY" to "DataExchange" and vice versa,
the slave stores the diagnostic data in RAM in a Flash−ROM and writes the content
back into the RAM during every restart.
Diagnostic message in the event
of voltage failure
L
If the voltage falls below a specific limit value or in the event of voltage failure, a time
stamp is stored in EEPROM immediately.
l
If the voltage is sufficient, a diagnostic message with time stamp is
transmitted to the master.
l
In the event of voltage failure, a diagnostic message with time stamp is
generated from the EEPROM during the next restart and stored in the RAM
of the slave.
EDSPM−TXXX−9.0−11/2009
10.6−1
10
Networking via PROFIBUS−DP
10.6
10.6.2
Diagnostics
Diagnostic data
Structure of the diagnostic data
Byte 1
Byte 2
Depending on the parameter setting, the diagnostics from the slave can be up to
58 bytes.
Byte 3
Byte 4
Byte 5
6 bytes
Standard diagnostic data
Byte 6
Byte 7
Byte 8
2 bytes
Code−related
diagnostic data
... Byte 58
3 bytes/channel
20 bytes
Channel−related
Alarm data
diagnostic data
Variable range
The diagnostic ranges to be transmitted are set via the parameter setting.
Fixed range
The data is always transmitted to the master.
...
6 bytes
Module status
During transmission to the master, the standard diagnostic data has a higher
priority than the diagnostic data.
Byte
0
1
2
3
4
5
10.6−2
Assignment
Bit 0
Bit 1
Bit 2
Bit 3
Bit4
Bit 5
Bit 6
Bit7
Bit 0
Bit 1
Bit 2
Bit 3
Bit4
Bit 5
Bit 6
Bit7
Bit 6 ... 0
Bit7
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
0
1
1
1
1
0
1
0
1
1
1
1
1
1
0
1
11111111
Reserved
Slave not ready for data exchange
Configuration data does not match
Slave has external diagnostic data
Slave does not support requested function
Reserved
Incorrect parameter setting
Reserved
Slave has to be reparameterised
Statistic diagnostics
Reserved
Response monitoring active
Freeze command received
Sync command received
Reserved
Reserved
Reserved
Overflow diagnostic data
Slave not parameterised
ID number HIGH byte
ID number LOW byte
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Networking via PROFIBUS−DP
10
Diagnostics
Diagnostic data
Code−related diagnostic data
10.6
10.6.2
The code−related diagnostic data contains information about the slot on which an
error has occurred.
l
The code−related diagnostics are activated via the parameter setting.
Byte
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
L
Assignment
Bit 5 ... 0
000010
Length of code−related diagnostic data
Bit 7, 6
01
Code for code−related diagnostics
Bit 7 ... 0
The corresponding bit is set to "1" if the following occurs on a slot
· the module is disconnected,
· a non−configured module is connected,
· the module cannot be accessed,
· the module reports a diagnostic alarm.
00000001 Module slot 1
00000010 Module slot 2
00000100 Module slot 3
00001000 Module slot 4
00010000 Module slot 5
00100000 Module slot 6
01000000 Module slot 7
10000000 Module slot 8
Bit 7 ... 0
00000001 Module slot 9
00000010 Module slot 10
...
...
10000000 Module slot 16
Bit 7 ... 0
00000001 Module slot 17
00000010 Module slot 18
...
...
10000000 Module slot 24
Bit 7 ... 0
00000001 Module slot 25
00000010 Module slot 26
...
...
10000000 Module slot 32
EDSPM−TXXX−9.0−11/2009
10.6−3
10
Networking via PROFIBUS−DP
10.6
10.6.2
Module status
Diagnostics
Diagnostic data
The module status contains more detailed information on the error in a module.
Byte
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
Byte 8
Byte 9
Byte 10
Byte 11
Byte 12
l
Channel−related diagnostic data
Assignment
Bit 5 ... 0
000110
Fix, length of the module status
Bit 7, 6
00
Fix, code for module status
Bit 7 ... 0
10000010 Fix, status type of module status
Bit 7 ... 0
11111111 Reserved
Bit 7 ... 0
11111111 Reserved
In byte 5 and byte 6, two bit each are used to report the errors of a module
00
Module without error
01
Module defective
10
Incorrect module
11
No module connected
Bit 1, 0
Module on slot 1
Bit 3, 2
Module on slot 2
Bit 5, 4
Module on slot 3
Bit 7, 6
Module on slot 4
Bit 1, 0
Module on slot 5
Bit 3, 2
Module on slot 6
Bit 5, 4
Module on slot 7
Bit 7, 6
Module on slot 8
Bit 1, 0
Module on slot 9
...
...
Bit 7, 6
Module on slot 12
Bit 1, 0
Module on slot 13
...
...
Bit 7, 6
Module on slot 16
Bit 1, 0
Module on slot 17
...
...
Bit 7, 6
Module on slot 20
Bit 1, 0
Module on slot 21
...
...
Bit 7, 6
Module on slot 24
Bit 1, 0
Module on slot 25
...
...
Bit 7, 6
Module on slot 28
Bit 1, 0
Module on slot 29
...
...
Bit 7, 6
Module on slot 32
The module status is activated via the parameter setting.
The channel−related diagnostic data contains detailed information on channel
errors of a module. 3 bytes are assigned per channel.
l
The channel−related diagnostics are activated via the parameter setting.
Every module has to be activated via the configuration tool.
)
Note!
The channel−related diagnostic data is limited by the 58 bytes
required for the complete diagnostics.
If required, other diagnostic ranges must be deactivated for more
channel−related diagnostic data.
10.6−4
EDSPM−TXXX−9.0−11/2009
L
Networking via PROFIBUS−DP
Diagnostics
Diagnostic data
10.6
10.6.2
Byte
Byte 1
Byte 2
Byte 2
Byte 3
L
10
Assignment
Bit 5 ... 0
Module from which the diagnostic data is transmitted.
000000
Module on slot 1
000001
Module on slot 2
...
...
000111
Module on slot 8
Bit 7, 6
10
Fix, code for channel−related diagnostics
Bit 5 ... 0
Channel of localised module
000000
Channel 1
000001
Channel 2
...
...
111111
Channel 63
Bit 7, 6
Type of localised module
00
Input module
01
Output module
11
Input/output module
Bit 4 ... 0
Error according to PROFIBUS standard
00001
Short circuit
00010
Supply voltage too low
00011
Supply voltage too high
00100
Module output overloaded
00101
Overtemperature at the output module
00110
Cable break of the connected sensor or actuator
00111
Maximum limit value exceeded
01000
Minimum limit value exceeded
01001
Incorrect load voltage at the output
– Encoder supply
– Hardware error of the module
Manufacturer−specific error
10000
Parameter setting error
10001
No encoder or load voltage
10010
Defective fuse
10100
Mass error
10101
Reference channel error
10110
Process alarm lost
11001
Safety−oriented disconnection
11010
External error
11010
Error cannot be specified
Bit 7 ... 5
Channel type
001
1 Bit
010
2 bits
011
4 Bit
100
8 bits (1 byte)
101
16 bits (1 word)
110
32 bits (1 double word)
EDSPM−TXXX−9.0−11/2009
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10
Networking via PROFIBUS−DP
10.6
10.6.3
10.6.3
Diagnostics
Alarm messages
Alarm messages
Description
)
Note!
Alarm messages are only available in power section DP−V1.
Alarm messages supply information on the type and the cause of the alarm. An
alarm message has a maximum length of 20 bytes. Diagnostic messages can each
be transmitted with one alarm message.
There are two types of alarm messages:
Process alarm
Diagnostic alarm
l
Diagnostic alarm
l
Process alarm
In the case of a process alarm (e.g. open circuit), the additional alarm information
is 4 bytes long. The data is module−specific. For further information, refer to the
corresponding module description.
)
Note!
In the case of a diagnostic event for channel/channel group 0 of a
module, either the channel or the module is defective.
l This event is transmitted even if the diagnostics are not
activated for channel/channel group 0 of the module.
The alarm status is contained in bytes 1 to 5:
Byte
Byte 1
Byte 2
Byte 3
Byte 4
10.6−6
Assignment
Bit 5 ... 0
010100
Number of assigned bytes
Bit 7, 6
Code for device−specific diagnostics
Bit 6 ... 0
Alarm type
0000001
Diagnostic alarm
0000010
Process alarm
Bit7
Alarm code
Bit 7 ... 0
Module which triggered alarm
00000001 Module on slot 1
00000010 Module on slot 2
00000011 Module on slot 3
...
...
00001000 Module on slot 8
Bit 1, 0
00
Process alarm
01
Incoming diagnostic alarm
10
Outgoing diagnostic alarm
11
Reserved
Bit 2
0
Fix
Bit 7 ... 3
00000000 Alarm sequence 1
00000001 Alarm sequence 2
00000010 Alarm sequence 3
...
...
00000111 Alarm sequence 8
EDSPM−TXXX−9.0−11/2009
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10
Networking via PROFIBUS−DP
Diagnostics
Alarm messages
10.6
10.6.3
)
Note!
Starting from byte 5, 16 bytes of additional alarm information are
added.
Bytes 5 to 8 correspond to the CPU diagnostic data record 0:
Byte
Byte 5
Byte 6
Byte 7
Byte 8
Assignment
Bit 0
Bit 1
Bit 2
Bit 3
Bit4
Bit 5
Bit 6
Bit7
Bit 3 ... 0
Bit4
Bit 5
Bit 6
Bit7
Bit 7 ... 0
Bit 7 ... 0
1
1
1
1
1
1
1
1
Module class
1111
0101
1000
1
1
0
0
Module error, an error was detected
Internal error in module
External error, module cannot be addressed
Channel error in the module
No load voltage supply
No front connector
Module is not parameterised
Parameter setting error
Digital module
Analog module
Counter module
Channel information available
User information available
Reserved
Reserved
Reserved
Reserved
Bytes 9 to 20 correspond to the CPU diagnostic data record 1:
Byte
Byte 9
Byte 10
Byte 11
Byte 12
Byte 13
...
Byte 19
L
Assignment
Bit 7 ... 0
01110000
01110001
01110010
01110011
01110100
01110101
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
Bit 7 ... 0
...
Bit 7 ... 0
Digital module with inputs
Analog module with inputs
Digital module with outputs
Analog module with outputs
Analog module with inputs and outputs
Counter module
Length of the channel−specific diagnostics
Number of channels per module
Position (channel) of the diagnostic event
Diagnostic event for channel/channel group 0 (see module description)
...
Diagnostic event for channel/channel group 7 (see module description)
EDSPM−TXXX−9.0−11/2009
10.6−7
11
Commissioning
Contents
11
Commissioning
Contents
L
11.1
System bus (CAN) / CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.1
Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1.2
Commissioning examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.1−1
11.1−1
11.1−2
11.2
PROFIBUS−DP . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.1
Before switching on . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2.2
Initialisation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
11.2−1
11.2−1
11.2−2
EDSPM−TXXX−9.0−11/2009
11.1
11
Commissioning
System bus (CAN) / CANopen
Before switching on
11.1
11.1.1
11.1
System bus (CAN) / CANopen
11.1.1
Before switching on
Prior to supply voltage connection, check
l
the wiring for completeness, short circuits and earth faults
l
the wiring of the fieldbus
– A bus terminating resistor has to be connected to the first and the last
node.
l
spatial cable separation from signalling and mains cables.
)
Note!
After switching on the supply voltage, the modules of the I/O
system IP20 are initialised. During the initialisation, the modules
cannot be parameterised.
l Initialisation time − modular system: approx. 10 s
l Initialisation time − compact system: approx. 1 s
L
EDSPM−TXXX−9.0−11/2009
11.1−1
11
Commissioning
11.1
11.1.2
11.1.2
System bus (CAN) / CANopen
Commissioning examples
Commissioning examples
I/O system IP20 at the 93xx
controller
An I/O system IP20 with six digital inputs and two digital outputs is to be operated
on a controller of the 9300 series.
l
The node address at the controller is 1. Hence, the node address at the I/O
system IP20 must be 2.
l
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 status
information of the digital outputs.
l In the example, the input states are read via CAN−IN3.B0 ...
CAN−IN3.B5 and the output states via CAN−IN3.B6 and
CAN−IN3.B7.
l Check the internal connection of the input signals CAN−IN3.B6
and CAN−IN3.B7 at the controller. Otherwise, outputs set (HIGH
level) at the I/O system may trigger uncontrolled actions of the
controller.
l
0
L
L
CAN
DIO 8xDC24V 1A
PW
L+
1
ER
.0
2
RD
.1
3
BA
.2
4
.3
5
.4
6
.5
7
.6
8
Z
.7
9
Z
F
10
ADR.
0 2
X1
+
DC
24V –
1
2
EPM – T110 1A.10
+
–
DC 24 V
EPM – T230 1A
EPM−T110
Fig. 11.1−1
9300 drive controller and I/O system IP20 with 6 digital inputs and 2 digital outputs
Drive controller 93XX
11.1−2
EDSPM−TXXX−9.0−11/2009
L
11
Commissioning
System bus (CAN) / CANopen
Commissioning examples
Settings at the controller
11.1
11.1.2
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 set
the process data channel CAN−I/O from sync−controlled to
event−controlled transmission (C0360 = 0) .
The modified settings will be accepted after a "Reset Node"
(C0358 = 1).
L
EDSPM−TXXX−9.0−11/2009
11.1−3
11
Commissioning
11.1
11.1.2
Settings at the I/O system IP20
System bus (CAN) / CANopen
Commissioning examples
If you use the communication profile system bus (CAN)
Setting of the baud rate and node address:
System bus (CAN)
Coding switch value
90
91
92
93
94
95
96
97
98
Baud rate
[kbit/s]
1000
500
250
125
100
50
20
10
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 coding
switch. The setting is accepted after switching on the supply
voltage.
11.1−4
EDSPM−TXXX−9.0−11/2009
L
11
Commissioning
System bus (CAN) / CANopen
Commissioning examples
11.1
11.1.2
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 are
accepted.
Setting of the baud rate and node address:
CANopen
Coding switch value
80
81
82
83
84
85
86
87
88
Baud rate
[kbit/s]
1000
500
250
125
100
50
20
10
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 coding
switch. The setting is accepted after switching on the supply
voltage.
L
EDSPM−TXXX−9.0−11/2009
11.1−5
11
Commissioning
PROFIBUS−DP
Before switching on
11.2
11.2.1
11.2
PROFIBUS−DP
11.2.1
Before switching on
Prior to supply voltage connection, check
l
the wiring for completeness, short circuits and earth faults
l
the wiring of the fieldbus
– A bus terminating resistor has to be connected to the first and the last
node.
l
spatial cable separation from signalling and mains cables.
)
Note!
After connecting the supply voltage, the modules of the I/O
system IP20 are initialised. During the initialisation, the modules
cannot be parameterised.
l Initialisation time: approx. 10 s
L
EDSPM−TXXX−9.0−11/2009
11.2−1
11
Commissioning
11.2
11.2.2
11.2.2
PROFIBUS−DP
Initialisation
Initialisation
After the supply voltage has been connected, the initialisation of PROFIBUS
Gateway or PROFIBUS GatewayECO starts:
l
The internal functions of the module and the communication via the
backplane bus are checked.
l
If communication faults occur on the backplane bus, the module changes
into the "STOP" state. After approx. 2 seconds, the initialisation is started
again.
Switch on supply voltage
LED "ER" on
LED "PW" on
Initialisation
"STOP" status
PROFIBUS master sets
outputs to "0" and accepts
the set device address
"READY" status
LED "ER" goes off
LED "RD" is blinking
PROFIBUS master
receives projected data
from master
Does the projected
data correspond to the
configuration?
No
Incorrect
parameter
setting?
Yes
LED "ER" and LED "PW"
are blinking
synchronously
Yes
LED "ER" and LED "PW"
are blinking
asynchronously
No
No
Yes
"DataExchange" status
LED "RD" on
LED "DE" on
Incorrect
configuration?
Enable inputs and
outputs
Data exchange
EPM−T220
Fig. 11.2−1
11.2−2
Initialisation process
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Contents
12
Parameter setting via system bus (CAN) / CANopen
Contents
12.1
Important notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.1−1
12.2
Parameterising digital modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2−1
12.2.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.2−1
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
Converting measured values for voltage and current . . . . . . . . . . . . . . . . . . . . . . . .
12.3−7
12.3.5
Signal functions of 4xanalog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−8
12.3
12.4
L
12.3.6
Signal functions of 4xanalog input ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−11
12.3.7
Signal functions 4xanalog input ±20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−12
12.3.8
Signal functions of 4xanalog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−13
12.3.9
Signal functions of 4xanalog output ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−16
12.3.10
Signal functions 4xanalog output 0...20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−17
12.3.11
Signal functions of 4xanalog input /output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.3−18
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 (modes 12 and 13) . . . . . . . .
12.4−16
12.4.8
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 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 (modes 31 and 32) . . . . . . . .
12.4−45
12.4.17
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 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
EDSPM−TXXX−9.0−11/2009
12.1
12
Parameter setting via system bus (CAN) / CANopen
Contents
12.2
12.5
Parameterising SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.2
Input data assignment via index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5.3
Process data assignment for "SSI mapping PLC" (I4104 = 0) . . . . . . . . . . . . . . . . . .
12.5.4
Process data assignment for "SSI mapping standard 1" (I4104 = 1) . . . . . . . . . . . . .
12.5.5
Process data assignment for "SSI mapping standard 2" (I4104 = 2) . . . . . . . . . . . . .
12.5.6
Example of parameter setting via process data . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.5−1
12.5−1
12.5−2
12.5−6
12.5−8
12.5−11
12.5−14
12.6
Parameterising 1xcounter/16xdigital input module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.3
Encoder (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.4
32 bit counter (mode 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.5
32 bit counter with clock up/down evaluation (mode 2) . . . . . . . . . . . . . . . . . . . . . .
12.6.6
Measuring the frequency (mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.7
Measuring the period (mode 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6.8
Parameterising digital input filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.6−1
12.6−1
12.6−2
12.6−5
12.6−7
12.6−9
12.6−11
12.6−13
12.6−15
12.7
Transmitting parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.7−1
12.8
Loading default setting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
12.8−1
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Important notes
12.1
12
12.1
Important notes
If you use the I/O system IP20 in connection with a CoDeSys−PLC, you must set
the CANopen mode. This pre−assigns the identifiers according to the CANopen
communication profile DS301.
L
EDSPM−TXXX−9.0−11/2009
12.1−1
Parameter setting via system bus (CAN) / CANopen
12
Parameterising digital modules
Parameter data
12.2
12.2.1
12.2
Parameterising digital modules
12.2.1
Parameter data
8xdigital input module
8xdigital output module
8xdigital input/output module
16xdigital input module
16xdigital output module
Via the parameter data of the digital modules it can be defined how the control
signals are to be transmitted: with original polarity or inverse polarity.
1 byte (8x module) or 2 bytes (16x modules) are available for parameter data, which
are assigned via SDOs.
l
Digital inputs are parameterised via the index I6002h.
l
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
Byte
0
Display of the parameter data "digital module"
Assignment
Polarity of the transmitted
signals
Bit 0
0
1
Bits 1 ... 7
)
Signal is transmitted in original
form
Signal is transmitted in inverse
form
Reserve
Lenze setting
00h
Note!
Store changed parameters in the EEPROM via index I2003h. The
settings are maintained after switching off the supply voltage.
L
EDSPM−TXXX−9.0−11/2009
12.2−1
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Parameter data
12.3
12.3.1
12.3
Parameterising analog modules
12.3.1
Parameter data
(
Stop!
The modules are not protected against wrong parameter settings
by the hardware. They will be destroyed if the signals or encoders
connected do not match the measuring range set:
l Max. 15 V input voltage in the voltage measuring range.
l No input voltage in the resistance measuring range.
l When the measuring range is changed, only assign the inputs
after the first gateway initialisation has been completed:
– During initialisation, the previous settings are still active.
Unsuitable input circuits may destroy the modules. Changes
will only become effective and are permanently saved after
initialisation.
4xanalog input module
For the 4xanalog input, 10 bytes of parameter data are available which are
assigned via SDOs. The following can be defined via the parameter data:
l
The signal function for each input (current measurement, voltage
measurement, temperature measurement etc.),
l
The module error behaviour,
l
The conversion speed.
Parameter setting via Global Drive Control (GDC):
Depending on the plug−in station, the module is activated via the indices
I3001h ... I3010h (max. 16 analog modules). The parameter data are assigned in
the subindex 1 ... 3.
Parameter setting via CoDeSys:
The max. 16 analog modules are addressed via index I3401h. The parameter data
are assigned in the subindices 1 ... 64 (4 bytes per subindex). The module
4xanalog input assigns 3 subindices.
Index
I3xxxh
Byte 3
3Bh
Subindex
1
Subindex
2
Byte 2
3Bh
Byte 1
00 h
Byte 0
00 h
Bit 7 6 5 4 3 2 1 0
Byte 7
00 h
Byte 6
00 h
Byte 5
3Bh
Byte 4
3Bh
Byte 9
00 h
Byte 8
00 h
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
Subindex
3
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
epm−t059
Fig. 12.3−1
L
Display of the parameter data 4xanalog input
EDSPM−TXXX−9.0−11/2009
12.3−1
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.1
Parameterising analog modules
Parameter data
The following bytes with fixed assignment are available for parameter data:
Byte
Assignment
0
Enable / inhibit diagnostic
alarm 1) 3)
1
2
3
4
5
6
7
8
9
Bits 0 ... 5
Bit 6
Bits 6 ... 7
2)
3)
12.3−2
12.3−6
Bit 7
Reserved
Selecting the signal function for analog inputs: 12.3−8
Select signal function for
input E.0
Select signal function for
input E.1
Select signal function for
input E.2
Select signal function for
input E.3
Select options for input E.0 3) Bits 0 ... 3
Conversion speed 2)
Resolution
16 bits
0000 15 conversions/s
Select options for input E.1 3)
16 bits
0001 30 conversions/s
Select options for input E.2 3)
15 bits
0010 60 conversions/s
14 bits
0011 123 conversions/s
Select options for input E.3 3)
12 bits
0100 168 conversions/s
10 bits
0101 202 conversions/s
16 bits
0110 3.7 conversions/s
16 bits
0111 7.5 conversions/s
Bits 4 ... 5
1)
Reserved
0
Alarm inhibited
1
Alarm enabled
Reserved
Lenze
setting
00h
3Bh
3Bh
3Bh
3Bh
00h
00h
00h
00h
Data selection
00
Deactivated
01
Use 2 of 3 values
10
Use 4 of 6 values
Hysteresis
00
Deactivated
01
Hysteresis ±8
10
Hysteresis ±16
If the diagnostic alarm is enabled in byte 0, diagnostic data are transmitted to the master via the emergency
telegram in the event of an error.
The conversion speeds given are valid for the operation of an analog input. When operating several inputs, the
corresponding convervion speed must be divided by the number of active inputs to detect the conversion speed
per input.
Please note that the resolution is reduced with higher conversion speeds due to shorter integration times. The
data transfer format remains the same. Only the lower bits (LSBs) are not relevant anymore for the analog value.
The function is not available for the modules 4xanalog input ±10V and 4xanalog input ±20mA.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Parameter data
4xanalog output modules
12.3
12.3.1
For the 4xanalog output, 6 bytes of parameter data are available which are
assigned via SDOs. The following can be defined via the parameter data:
l
The signal function for each output (current signal output, voltage signal
output),
l
The module error behaviour.
Parameter setting via Global Drive Control (GDC):
Depending on the plug−in station, the module is activated via the indices
I3001h ... I3010h (max. 16 analog modules). The parameter data are assigned in
the subindex 1 ... 2.
Parameter setting via CoDeSys:
The max. 16 analog modules are addressed via index I3401h. The parameter data
are assigned in the subindices 1 ... 64 (4 bytes per subindex). The module
4xAnalog output assigns 2 subindices.
Index
I3xxxh
Byte 3
01 h
Subindex
1
Byte 2
01 h
Byte 1
00 h
Byte 0
00 h
Bit 7 6 5 4 3 2 1 0
Byte 5
01 h
Subindex
2
Byte 4
01 h
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
0
Assignment
Enabling / inhibiting diagnostic Bits 0 ... 5
alarm 1) 2)
Bit 6
Bit 7
1
2
3
4
5
1)
2)
L
reserved
Select signal function for
output E.0
Select signal function for
output E.1
Select signal function for
output E.2
Select signal function for
output E.3
Reserved
0
Alarm inhibited
1
Alarm enabled
Reserved
Selecting the signal function for analog outputs:
12.3−13
Lenze setting
00h
12.3−6
01h
01h
01h
01h
If the diagnostic alarm is enabled, diagnostic data are transmitted to the master via the emergency telegram in
the event of an error.
The function is not available for the modules 4xanalog output ±10V and 4xanalog output 0...20mA.
EDSPM−TXXX−9.0−11/2009
12.3−3
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.1
4xanalog input/output module
Parameterising analog modules
Parameter data
For the 4xanalog input/output, up to 8 bytes of parameter data are available which
are assigned via SDOs. The following can be defined via the parameter data:
l
The signal function for each input or output (current measurement, voltage
measurement, temperature measurement, or current signal output, voltage
signal output),
l
The module error behaviour,
l
The conversion speed.
Parameter setting via Global Drive Control (GDC):
Depending on the plug−in station, the module is activated via the indices
I3001h ... I3010h (max. 16 analog modules). The parameter data are assigned in
the subindex 1 ... 3.
Parameter setting via CoDeSys:
The max. 16 analog modules are addressed via index I3401h. The parameter data
are assigned in the subindices 1 ... 64 (4 bytes per subindex). The module
4xanalog input/output assigns 3 subindices.
Index
I3xxxh
Subindex
1
Subindex
2
Subindex
3
Byte 3
3Bh
Byte 2
3Bh
Byte 1
00 h
Byte 0
00 h
Bit 7 6 5 4 3 2 1 0
Byte 7
00 h
Byte 6
00 h
Byte 5
01 h
Byte 4
01 h
Byte 9
00 h
Byte 8
00 h
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
Byte 11
00 h
Byte 10
00 h
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
epm−t194
Fig. 12.3−3
12.3−4
Display of the parameter data 4xanalog input /output
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Parameter data
12.3
12.3.1
The following bytes with fixed assignment are available for parameter data:
Byte
Assignment
0
Activate / deactivate wire
breakage detection and
enabling/inhibiting diagnostic
alarm 1) 2)
1
2
6
7
reserved
Select signal function for
input E.0
Select signal function for
input E.1
Select signal function for
output E.0
Select signal function for
output E.1
Select options for input E.0
Select options for input E.1
8...11
Reserved
3
4
5
Bit 0
Wire breakage detection for input E.0
0
Deactivated
12.3−6
1
activated
Bit 1
Wire breakage detection for input E.1
0
Deactivated
12.3−6
1
activated
Bits 2 ... 5
Reserved
Bit 6
0
Diagnostic alarm
inhibited
12.3−6
1
Diagnostic alarm
enabled
Bits 0 ... 7
Reserved
Selection of signal function 12.3−18
2)
3)
L
3Bh
01h
Bits 0 ... 3
Bits 4 ... 7
1)
Lenze
setting
00h
Conversion speed 3)
0000 15 conversions/s
0001 30 conversions/s
0010 60 conversions/s
0011 123 conversions/s
0100 168 conversions/s
0101 202 conversions/s
0110 3.7 conversions/s
0111 7.5 conversions/s
Reserved
Resolution
16 Bit
16 Bit
15 Bit
14 Bit
12 Bit
10 Bit
16 Bit
16 Bit
00h
00h
The wire breakage detection is used in the measuring range 4 ... 20 mA. If the wire breakage detection is
activated in byte 0 and the diagnostic alarm is enabled, a current reduction to below 0.8 mA is indicated.
If the diagnostic alarm is enabled in byte 0, diagnostic data are transmitted to the master via the emergency
telegram in the event of an error.
The conversion speeds given are valid for the operation of an analog input. When operating several inputs, divide
the corresponding conversation speed by the number of active inputs to detect the conversion speed per input.
Please note that the resolution is reduced with higher conversion speeds due to shorter integration times. The
data transfer format remains the same. Only the lower bits (LSBs) are not relevant anymore for the analog value.
EDSPM−TXXX−9.0−11/2009
12.3−5
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.2
12.3.2
Parameterising analog modules
Diagnostic data
Diagnostic data
If the diagnostic alarm is activated in byte 0 of the parameter data, the diagnostic
data in the emergency telegram are transmitted to the master (see chapter
"Diagnostics", section "Emergency telegram").8
4xanalog input module
4xanalog output module
The following bytes are available for diagnostic data:
Byte
0
1
2
3
4xanalog input/output module
The following bytes with fixed assignment are available for diagnostic data:
Byte
0
1
2
3
12.3−6
Assignment
Bit 0
Module monitoring
0
No fault
1
Module fault
Bit 1
Consistently at 0
Bit 2
External error
0
No error
1
External error
Bit 3
Error at inputs and / or outputs, respectively
0
No error
1
Error at at least one input and / or output, respectively
Bits 4 ... 7
Reserved
Bits 0 ... 3
Module type
0101
Analog module
Bit 4
Information on inputs and / or outputs, respectively
0
No information available
1
Information available
Reserved
Reserved
Assignment
Bit 0
Module monitoring
0
No fault
1
Module fault
Bit 1
Reserved
Bit 2
External error
0
No error
1
External error
Bit 3
Error at inputs and / or outputs, respectively
0
No error
1
Error at at least one input and / or output, respectively
Bit 4
Supply error
0
No error
1
No external supply voltage
Bits 5 ... 6
Reserved
Bit 7
Wrong parameters
0
No error
1
Wrong parameters in the module
Bits 0 ... 3
Module type
0101
Analog module
Bit 4
Information on inputs and / or outputs, respectively
0
No information available
1
Information available
Reserved
Reserved
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Input data / output data
12.3.3
12.3
12.3.3
Input data / output data
Two bytes (LOW byte, HIGH byte) are available for input and output data, which
are assigned and read via PDOs.
12.3.4
Signal
range
±10 V
0 ... 10 V
1 ... 5 V
Byte9
LOW byte
S7 format
Bits 0 ... 7 Binary signal value
HIGH byte
Bits 0 ... 6 Binary signal value
Bit 7
Polarity bit
0
Positive polarity
1
Negative polarity
Converting measured values for voltage and current
Signal
[U] / [I]
S7 format
−10 V
−5 V
0V
+5 V
+10 V
0V
Decimal value
[dec]
−27648
−13824
0
+13824
+27648
0
Hexadecimal value
[h]
9400
CA00
0000
3600
6C00
0000
+5 V
+8192
2000
+10 V
+16384
4000
S5 format
Decimal value
[dec]
−16384
−8192
0
+8192
+16384
0
Hexadecimal value
[h]
C000
E000
0000
2000
4000
0000
+8192
2000
+16384
4000
+1 V
0
0000
+3 V
+8192
2000
+16384
4000
0
0000
Formulae for calculation
dec + 27648 @ U
10
U + dec @ 10
27648
dec + 16384 @ U
10
U + dec @ 10
16384
+5 V
±4 V
±400 mV
4 ... 20 mA
±20 mA
L
S5 format
Bit 0
Overflow bit
0
Value within signal range
1
Signal range exceeded
Bit 1
Error bit
0
No error
1
Internal fault
Bit 2
Activity bit (always 0)
Bits 3 ... 7 Binary signal value
Bits 0 ... 6 Binary signal value
Bit 7
Polarity bit
0
Positive polarity
1
Negative polarity
−4 V
−27648
9400
0V
0
0000
+4 V
+27648
6C00
−400 mV
−27648
9400
0V
0
0000
+400 mV
+27648
6C00
+4 mA
0
0000
+12 mA
+13824
3600
+20 mA
+27648
6C00
−20 mA
−10 mA
0 mA
+10 mA
+20 mA
−27648
−13824
0
+13824
+27648
9400
CA00
0000
3600
6C00
Formulae for calculation
dec + 16348 @ U
10
U + dec @ 10
16348
dec + 16384 @ U
10
U + dec @ 10
16384
dec + 27648 @ U * 1
4
U + dec @
4 )1
16384
dec + 27648 @ U
4
4
27648
dec + 27648 @ U
400
U + dec @
U + dec @ 400
27648
dec + 27648 @ I * 4
16
U + dec @ 16 )1
27648
dec + 27648 @ I
20
U + dec @ 20
27648
EDSPM−TXXX−9.0−11/2009
+8192
2000
+16384
4000
−16384
−8192
0
+8192
+16384
C000
E000
0000
2000
4000
dec + 16384 @ I * 4
16
U + dec @ 16 )1
16384
dec + 16384 @ I
20
U + dec @ 20
16384
12.3−7
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.5
12.3.5
Parameterising analog modules
Signal functions of 4xanalog input
Signal functions of 4xanalog input
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Temperature measurement with signal function 01h. Measured value = 80.5 °C.
1. I/O system IP20 converts the measured value into an integer:
80.5 [°C] × 10 = 805
2. Reconvert the measured value to output it with decimal positions:
805[°C]
+ 80.5°C
10
Paramete
r bytes
2/3/4/5
00h10
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
0Fh
10h
11h
12h
13h
14h
15h
12.3−8
Signal function
Format 1)
Signal range
Parameter data in module are not overwritten
Temperature
PT100
−200.0
measurement with PT1000
−200.0
two−wire
NI100
−50.0
connection
NI1000
−50.0
Resistance
60 W
0.00
measurement with
0
two−wire
600 W
0.00
connection
0
3000 W
0.00
0
6000 W
0.00
0
Temperature
PT100
−200.0
measurement with PT1000
−200.0
four−wire
NI100
−50.0
connection
NI1000
−50.0
Resistance
60 W
0.00
measurement with
0
four−wire
600 W
0.00
connection
0
3000 W
0.00
0
Temperature
Type J
−210.0
measurement with Type K
−270.0
thermoelement and Type N
−200.0
external
Type R
−50.0
compensation4)
Type T
−270.0
Type S
−50.0
EDSPM−TXXX−9.0−11/2009
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
+850.0
+500.0
+250.0
+250.0
+60.00
32767
+600.00
32767
+3000.00
32767
+6000.00
32767
+850.0
+500.0
+250.0
+250.0
+60.00
32767 dec
+600.00
32767 dec
+3000.00
32767 dec
+850.0
+1200.0
+1300.0
+1760.0
+400.0
+1760.0
S7
Two’s
complement
Tolerance 2)
±1 °C 3)
±0.2 % of the
final value 3)
S7
S7
Two’s
complement
±0.5 °C
S7
±0.1 % of the
final value
S7
±0.05 % of
the final value
S7
±0.05 % of
the final value
S7
Two’s
complement
±1 °C
±1.5 °C
±1.5 °C
±4 °C
±1.5 °C
±5 °C
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions of 4xanalog input
Paramete
r bytes
2/3/4/5
18h
19h
1Ah
1Bh
1Ch
1Dh
27h
28h
29h
2Ah
2Ch
2Dh
32h
33h
L
12.3
12.3.5
Signal function
Temperature
measurement with
thermoelement and
internal
compensation 5)
Voltage
measurement
Voltage
measurement
Voltage
measurement
Voltage
measurement
Current
measurement
Current
measurement
Resistance
measurement with
four−wire
connection
Format 1)
Signal range
Type J
Type K
Type N
Type R
Type T
Type S
0 ... 50
mV
±10 V
±4 V
±400 mV
±20 mA
4 ... 20
mA
6000 W
6000 W
35h
60 W
36h
600 W
37h
3000 W
38h
6000 W
EDSPM−TXXX−9.0−11/2009
−210.0
−270.0
−200.0
−50.0
−270.0
−50.0
0.00
0
Min.
0.00
0
−10.00
−27648
Min.
−11.85 V
−32767 dec
−4.00
−27648
Min.
−4.74 V
−32767 dec
−400
−27648
Min.
−474 mV
−32767 dec
−20.00
−27648
Min.
−23.70 mA
−32767 dec
4.00
0
Min.
0 mA
−5530dec
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.01 mV}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{1 mV}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
+850.0
+1200.0
+1300.0
+1760.0
+400.0
+1760.0
+50.00
27648
Max.
+59.25 mV
32767 dec
+10.00
27648
Max.
+11.85 V
32767 dec
+4.00 V
27648dec
Max.
+4.74 V
32767 dec
+400
27648
Max.
+474 mV
32767 dec
+20.00
27648
Max.
+23.70 mA
+32767dec
{0.01 mA}
20.00
{1dec}
27648
Limit
Max.
values
+22.96 mA
+32767dec
{0.01 W}
+6000.00
{1dec}
32767 dec
{0.01 W}
+6000.00
{1dec}
6000 dec
{0.01 W}
+60.00
6000 dec
{0.01 W}
+600.00
{1dec}
6000 dec
{0.01 W}
+3000.00
{1dec}
30000 dec
{0.01 W}
+6000.00
{1dec}
6000 dec
S7
Two’s
complement
Tolerance 2)
±1.5 °C
±2 °C
±2 °C
±5 °C
±2 °C
±5 °C
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
S7
±0.05 % of
the final value
±0.05 % of
the final value
±0.2 % of the
final value 3)
±0.1 % of the
final value 3)
±0.1 % of the
final value 3)
±0.1 % of the
final value 3)
12.3−9
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.5
Parameterising analog modules
Signal functions of 4xanalog input
Paramete Signal function
r bytes
2/3/4/5
3Ah
Current
measurement
3Bh
3Dh
3Eh
Voltage
measurement
Resistance
measurement with
four−wire
connection
57h
58h
59h
5Ah
5Ch
±20 mA
±10 V
60 W
600 W
3000 W
3Fh
Voltage
measurement
Voltage
measurement
Voltage
measurement
Voltage
measurement
Current
measurement
0 ... 50
mV
±10 V
±4 V
±400 mV
±20 mA
−20.00
−16384
Min.
−23.70 mA
−19456dec
−10.00
−16384
Min.
−12.50 V
−20480dec
0.00
0
0.00
0
0.00
0
0.00
0
Min.
0.00
0
−10.00
−10000
Min.
−11.85 V
−11850dec
−4.00
−4000
Min.
−4.74 V
−4740dec
−400
−4000
Min.
−474 mV
−4740dec
−20.00
−20000
Min.
−23.70 mA
−23700dec
12.3−10
Format 1)
Signal range
EDSPM−TXXX−9.0−11/2009
{0.01 mA}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 mV}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{1 mV}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
+20.00
16384
Max.
+23.70 mA
+19456dec
+10.00
16384
Max.
+12.50 V
20480dec
+60.00
6000 dec
+600.00
6000 dec
+3000.00
30000 dec
+50.00
5000
Max.
+59.25 V
5925dec
+10.00
10000
Max.
+11.85 V
11850dec
+4.00
4000
Max.
+4.74 V
4740dec
+400
4000
Max.
+474 mV
4740dec
+20.00
20000
Max.
+23.70 mA
+23700dec
Tolerance 2)
±0.05 % of
the final value
S5
Two’s
complement
±0.2 % of the
final value
S5
Two’s
complement
S7
±0.1 % of the
final value
±0.05 % of
the final value
±0.05 % of
the final value
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions of 4xanalog input ±10
12.3
12.3.6
Paramete Signal function
r bytes
2/3/4/5
5Dh
Current
measurement
Format 1)
Signal range
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0 mA
−4000dec
FFh
20.00
16000
Max.
+22.96 mA
+18960dec
Tolerance 2)
±0.05 % of
the final value
S7
Two’s
complement
Analog input deactivated
1)
Format of the input data ( 12.3−7).
2)
Tolerance of the input range at an ambient temperature of 25 °C and 15 conversions/s. Sensor inaccuracies were
not considered.
3)
Transition resistances on contacts 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 terminal is taken into consideration.
Connect the conductors of the thermoelements directly to the terminal; if necessary, operate with thermoelement
extension cables.
Lenze setting of the signal function in parameter bytes 2 and 3 or 4 and 5: 3Bh
12.3.6
Signal functions of 4xanalog input ±10
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Voltage measurement with signal function 28h. Measured value = 8.5 V.
1. I/O system IP20 converts the measured value into an integer:
8.5 [V] × 10 = 85
2. Reconvert the measured value to output it with decimal positions:
85[V]
+ 8.5V
10
Paramete Signal function
Signal range
r bytes
2/3/4/5
00h11
Parameter data in module are not overwritten
28h
Voltage
±10 V
−10.00
{0.01V}
measurement
−27648
{1dec}
Min.
Limit
values
−11.76 V
−32512dec
L
EDSPM−TXXX−9.0−11/2009
Format 1)
+10.00
27648
Max.
+11.76 V
32511dec
S7
Two’s
complement
Tolerance
±0.1 % 2)
±0.2 % 3)
12.3−11
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.7
Parameterising analog modules
Signal functions 4xanalog input ±20mA
Paramete Signal function
r bytes
2/3/4/5
3Bh
Voltage
measurement
Format 1)
Signal range
±10 V
−10.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
−12.50 V
−20480dec
FFh
+10.00
16384
Max.
+12.50 V
20480dec
S5
Two’s
complement
Tolerance
±0.1 % 2)
±0.2 % 3)
Analog input deactivated
1)
Format of the input data ( 12.3−7).
2)
Tolerance of the input range at an ambient temperature of 25 °C.
3)
Tolerance of the input range across the entire admissible temperature range.
Lenze setting of the signal function in parameter bytes 2 and 3 or 4 and 5: 3Bh
12.3.7
Signal functions 4xanalog input ±20mA
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Current measurement with signal function 2Ch. Measured value = 15.5 mA.
1. I/O system IP20 converts the measured value into an integer:
15.5 [V] × 10 = 155
2. Reconvert the measured value to output it with decimal positions:
155[mA]
+ 15.5mA
10
Signal range
Paramete Signal function
r bytes
2/3/4/5
00h12
Parameter data in module are not overwritten
2Ch
Current
±20 mA −20.00
{0.01 mA}
+20.00
measurement
−27648
{1dec}
27648
Min.
Limit
Max.
values
−23.52 mA
+23.52 mA
−32512dec
+32511dec
2Dh
Current
4 ... 20
4.00
{0.01 mA}
20.00
measurement
mA
0
{1dec}
27648
Min.
Limit
Max.
values
1.185 mA
+22.81 mA
−4864dec
+32511dec
12.3−12
EDSPM−TXXX−9.0−11/2009
Format 1)
S7
Two’s
complement
S7
Two’s
complement
Tolerance
±0.1 % 2)
±0.2 % 3)
±0.2 % 2)
±0.5 % 3)
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions of 4xanalog output
12.3
12.3.8
Paramete Signal function
r bytes
2/3/4/5
39h
Current
measurement
Format 1)
Signal range
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.8 mA
−3277dec
20.00
16384
Max.
+24.00 mA
+20480
Tolerance
±0.2 % 2)
±0.5 % 3)
S5
Two’s
complement
dec
3Ah
3Bh
Current
measurement
±20 mA
−20.00
−16384
Min.
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+20.00
16384
Max.
+25.00 mA
+20480
±0.1 % 2)
±0.2 % 3)
S5
Two’s
complement
dec
FFh
Analog input deactivated
1)
Format of the input data ( 12.3−7).
Tolerance of the input range at an ambient temperature of 25 °C.
3) Tolerance of the input range across the entire admissible temperature range.
Lenze setting of the signal function in parameter bytes 2 and 3 or 4 and 5: 3Ah
2)
12.3.8
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.
Paramete Signal function
r bytes
2/3/4/5
00h13
No signal emitted at output
01h
Voltage signal
±10 V
output
02h
05h
Voltage signal
output
Voltage signal
output
+1 ... +5
V
−10.00
−16384
Min.
−12.50 V
−20480dec
1.0
0
Min.
0.0
−4096dec
0... +10 V 0.0
0
Min.
0.0
0
L
EDSPM−TXXX−9.0−11/2009
Format 1)
Signal range
{0.01V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
+10.00
16384
Max.
+12.50 V
20480dec
+5.0
16384
Max.
+6.0 V
20480dec
+10.0
16384
Max.
+12.5 V
20480dec
Tolerance
±0.2 % 2) 3)
S5
Two’s
complement
±0.4 % 2) 3)
S5
Two’s
complement
±0.3 % 2) 3)
S5
Two’s
complement
12.3−13
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.8
Parameterising analog modules
Signal functions of 4xanalog output
Paramete Signal function
r bytes
2/3/4/5
09h
Voltage signal
output
0Ah
0Dh
03h
Voltage signal
output
Voltage signal
output
Current signal
output
Format 1)
Signal range
±10 V
+1 ... +5
V
−10.00
−27648
Min.
−11.76 V
−32512dec
1.00
0
Min.
0V
−6912 dec
0... +10 V 0.00
0
Min.
±20 mA
0.00
0
−20.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+10.00 V
27648dec
Max.
+11.76 V
32511dec
+5.00
27648
Max.
+5.704 V
32511dec
+10.00
27648
Max.
+11.76 V
32511dec
+20.00
16384
Max.
+25.00 mA
+20480
Tolerance
±0.2 % 2) 3)
S7
Two’s
complement
±0.4 % 2) 3)
S7
Two’s
complement
±0.3 % 2) 3)
S7
Two’s
complement
±0.2 % 2) 4)
S5
Two’s
complement
dec
04h
Current signal
output
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
−4096 dec
20.00
16384
Max.
+24.00 mA
+20480
±0.5 % 2) 4)
S5
Two’s
complement
dec
06h
Current signal
output
0 ... 20
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
16384
Max.
+25.00 mA
+20480
±0.4 % 2) 4)
S5
Two’s
complement
dec
0Bh
0Ch
Current signal
output
Current signal
output
±20 mA
4 ... 20
mA
−20.00
−27648
Min.
{0.01 mA}
{1dec}
Limit
values
−23.52 mA
−32512dec
4.00
0
Min.
+23.52 mA
+32511dec
{0.01 mA}
20.00
{1dec}
27648
Limit
Max.
values
+22.81 mA
+32511dec
0.00
−6912 dec
12.3−14
EDSPM−TXXX−9.0−11/2009
+20.00
27648
Max.
±0.2 % 2) 4)
S7
Two’s
complement
±0.5 % 2) 4)
S7
Two’s
complement
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions of 4xanalog output
12.3
12.3.8
Paramete Signal function
r bytes
2/3/4/5
0Eh
Current signal
output
0Eh
Current signal
output
0 ... 20
mA
0.00
0
{0.01 mA}
{1dec}
0 ... 20
mA
Min.
Limit
values
0.00
0
FFh
Format 1)
Signal range
20.00
27648
Max.
+23.52 mA
+32511dec
S7
Two’s
complement
S7
Two’s
complement
Tolerance
±0.4 % 2) 4)
±0.4 % 2) 4)
Analog output is switched off
1)
Format of the output data ( 12.3−7).
Tolerance of the output range at an ambient temperature of 25 °C.
3) The value was determined with a load R = 1 GW. The output resistance is 30 W.
4) The value was determined with a load R = 10 W.
Lenze setting of the signal function in parameter bytes 2 and 3 or 4 and 5: 01h
2)
L
EDSPM−TXXX−9.0−11/2009
12.3−15
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.9
12.3.9
Parameterising analog modules
Signal functions of 4xanalog output ±10
Signal functions of 4xanalog output ±10
)
Note!
In the event of an overflow or underflow, wrong values are output.
Strong signal jumps with sign reversal may occur.
Paramete Signal function
r bytes
2/3/4/5
00h14
No signal emitted at output
01h
Voltage signal
±10 V
output
05h
09h
0Dh
Voltage signal
output
Voltage signal
output
Voltage signal
output
0 ... +10
V
±10 V
0 ... +10
V
−10.00
−16384
Min.
−12.50 V
−20480dec
0.0
0
Min.
0.0
0
−10.00
−27648
Min.
−11.76 V
−32512dec
0.0
0
Min.
0.0
0
FFh
Format 1)
Signal range
{0.01V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
+10.00
16384
Max.
+12.50 V
20480dec
+10.0
16384
Max.
+12.5 V
20480dec
+10.00 V
27648dec
Max.
+11.76 V
32511dec
+10.0
27648
Max.
+11.76 V
32511dec
S5
Two’s
complement
S5
Two’s
complement
S7
Two’s
complement
S7
Two’s
complement
Tolerance
±0.1 % 2)
±0.2 % 3)
±0.2 % 2)
±0.4 % 3)
±0.1 % 2)
±0.2 % 3)
±0.2 % 2)
±0.4 % 3)
Analog output is switched off
1)
Format of the output data ( 12.3−7).
2) Tolerance of the output range at an ambient temperature of 25 °C.
3) Tolerance of the output range across the entire admissible temperature range.
Lenze setting of the signal function in parameter bytes 2 and 3 or 4 and 5: 01h
12.3−16
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions 4xanalog output 0...20mA
12.3
12.3.10
12.3.10 Signal functions 4xanalog output 0...20mA
)
Note!
In the event of an overflow or underflow, wrong values are output.
Strong signal jumps with sign reversal may occur.
Paramete
r bytes
2/3/4/5
00h15
01h
06h
Signal function
Format 1)
Signal range
No signal emitted at output
Current signal
0 ... 20
output
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
16384
Max.
+25.00 mA
+20480
Tolerance
±0.2 % 2)
±0.4 % 3)
S5
Two’s
complement
dec
04h
Current signal
output
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
−4096 dec
20.00
16384
Max.
+24.00 mA
+20480
±0.3 % 2)
±0.5 % 3)
S5
Two’s
complement
dec
0Ch
0Eh
Current signal
output
Current signal
output
4 ... 20
mA
0 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
−6912 dec
0.00
0
Min.
+22.81 mA
+32511dec
{0.01 mA}
20.00
{1dec}
27648
Limit
Max.
values
+23.52 mA
+32511dec
0.00
0
FFh
20.00
27648
Max.
S7
Two’s
complement
S7
Two’s
complement
±0.3 % 2)
±0.5 % 3)
±0.2 % 2)
±0.4 % 3)
Analog output is switched off
1)
Format of the output data ( 12.3−7).
Tolerance of the output range at an ambient temperature of 25 °C.
3) Tolerance of the output range across the entire admissible temperature range.
Lenze setting of the signal function in parameter bytes 2 and 3 or 4 and 5: 06h
2)
L
EDSPM−TXXX−9.0−11/2009
12.3−17
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.11
Parameterising analog modules
Signal functions of 4xanalog input /output
12.3.11 Signal functions of 4xanalog input /output
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Temperature measurement with signal function 01h. Measured value = 80.5 °C.
1. I/O system IP20 converts the measured value into an integer:
80.5 [°C] × 10 = 805
2. Reconvert the measured value to output it with decimal positions:
805[°C]
+ 80.5°C
10
Input functions
Paramete Signal function
Signal range
r bytes
2/3
00h16
Parameter data in module are not overwritten
3Bh
Voltage
±10 V
−10.00
{0.01V}
measurement
−16384
{1dec}
Min.
Limit
values
−12.50 V
−20480dec
Format 1)
+10.00
+16384
Max.
+12.50 V
+20480
Tolerance 2)
±0.2 %
S5
Two’s
complement
dec
75h
Voltage
measurement
0 ... 10 V
0.00
0
Min.
{0.01V}
{1dec}
Limit
values
0.00
0
+10.00
+16384
Max.
+12.50 V
+20480
±0.4 %
S5
Two’s
complement
dec
28h
7Ah
Voltage
measurement
Voltage
measurement
±10 V
1 ... 5 V
−10.00
−27648
Min.
−11.76 V
−32512dec
+1.00
0
Min.
0.00
−6912 dec
12.3−18
EDSPM−TXXX−9.0−11/2009
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
+10.00
+27648
Max.
+11.76 V
+32511dec
+5.00
+27648
Max.
+5.704 V
+32511dec
±0.2 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions of 4xanalog input /output
Paramete Signal function
r bytes
2/3
7Dh
Voltage
measurement
3Ah
Current
measurement
12.3
12.3.11
Format 1)
Signal range
0 ... 10 V
±20 mA
0.00
0
Min.
0.00
0
−20.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+20.00
+16384
Max.
+25.00 mA
+20480
Tolerance 2)
±0.4 %
S7
Two’s
complement
±0.3 %
S5
Two’s
complement
dec
76h
Current
measurement
0 ... 20
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
+16384
Max.
+25.00 mA
+20480
±0.6 %
S5
Two’s
complement
dec
2Ch
2Dh
7Eh
Current
measurement
Current
measurement
Current
measurement
±20 mA
4 ... 20
mA
0 ... 20
mA
−20.00
−27648
Min.
{0.01 mA}
{1dec}
Limit
values
−23.51 mA
−32512dec
+4.00
0
Min.
+23.51 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+22.81 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+23.52 mA
+32511dec
+1.18 mA
−4864dec
0.00
0
Min.
0.00
0
FFh
+20.00
+27648
Max.
±0.3 %
S7
Two’s
complement
±0.8 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
Analog input deactivated
1)
Format of the input data ( 12.3−7).
Tolerance of the input range at an ambient temperature of 25 °C. Sensor inaccuracies were not considered.
Lenze setting of the signal function in parameter bytes 2 and 3: 3Bh
2)
L
EDSPM−TXXX−9.0−11/2009
12.3−19
12
Parameter setting via system bus (CAN) / CANopen
12.3
12.3.11
Output functions
Parameterising analog modules
Signal functions of 4xanalog input /output
Paramete Signal function
Signal range
r bytes
4/5
00h
Parameter data in module are not overwritten
01h
Voltage signal
±10 V
−10.00
{0.01V}
output
−16384
{1dec}
Min.
Limit
values
−12.50 V
−20480dec
Format 1)
+10.00
+16384
Max.
+12.50 V
+20480
Tolerance 2)
±0.2 %
S5
Two’s
complement
dec
02h
Voltage signal
output
1 ... 5 V
+1.00
0
Min.
{0.01V}
{1dec}
Limit
values
0.00
−4096dec
+5.00
+16384
Max.
+6.00 V
+20480
±0.6 %
S5
Two’s
complement
dec
05h
Voltage signal
output
0 ... 10 V
0.00
0
Min.
{0.01V}
{1dec}
Limit
values
0.00
0
+10.00
+16384
Max.
+12.50 V
+20480
±0.4 %
S5
Two’s
complement
dec
09h
0Ah
0Dh
03h
Voltage signal
output
Voltage signal
output
Voltage signal
output
Current signal
output
±10 V
1 ... 5 V
0 ... 10 V
±20 mA
−10.00
−27648
Min.
−11.76 V
−32512dec
+1.00
0
Min.
0.00
−6912 dec
0.00
0
Min.
0.00
0
−20.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+5.00
+27648
Max.
+5.704 V
+32511dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+20.00
+16384
Max.
+25.00 mA
+20480
±0.2 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
±0.4 %
S7
Two’s
complement
±0.3 %
S5
Two’s
complement
dec
04h
Current signal
output
4 ... 20
mA
+4.00
0
Min.
+0.00
−4096dec
{0.01 mA}
{1dec}
Limit
values
+20.00
+16384
Max.
+24.00 mA
+20480
±0.8 %
S5
Two’s
complement
dec
12.3−20
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising analog modules
Signal functions of 4xanalog input /output
Paramete Signal function
r bytes
4/5
06h
Current signal
output
12.3
12.3.11
Format 1)
Signal range
0 ... 20
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
+16384
Max.
+25.00 mA
+20480
Tolerance 2)
±0.6 %
S5
Two’s
complement
dec
0Bh
0Ch
0Eh
Current signal
output
Current signal
output
Current signal
output
±20 mA
4 ... 20
mA
0 ... 20
mA
−20.00
−27648
Min.
{0.01 mA}
{1dec}
Limit
values
−23.52 mA
−32512dec
+4.00
0
Min.
+23.52 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+22.81 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+23.52 mA
+32511dec
0.00
−6912 dec
0.00
0
Min.
0.00
0
FFh
+20.00
+27648
Max.
±0.3 %
S7
Two’s
complement
±0.8 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
Analog output is switched off
1)
Format of the output data ( 12.3−7).
2) Tolerance of the output range at an ambient temperature of 25 °C.
Lenze setting of the signal function in parameter bytes 4 and 5: 01h
L
EDSPM−TXXX−9.0−11/2009
12.3−21
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Parameter data
12.4
12.4.1
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−bit
counter) can be determined by assigning each channel (counter 0 and counter 1)
a mode via the parameter data.
(
Stop!
Depending on the mode setting, the terminal assignment of the
counter module changes!
For the 2/4xcounter two bytes of parameter data are available which are assigned
via SDOs.
Parameter setting via Global Drive Control (GDC):
Depending on the plug−in station, the counter module is parameterised via the
indices 3001h ... 3010h (max. 4 counter modules). The parameter data are stored
in the subindex 1.
Parameter setting via CoDeSys:
The max. 4 counter modules are addressed via index I3401h. The parameter data
are assigned in the subindices 1 ... 64 (4 bytes per subindex). The counter module
assigns 1 subindex.
Index
I3xxx h
Subindex
1
00 h
Byte 1
00 h
00 h
Byte 0
00 h
epm−t062
Fig. 12.4−1
Display of the parameter data of 2/4xcounter
The parameter data follow the assignment below:
Byte
Assignment
0
1
Mode, counter 0
Mode, counter 1
)
Lenze setting
Selecting the modes
00h
00h
Note!
Store changed parameters in the EEPROM via index I2003h. The
settings are maintained after switching off the supply voltage.
Counter mode overview
Mode of
IN1
IN2
32−bit counter
RES
1
Encoder 1 edge
03h
3
05h
5
[h]
[dec]
00h
0
01h
Function
IN3
IN4
IN5
CLK
DIR
RES
RES
A
B
Encoder 2 edges
RES
A
Encoder 4 edges
RES
A
2 counters
L
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
CLK
DIR
·
·
–
–
RES
A
B
·
·
–
–
B
RES
A
B
·
·
–
–
B
RES
A
B
·
·
–
–
0
1
EDSPM−TXXX−9.0−11/2009
12.4−1
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.1
Parameterising 2/4xcounter module
Parameter data
Mode of
Function
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
[h]
[dec]
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
–
–
–
–
0Ch
12
2 × 32−bit counters
(counting direction up)
RES
CLK
GATE
RES
CLK
GATE
·
·
–
ü
0Dh
13
2 × 32−bit counters
(counting direction down)
RES
CLK
GATE
RES
CLK
GATE
·
·
–
ü
0Eh
14
2 × 32−bit counters
(counting direction up)
RES
CLK
GATE
RES
CLK
GATE
·
·
ü
ü
0Fh
15
2 × 32−bit counters
(counting direction down)
RES
CLK
GATE
RES
CLK
GATE
·
·
ü
ü
10h
16
Frequency measuring
RES
CLK
START
STOP
–
–
·
·
–
ü
11h
17
Measuring the period
RES
CLK
START
STOP
–
–
·
·
–
ü
12h
18
Frequency measuring
(Counter output on/off)
RES
CLK
START
STOP
–
–
·
·
–
ü
13h
19
Measuring the period
(Counter output on/off)
RES
CLK
START
STOP
–
–
·
·
–
ü
06h
6
Measuring the pulse width
(fref 50 kHz, counting direction is
selectable)
RES
PULSE
DIR
RES
PULSE
DIR
–
–
–
–
14h
20
Measuring the pulse width
(fref programmable, counting
direction is selectable)
RES
PULSE
DIR
RES
PULSE
DIR
–
–
–
–
15h
21
Measuring the pulse width
(fref programmable, counting
direction: Upwards)
RES
PULSE
GATE
RES
PULSE
GATE
–
–
–
–
16h
22
Measuring the pulse width
(fref programmable, counting
direction: Downwards)
RES
PULSE
GATE
RES
PULSE
GATE
–
–
–
–
17h
23
2 × 32−bit counters
(counting direction up, "Set"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
18h
24
2 × 32−bit counters
(counting direction down, "Set"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
19h
25
2 × 32−bit counters
(counting direction up, "Reset"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
1Ah
26
2 × 32−bit counters
(counting direction down, "Reset"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
4 counters
2 counters
0
1
1 counter
0/1
2 counters
0
2 counters
12.4−2
1
0
1
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Parameter data
Mode of
Function
12.4
12.4.1
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
[h]
[dec]
1Bh
27
32−bit counter
G/RESû
CLK
DIR
G/RESû
CLK
DIR
·
·
–
–
1Ch
28
Encoder 1 edge
G/RESû
A
B
G/RESû
A
B
·
·
–
–
1Dh
29
Encoder 2 edges
G/RESû
A
B
G/RESû
A
B
·
·
–
–
1Eh
30
Encoder 4 edges
G/RESû
A
B
G/RESû
A
B
·
·
–
–
2 counters
0
2 counters
1
0
1
1Fh
31
2 × 32−bit counters
(counting direction up)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
–
ü
20h
32
2 × 32−bit counters
(counting direction down)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
–
ü
21h
33
2 × 32−bit counters
(counting direction up)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
ü
ü
22h
34
2 × 32−bit counters
(counting direction down)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
ü
ü
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
·
·
–
–
2 counters
0
1
·
ü
–
A
Auto Reload
Digital output can signal an event
Function available.
No function / function not available
Encoder signal A
"Auto Reload" causes the counter to accept a preset value as soon
as the counter content matches the Compare register content.
B
Encoder signal B
Compare Load You may use "Compare Load" to specify a counter limit value to
trigger an output when reached or to restart the counters via Auto
Reload.
CLK
Clock signal of a connected encoder
HIGH level starts and / or stops the counting process
DIR
Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: Downcounter
GATE
Gate signal is level−triggered
HIGH: Pulses are measured
G/RESû
Gate signal is level−triggered and reset signal is edge−triggered
HIGH: Pulses are measured
LOW−HIGH edge: Deletes one or both counters
PULSE
The pulse width of the supplied signal is measured with an internal
time base
RES
Reset signal is level−triggered
HIGH: Deletes one or both counters
RESû
Reset signal is edge−triggered
LOW−HIGH edge: Deletes one or both counters
START
Start signal is edge−triggered
STOP
Stop signal is edge−triggered
L
EDSPM−TXXX−9.0−11/2009
12.4−3
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.2
12.4.2
Parameterising 2/4xcounter module
Input data / output data
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 PDOs
to the counter (Rx PDO) or output by the counter (Tx PDO).
Input data
Counter starting values or comparison values are included in the 1. Rx PDO in the
bytes 0 to 7 (Data In).
Control byte
Due to a level change in byte 9 (Control), the values are written into a counter
register. Each bit in byte 9 is assigned to a specific counter register word.
Output data
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.
Status byte
The behaviour of the counter when the master module restarts (e.g. after changing
the parameter setting) can be controlled via byte 8 (status). The following
combinations are possible:
Bit 0
1
0
1
Bit 1
0
1
1
Counter reading remanent on restart
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!
12.4−4
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Input data / output data
Example
12
12.4
12.4.2
The counter 0 is to be set with the figure 26959382. To make the representation
simpler, the figure is given in a hexadecimal format.
Selection
Node address
Baud rate
COB−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)
Event time (I1801/1)
Mode (I3001/1)
2
500 kbaud
282h
202h
281h
182h
64h
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.
L
EDSPM−TXXX−9.0−11/2009
12.4−5
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.3
12.4.3
Parameterising 2/4xcounter module
2 x 32 bit counter (mode 0)
2 x 32 bit counter (mode 0)
Terminal assignment
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.
CLK signal
Each LOW−HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements the
counter by 1, respectively.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
12.4−6
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 x 32 bit counter (mode 0)
12
12.4
12.4.3
Counter access
epm−t065
Fig. 12.4−5
Signal characteristic
Counter access of the 2/4xcounter in the mode 0
RES
DIR
Tt0H
Tt0L
CLK
TreH2d
Counter
xxxx xxxx
TclH2d
0000 0000
0000 0001
0000 0002
0000 0003
0000 0004
0000 0005
epm−t067
Fig. 12.4−6
Signal characteristic of 2/4xcounter in the mode 0 (upcounter)
RES
DIR
Tt0H
Tt0L
CLK
TreH2d
Counter
xxxx xxxx
TclH2d
0000 0000
FFFF FFFF
FFFF FFFE
FFFF FFFD
FFFF FFFC
FFFF FFFB
epm−t066
Fig. 12.4−7
L
Signal characteristic of 2/4xcounter in the mode 0 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−7
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.4
12.4.4
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
Encoder (modes 1, 3, and 5)
Terminal assignment
1
Counter 0
2
3
4
5
Counter 1
6
7
8
9
10
+24 V DC
In1 (RES)
In2 (A)
In3 (B)
Out0
In4 (RES)
In5 (A)
In6 (B)
Out1
GND
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 starting
value.
The modes differ in the number of edges which are evaluated:
Mode 1: 1 edge
Mode 3: 2 edges
Mode 5: 4 edges
A/B signal
See signal characteristics.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is to HIGH level for at
least 100 ms, even if the counter continues to count. When the counter stops at
zero, the output OUT0 / OUT1 remains on the HIGH level.
12.4−8
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
12.4
12.4.4
Counter access
epm−t141
Fig. 12.4−9
Signal characteristic in mode 1
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 HIGH
level is applied to input IN3 / IN6 (B) at this time.
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TcIH2d
TreH2d
Counter
XXXX
0000 0000
0000 0001
0000 0002
0000 0003
0000 0004
0000 0005
0000 0006
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 a HIGH
level is applied to input IN3 / IN6 (B) at this time.
RES
TdL2cIH
TcIH2dH
B
Tt0H
Tt0L
A
TreH2d
Counter
XXXX
0000 0000
TcIH2d
FFFF FFFF
FFFF FFFE
FFFF FFFD
FFFF FFFC
FFFF FFFB
FFFF FFFA
epm−t068
Fig. 12.4−11
L
Signal characteristic of 2/4xcounter in the mode 1 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−9
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.4
Signal characteristic in mode 3
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TcIH2d
TreH2d
Counter
XXXX
00000000
00000001
00000002
00000003
00000004
00000005
00000006 00000007
00000008
00000009
epm−t071
Fig. 12.4−12
Signal characteristic of 2/4xcounter in the mode 3 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TreH2d
Counter
XXXXX
TcIH2d
00000000
FFFFFFFF FFFFFFFE FFFFFFFD FFFFFFFC FFFFFFFB FFFFFFFA FFFFFFF9 FFFFFFF8 FFFFFFF7
epm−t072
Fig. 12.4−13
12.4−10
Signal characteristic of 2/4xcounter in the mode 3 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
Signal characteristic in mode 5
12.4
12.4.4
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TreH2d
Counter
XXXX
00000000
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
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
RES
TdL2clH
TclH2dH
B
TclH
TclL
A
TreH2d
Counter
XXXX
00000000
FF
FE
FD
FC
FB
FA
F9
F8
F7
F6
F5
F4
F3
F2
F1
F0
EF
EE
epm−t074
Fig. 12.4−15
L
Signal characteristic of 2/4xcounter in the mode 5 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−11
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.5
12.4.5
Parameterising 2/4xcounter module
Measuring the pulse width, fref 50 kHz (mode 6)
Measuring the pulse width, fref 50 kHz (mode 6)
Terminal assignment
1
Counter 0
2
3
4
5
Counter 1
6
7
8
9
10
+24 V DC
In1 (RES)
In2 (PULSE)
In3 (DIR)
Out0
In4 (RES)
In5 (PULSE)
In6 (DIR)
Out1
GND
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 an
internal time base.
PULSE signal
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 unit
20 ms (corresponds to a clock frequency of fref = 50 kHz; the clock frequency
cannot be changed). This result is available in the data output range and can be
read out until the next new result.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Output OUT0 / OUT1 has no function.
12.4−12
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Measuring the pulse width, fref 50 kHz (mode 6)
12.4
12.4.5
Counter access
epm−t078
Fig. 12.4−17
Signal characteristic
Counter access of the 2/4xcounter in the mode 6
RES
DIR
PULSE
TreH2d
50kHz
Counter
XX
Result
XX
00
00
00
00
01
02
03
04
XXXX
05
06
07
00
01
XXXX
07
epm−t077
Fig. 12.4−18
Signal characteristic of 2/4xcounter in the mode 6 (upcounter)
RST
DIR
PULSE
TreH2d
50kHz
Counter
XX
Result
XX
00
00
00
00
0000
FF
FE
FD
FC
FB
FA
F9
0000
00
FF
FFF9
epm−t076
Fig. 12.4−19
L
Signal characteristic of 2/4xcounter in the mode 6 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−13
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.6
12.4.6
Parameterising 2/4xcounter module
4 × 16 bit counter (modes 8 ... 11)
4 × 16 bit counter (modes 8 ... 11)
Terminal assignment
1
2
Counter 0.2
Counter 0.1
3
4
5
6
Counter 1.2
Counter 1.1
7
8
9
10
+24 V DC
n.c.
In2 (CLK)
In3 (CLK)
n.c.
n.c.
In5 (CLK)
In6 (CLK)
n.c.
GND
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 a
starting value.
The modules differ in having different counting directions:
Mode 8:
l
Counters 0.2 and 1.2 count up
l
Counters 0.1 and 1.1 count up
Mode 9:
l
Counters 0.2 and 1.2 count down
l
Counters 0.1 and 1.1 count up
Mode 10:
l
Counters 0.2 and 1.2 count up
l
Counters 0.1 and 1.1 count down
Mode 11:
CLK signal
12.4−14
l
Counters 0.2 and 1.2 count down
l
Counters 0.1 and 1.1 count down
Each LOW−HIGH edge at input IN2 / IN3 / IN5 / IN6 (CLK) causes the associated
counter to count up and / or down, respectively.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
4 × 16 bit counter (modes 8 ... 11)
12.4
12.4.6
Counter access
epm−t081
Fig. 12.4−21
Counter access of the 2/4xcounter in the modes 8 ... 11
Signal characteristic
Tt0H
Tt0L
CLK 0.1
TclH2d
Counter 0.1
FFFE
FFFF
0000
0001
0002
Tt0H
0003
0004
0005
Tt0L
CLK 0.2
TclH2d
Counter 0.2
0001
0002
0003
0004
0005
0006
0007
0008
epm−t080
Fig. 12.4−22
L
Signal characteristic of 2/4xcounter in mode 8 considering as example the counters
0.1 and 0.2
EDSPM−TXXX−9.0−11/2009
12.4−15
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.7
12.4.7
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
Terminal assignment
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
The modules differ in having different counting directions:
Mode 12: Upcounter.
Mode 13: Downcounter
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Once the counter reaches the value loaded in the "Compare" register, output
OUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuing
its task.
12.4−16
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
12
12.4
12.4.7
Counter access
epm−t084
Fig. 12.4−24
L
Counter access of the 2/4xcounter in the modes 12 and 13
EDSPM−TXXX−9.0−11/2009
12.4−17
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.7
Signal characteristic
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
RES
Gate
Tt0H
Tt0L
CLK
TclH2d
TreH2d
Counter 0
xxxx xxxx
0000 0000
0000 0001
0000 0002
0000 0003
epm−t083
Fig. 12.4−25
12.4−18
Signal characteristic of 2/4xcounter in the mode 12
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
12.4.8
12
12.4
12.4.8
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14
and 15)
Terminal assignment
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
These modes offer the function "Auto Reload". This means, that the Load Register
can be assigned with a value which is automatically loaded into the counter as
soon as it reaches the comparison value set.
The modules differ in having different counting directions:
Mode 14: Upcounter.
Mode 15: Downcounter
RES signal
A HIGH level at input IN1 / IN4 (RES) sets the counter to zero.
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
The counter counts up to the value set in the compare register. With this last
LOW−HIGH edge the counter content is overwritten with the value set in the load
register. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.
OUT signal
L
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 output
OUT0 / OUT1.)
EDSPM−TXXX−9.0−11/2009
12.4−19
12
12.4
12.4.8
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
Counter access
epm−t086
Fig. 12.4−27
12.4−20
Counter access of the 2/4xcounter in the modes 14 and 15
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
Signal characteristic
Compare
0000 0004
Load
0000 0002
Compare
0000 0004
Load
0000 0002
12.4
12.4.8
Compare
0000 0004
Load
0000 0002
RES
Gate
Tt0H
Tt0L
CLK
TreH2d
Counter
xxxx xxxx
TclH2d
0000 0000
0000 0001
0000 0002
0000 0003
..04 0000 0002
0000 0003
..04 0000 0002
0000 0003
..04 0000 0002
OUT 0
epm−t085
Fig. 12.4−28
L
Signal characteristic of 2/4xcounter in the mode 14 (upcounter)
EDSPM−TXXX−9.0−11/2009
12.4−21
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.9
12.4.9
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
Measuring the frequency (modes 16 and 18)
Terminal assignment
1
+24 V DC
2
In1 (RES)
3
In2 (CLK)
4
In3 (START)
5
Out0
6
In4 (STOP)
7
n.c.
8
n.c.
9
Out1
10
GND
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, counters 0 and 1 are required. For
this, 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 counter
0 (see figure "counter access"). The number "n" of the reference frequency pulses
determines the gate time (period of time the counter 1 is to be released). "n" can
be between 1 and 232−1 and is loaded into the compare register.
RES signal
A LOW−HIGH edge at input IN1 (RES) sets the counter to zero.
START signal
A LOW−HIGH edge at input IN3 (START) starts the measuring process.
CLK signal
During the measuring process the counter 0 counts with the first LOW−HIGH edge
at the input IN2 (CLK) the pulses "n" of the reference frequency. Simultaneously
the counter 1 counts every LOW−HIGH edge at the input IN2 (CLK).
STOP signal
Both counters are stopped when
12.4−22
l
the counter 0 reading reaches the Compare value, or
l
input IN4 (STOP) receives a HIGH signal.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
OUT signal
12
12.4
12.4.9
Mode 16:
The output OUT 0 is set to HIGH level when the measuring process starts, and is
set to LOW level, when the measuring process is completed. The output OUT1
indicates 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 set
to LOW level, when the counting process is completed. The output OUT1 indicates
the output signal of OUT0 in an inverted way.
Computing the frequency
f+
)
f ref @ m
n
f
fref
m
n
Frequency to be computed
Reference frequency (see figure "counter access")
Content, counter 1 (number of CLK pulses)
Number of reference frequency pulses in counter 0 (corresponds to Compare
unless prematurely terminated by a HIGH signal at input IN4 (STOP)
Note!
If the reference frequency [fref] and the number of reference
frequency 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.
L
EDSPM−TXXX−9.0−11/2009
12.4−23
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.9
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
Counter access
epm−t088
Fig. 12.4−30
12.4−24
Counter access of the 2/4xcounter in the modes 16 and 18
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
Signal characteristic in mode 16
12
12.4
12.4.9
RES
START
STOP
CLK
Counter 1
xxx
0
Counter 0
xxx
0
1
2
3
m
n
Out0
Out1
epm−t089
Fig. 12.4−31
Signal characteristic of 2/4xcounter in the mode 16
OUT0 = HIGH
Measuring process in progress
Signal characteristic in mode 18
epm−t093
Fig. 12.4−32
Signal characteristic of 2/4xcounter in the mode 18
OUT0 = HIGH
L
Gate open
EDSPM−TXXX−9.0−11/2009
12.4−25
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.10
Parameterising 2/4xcounter module
Measuring the period (modes 17 and 19)
12.4.10 Measuring the period (modes 17 and 19)
Terminal assignment
1
+24 V DC
2
In1 (RES)
3
In2 (CLK)
4
In3 (START)
5
Out0
6
In4 (STOP)
7
n.c.
8
n.c.
9
Out1
10
GND
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" measured
period 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 1
are required. For this, both counters must be parameterised to
mode 17 or 19. Different modes cannot be set.
With the PDO byte 7 (Data In) a reference frequency (fref) is transmitted to counter
1 (see figure "counter access"). The number "m" of the reference frequency pulses
determines the gate time (period of time the counter 1 is to be released). "m" can
be between 1 and 232−1 and is loaded into the compare register.
RES signal
A LOW−HIGH edge at input IN1 (RES) sets the counter to zero.
START signal
A LOW−HIGH edge at input IN3 (START) starts the measuring process.
CLK signal
During the measuring process the counter 1 counts with the first LOW−HIGH edge
at the input IN2 (CLK) the pulses "m" of the reference frequency. Simultaneously
the counter 0 counts every LOW−HIGH edge at the input IN2 (CLK).
STOP signal
Both counters are stopped when
12.4−26
l
the counter 0 reaches the Compare value, or
l
input IN4 (STOP) receives a HIGH signal.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Measuring the period (modes 17 and 19)
OUT signal
12
12.4
12.4.10
Mode 17:
The output OUT 0 is set to HIGH level when the measuring process starts, and is
set to LOW level, when the measuring process is completed. The output OUT1
indicates 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 set
to LOW level, when the counting process is completed. The output OUT1 indicates
the output signal of OUT0 in an inverted way.
Computing the period
T+
n
f ref @ m
T
fref
m
n
Average period
Reference frequency (see figure "counter access")
Content, counter 1 (number of reference frequency pulses)
Number of CLK pulses in counter 0 (corresponds to Compare unless prematurely
terminated by a HIGH signal at input IN4 (STOP)
Counter access
epm−t092
Fig. 12.4−34
L
Counter access of the 2/4xcounter in the modes 17 and 19
EDSPM−TXXX−9.0−11/2009
12.4−27
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.10
Signal characteristic in mode 17
Parameterising 2/4xcounter module
Measuring the period (modes 17 and 19)
RES
START
STOP
CLK
Counter 0
xxx
0
Counter 1
xxx
0
1
2
3
n
m
Out0
Out1
epm−t091
Fig. 12.4−35
Signal characteristic of 2/4xcounter in the mode 17
OUT0 = HIGH
Measuring process in progress
Signal characteristic in mode 19
epm−t195
Fig. 12.4−36
Signal characteristic of 2/4xcounter in the mode 19
OUT0 = HIGH
12.4−28
Gate open
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Measuring the pulse width, fref programmable (mode 20)
12
12.4
12.4.11
12.4.11 Measuring the pulse width, fref programmable (mode 20)
Terminal assignment
1
+24 V DC
Counter 0
2
In1 (RES)
3
In2 (PULSE)
4
In3 (DIR)
5
Out0
Counter 1
6
In4 (RES)
7
In5 (PULSE)
8
In6 (DIR)
9
Out1
10
GND
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 a
programmable time base (fref, see figure Counter access").
PULSE signal
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 unit
1/fref. This result can be found and read out in the data output range until the next
result appears.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR).
Upcounter: LOW level
Downcounter: HIGH level
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Output OUT0 / OUT1 has no function.
L
EDSPM−TXXX−9.0−11/2009
12.4−29
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.11
Parameterising 2/4xcounter module
Measuring the pulse width, fref programmable (mode 20)
Counter access
epm−t095
Fig. 12.4−38
12.4−30
Counter access of the 2/4xcounter in the mode 20
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Measuring the pulse width, fref programmable (mode 20)
Signal characteristic
12.4
12.4.11
RES
GATE
PULSE
TreH2d
1
fref
Counter
XX
Result
XX
00
00
00
00
01
02
03
0000
04
05
06
07
07
0000
00
07
epm−t097
Fig. 12.4−39
Signal characteristic of 2/4xcounter in the mode 20 (upcounter)
RES
DIR
PULSE
TreH2d
1
fref
Counter XX
00
Result XX
00
00
00
0000
FF
FE
FD
FC
FB
FA
F9
0000
F9
FFF9
epm−t096
Fig. 12.4−40
L
Signal characteristic of 2/4xcounter in the mode 20 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−31
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.12
Parameterising 2/4xcounter module
Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
12.4.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
Terminal assignment
1
Counter 0
2
3
4
5
Counter 1
6
7
8
9
10
+24 V DC
IN1 (RES)
IN2 (PULSE)
IN3 (GATE)
Out0
IN4 (RES)
IN5 (PULSE)
IN6 (GATE)
Out1
GND
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 a
programmable time base (fref, see figure Counter access").
The modules differ in having different counting directions:
Mode 21: Upcounter.
Mode 22: Downcounter
GATE/CLK signal
The measuring process is enabled with a HIGH level at input IN3 / IN6 (GATE).
PULSE signal
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 unit
1/fref. This result can be found and read out in the data output range until the next
result appears.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Output OUT0 / OUT1 has no function.
)
Note!
The measuring process is terminated only if a HIGH level is
applied at input IN3 / IN6 (GATE) for the complete duration of the
measuring process.
12.4−32
EDSPM−TXXX−9.0−11/2009
L
12
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
12.4
12.4.12
Counter access
epm−t099
Fig. 12.4−42
Signal characteristic in mode 21
Counter access of the 2/4xcounter in the modes 21 and 22
RES
GATE
PULSE
TreH2d
1
fref
Counter
XX
Result
XX
00
00
00
00
0000
01
02
03
04
05
06
06
0000
00
01
06
epm−t100
Fig. 12.4−43
L
Signal characteristic of 2/4xcounter in the mode 21 (upcounter)
EDSPM−TXXX−9.0−11/2009
12.4−33
12
12.4
12.4.12
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
Signal characteristic in mode 22
RES
GATE
PULSE
TreH2d
1
fref
Counter
XX
Result
XX
00
00
00
00
FF
FE
0000
FD
FC
FB
FA
FA
0000
00
FF
FA
epm−t101
Fig. 12.4−44
12.4−34
Signal characteristic of 2/4xcounter in the mode 22 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
12
12.4
12.4.13
12.4.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
Terminal assignment
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
The modes differ in triggering the outputs Out0 / Out 1 differently (set or reset
function) and the counting direction:
Modes 23 and 25: Upcounter.
Modes 24 and 26: Downcounter
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Modes 23 and 24 (set function):
l
The signal at output OUT0 / OUT1 is set to HIGH level on counter loading.
l
When reaching the value loaded in Compare, the output signal is set to LOW
level. The counter continues to run.
Modes 25 and 26 (reset function):
L
l
The signal at output OUT0 / OUT1 is set to LOW level on counter loading.
l
When reaching the value loaded in Compare, the output signal is set to
HIGH level (modes 25 and 26). The counter continues to run.
EDSPM−TXXX−9.0−11/2009
12.4−35
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
Counter access
epm−t084
Fig. 12.4−46
12.4−36
Counter access of the 2/4xcounter in the modes 23 ... 26
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
12.4
12.4.13
Signal characteristic in mode 23
RES
GATE
Tt0H
Tt0L
CLK
TreH2d
Counter 0
xxxx xxxx
TclH2d
0000 0004
0000 0005
0000 0006
0000 0007
0000 0008
Out0
0
epm−t102
Fig. 12.4−47
Signal characteristic of 2/4xcounter in the mode 23 (upcounter, set function)
Compare reached
Signal characteristic in mode 24
RES
GATE
Tt0H
Tt0L
CLK
TreH2d
Counter 0
xxxx xxxx
TclH2d
0000 0009
0000 0008
0000 0007
0000 0006
0000 0005
Out0
0
epm−t103
Fig. 12.4−48
Signal characteristic of 2/4xcounter in the mode 24 (downcounter, set function)
Compare reached
Signal characteristic in mode 25
RES
GATE
Tt0H
Tt0L
CLK
TreH2d
Counter 0
xxxx xxxx
TclH2d
0000 0004
0000 0005
0000 0006
0000 0007
0000 0008
Out0
0
1
epm−t104
Fig. 12.4−49
Signal characteristic of 2/4xcounter in the mode 25 (upcounter, reset function)
OUT0 LOW active
Load counter
Compare reached
L
EDSPM−TXXX−9.0−11/2009
12.4−37
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
Signal characteristic in mode 26
epm−t105
Fig. 12.4−50
Signal characteristic of 2/4xcounter in the mode 26 (downcounter, reset function)
OUT0 LOW active
Load counter
Compare reached
12.4−38
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 x 32 bit counter with G/RES (mode 27)
12
12.4
12.4.14
12.4.14 2 x 32 bit counter with G/RES (mode 27)
Terminal assignment
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 starting
value.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
CLK signal
If a HIGH level is applied to input IN3 / IN6 (G/RES), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
G/RES signal
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 the
input IN1 / IN4 (G/RES) the counter is deleted.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
L
EDSPM−TXXX−9.0−11/2009
12.4−39
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.14
Parameterising 2/4xcounter module
2 x 32 bit counter with G/RES (mode 27)
Counter access
epm−t143
Fig. 12.4−52
Counter access of the 2/4xcounter in the mode 27
Fig. 12.4−53
Signal characteristic of 2/4xcounter in the mode 27 (upcounter)
Fig. 12.4−54
Signal characteristic of 2/4xcounter in the mode 27 (downcounter)
Signal characteristic
epm−t146
epm−t147
12.4−40
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
12
12.4
12.4.15
12.4.15 Encoder with G/RES (modes 28 ... 30)
Terminal assignment
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 starting
value.
The modes differ in the number of edges which are evaluated:
Mode 28: 1 edge
Mode 29: 2 edges
Mode 30: 4 edges
A/B signal
See signal characteristics.
G/RES signal
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 the
input IN1 / IN4 (G/RES) the counter is deleted.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
L
EDSPM−TXXX−9.0−11/2009
12.4−41
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.15
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
Counter access
epm−t145
Fig. 12.4−56
Signal characteristic in mode 28
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 HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t148
Fig. 12.4−57
Signal characteristic of the 2/4xcounter in the mode 28 (upcounter)
Every LOW−HIGH edge at input IN2 / IN5 (A) decrements the counter by 1 if a HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t149
Fig. 12.4−58
12.4−42
Signal characteristic of 2/4xcounter in the mode 28 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
Signal characteristic in mode 29
12.4
12.4.15
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t150
Fig. 12.4−59
Signal characteristic of 2/4xcounter in the mode 29 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t151
Fig. 12.4−60
L
Signal characteristic of 2/4xcounter in the mode 29 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−43
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.15
Signal characteristic in mode 30
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t152
Fig. 12.4−61
Signal characteristic of 2/4xcounter in the mode 30 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t153
Fig. 12.4−62
12.4−44
Signal characteristic of 2/4xcounter in the mode 30 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
12
12.4
12.4.16
12.4.16 2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
Terminal assignment
epm−t154
Fig. 12.4−63
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
The modules differ in having different counting directions:
Mode 31: Upcounter.
Mode 32: Downcounter
RESû signal
A LOW/HIGH edge at input IN1 / IN04 (RESû ) clears the counter.
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
OUT signal
Once the counter reaches the value loaded in the "Compare" register, output
OUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuing
its task.
L
EDSPM−TXXX−9.0−11/2009
12.4−45
12
12.4
12.4.16
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
Counter access
epm−t155
Fig. 12.4−64
12.4−46
Counter access of the 2/4xcounter in the modes 31 and 32
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
12
12.4
12.4.16
Signal characteristic
epm−t156
Fig. 12.4−65
L
Signal characteristic of 2/4xcounter in the mode 31
EDSPM−TXXX−9.0−11/2009
12.4−47
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.17
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
12.4.17 2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33
and 34)
Terminal assignment
epm−t154
Fig. 12.4−66
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
These modes offer the function "Auto Reload". This means, that the Load Register
can be assigned with a value which is automatically loaded into the counter as
soon as it reaches the comparison value set.
The modules differ in having different counting directions:
Mode 33: Upcounter
Mode 34: Downcounter
RESû signal
A LOW/HIGH edge at input IN1 / IN04 (RESû) clears the counter.
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
The counter counts up to the value set in the compare register. With this last
LOW−HIGH edge the counter content is overwritten with the value set in the load
register. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.
OUT signal
12.4−48
If an "Auto Reload" occurs, the signal level at the output OUT0 / OUT1 changes.
(A LOW−HIGH−edge at the output IN1 / IN4 (RESû) does not reset the output
OUT0 / OUT1.)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
12
12.4
12.4.17
Counter access
epm−t158
Fig. 12.4−67
L
Counter access of the 2/4xcounter in the modes 33 and 34
EDSPM−TXXX−9.0−11/2009
12.4−49
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.17
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
Signal characteristic
epm−t159
Fig. 12.4−68
12.4−50
Signal characteristic of 2/4xcounter in the mode 33 (upcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
2 x 32 bit counter with GATE (mode 35)
12
12.4
12.4.18
12.4.18 2 x 32 bit counter with GATE (mode 35)
Terminal assignment
epm−t160
Fig. 12.4−69
Terminal assignment of the 2/4xcounter in the mode 35
The mode 35 offers two 32−bit counters which can be assigned with a starting
value.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
CLK signal
Each LOW−HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements the
counter by 1, respectively.
GATE signal
During the counting process, a HIGH level must be applied to input IN1 / IN4
(GATE). With a LOW level the counter content is frozen.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
L
EDSPM−TXXX−9.0−11/2009
12.4−51
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.18
Parameterising 2/4xcounter module
2 x 32 bit counter with GATE (mode 35)
Counter access
epm−t161
Fig. 12.4−70
Counter access of the 2/4xcounter in the mode 35
Fig. 12.4−71
Signal characteristic of 2/4xcounter in the mode 35 (upcounter)
Fig. 12.4−72
Signal characteristic of 2/4xcounter in the mode 35 (downcounter)
Signal characteristic
epm−t162
epm−t163
12.4−52
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
12
12.4
12.4.19
12.4.19 Encoder with GATE (modes 36 ... 38)
Terminal assignment
epm−t164
Fig. 12.4−73
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 starting
value.
The modes differ in the number of edges which are evaluated:
Mode 36: 1 edge
Mode 37: 2 edges
Mode 38: 4 edges
A/B signal
See signal characteristics.
GATE signal
During the counting process, a HIGH level must be applied to input IN1 / IN4
(GATE). With a LOW level the counter content is frozen.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
L
EDSPM−TXXX−9.0−11/2009
12.4−53
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.19
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
Counter access
epm−t165
Fig. 12.4−74
Signal characteristic in mode 36
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 HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t166
Fig. 12.4−75
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 a HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t167
Fig. 12.4−76
12.4−54
Signal characteristic of 2/4xcounter in the mode 36 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
Signal characteristic in mode 37
12.4
12.4.19
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t168
Fig. 12.4−77
Signal characteristic of 2/4xcounter in the mode 37 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t169
Fig. 12.4−78
L
Signal characteristic of 2/4xcounter in the mode 37 (downcounter)
EDSPM−TXXX−9.0−11/2009
12.4−55
12
Parameter setting via system bus (CAN) / CANopen
12.4
12.4.19
Signal characteristic in mode 38
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t170
Fig. 12.4−79
Signal characteristic of 2/4xcounter in the mode 38 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t171
Fig. 12.4−80
12.4−56
Signal characteristic of 2/4xcounter in the mode 38 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising SSI interface
Parameter data
12.5
12.5.1
12.5
Parameterising SSI interface
12.5.1
Parameter data
Mapping setting
12
Use index I4104h to define the process data mapping (PDO mapping) for the
input/output bytes and the control byte of the SSI interface:
l
I4104h = 0: SSI mapping PLC
– PDO mapping is required for data evaluation with PLC units using the
function blocks "L_IOSSIDataToIO" and "L_IOSSIDataFromIO".
l
I4104h = 1: SSI mapping standard 1 and
I4104h = 2: SSI mapping standard 2
– PDO mapping is required for data evaluation with 9300 controllers using
the function blocks "CAN−IN" and "CAN−OUT".
)
Note!
"SSI mapping standard 1" and "SSI mapping standard 2" differ in
the arrangement of the input/output bytes and the control byte.
l Please read the documentation for the controller, in particular
for the CAN−IN function block, to see which mapping is to be
used for communication.
Baud rate, code and hold
function setting
For the SSI interface, 4 bytes of parameter data are available, which are assigned
via SDOs. The following can be defined via the parameter data:
l
Baud rate
l
Coding type
l
Evaluation of the combined I/O.0
Parameter setting via Global Drive Control (GDC):
Depending on the plug−in station, the SSI interface is parameterised via the indices
I3001h ... I3010h (max. 8 SSI interface modules). The parameter data are stored in
subindex 1.
Parameter setting via CoDeSys:
The max. 8 SSI interface modules are addressed via index I3401h. The parameter
data are assigned in the subindices 1 ... 64 (4 bytes per subindex). The SSI
interface module assigns 1 subindex.
Index
I3xxxh
Subindex
1
Byte 3
Byte 2
Byte 1
Byte 0
00 h
00 h
00 h
00 h
epm−t173
Fig. 12.5−1
L
Display of the parameter data of the SSI interface
EDSPM−TXXX−9.0−11/2009
12.5−1
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.2
Parameterising SSI interface
Input data assignment via index
The parameter data are assigned as follows:
Byte
0
1
2
Assignment
Reserved
Reserved
Baud rate 1)
3
Coding 2)
Lenze setting
00h = 300 kBaud
01h = 100 kBaud
02h = 300 kBaud
03h = 600 kBaud
04h ... FFh = 300 kBaud
Bit 0
0
Binary code
1
Gray Code
Bit 1
Reserved
Bit 2
0
Deactivate
1
Activate
Bits 3 ...
Reserved
7
Hold function 3)
1)
2)
3)
00h
00h
The encoder connected to the SSI interface transmits serial data. Therefore the encoder receives a clock pulse
from the SSI interface. The clock pulse is determined by you.
If the encoder transmits the data in Gray code to the SSI interface, activate the Gray code to ensure that the data
will be transferred in binary code from the gateway.
If the hold function is activated, the current encoder value will be frozen as soon as +24 V are applied to the input
I/O.0 +24 V. For this, the switching function must be parameterised for the input I/O.0 (I4101h or I4103h).
)
Note!
The baud rate depends on the cable length and the SSI encoder.
The cables must be twisted and shielded in pairs. The following
data serve as a guideline:
Cable length
< 400 m
< 100 m
< 50 m
12.5.2
Baud rate
100 kBaud
300 kBaud
600 kBaud
Input data assignment via index
The input data of the SSI interface can be parameterised via indices. The indices
required depend on the mapping (I4104h).
)
Note!
Settings under indices I4101h and I4103h can only be reset by
disconnecting the supply voltage.
12.5−2
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising SSI interface
Input data assignment via index
I4104h = 0 (SSI mapping PLC)
l
12
12.5
12.5.2
The input data of the modules (subindex 1 ... 8) are set under index I4101h:
Index
I4101h
Byte 3
00 h
Subindex 1
Byte 2
00 h
Byte 1
00 h
Byte 0
00 h
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
epm_t207
Fig. 12.5−2
Mapping of the input data under I4101h, subindex 1 (module 1)
Byte
0
Assignment
Control
1
2
3
Comparison value (LOW byte)
Comparison value (MID byte)
Comparison value (HIGH byte)
l
Bits 0 ... 1 Setpoint selection
00: No setpoint selection
01: Setpoint selection for output I/O.0
10: Setpoint selection for output I/O.1
11: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2
Reserved
Bit 3
Condition for setting the output = HIGH
0: If SSI encoder value > setpoint
1: If SSI encoder value < setpoint
Bits 4 ... 7 Reserved
Bits 0 ... 7
Bits 0 ... 7 Selection of comparison value
Bits 0 ... 7
The output data of the modules (subindex 1 ... 8) are indicated under index
I4100h:
Index
I4100h
Byte 3
00 h
Subindex 1
Byte 2
00 h
Byte 1
00 h
Byte 0
00 h
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
epm_t208
Fig. 12.5−3
L
Mapping of the output data under I4100h, subindex 1 (module 1)
Byte
0
Assignment
Status
1
2
3
SSI encoder value (LOW byte)
SSI encoder value (MID byte)
SSI encoder value (HIGH byte)
EDSPM−TXXX−9.0−11/2009
Bit 0
Bit 1
Bits 2 ... 7
Bits 0 ... 7
Bits 0 ... 7
Bits 0 ... 7
Status I/O.0
Status I/O.1
Reserved
Output of SSI encoder value
12.5−3
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.2
SSI mapping standard 1 and
SSI mapping standard 2
Parameterising SSI interface
Input data assignment via index
l
Use the modes "SSI mapping standard 1" (I4104h = 1) and "SSI mapping
standard 2" (I4104h = 2) to parameterise the input data of the modules
(subindex 1 ... 8) under index I4101h:
Index
I4101h
Subindex 1
Byte 3
00 h
Byte 2
00 h
Byte 1
00 h
Byte 0
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
epm_t210
Fig. 12.5−4
Byte
0
1
2
3
l
Mapping of the input data under I4101h, subindex 1 (module 1)
Assignment
Reserved
Comparison value (LOW byte)
Comparison value (MID byte)
Comparison value (HIGH byte)
Bits 0 ... 7
Bits 0 ... 7 Selection of comparison value
Bits 0 ... 7
The switching conditions for module I/O.0 and I/O.1 are defined under index
I4103h (subindex 1 ... 9):
Index
I4103h
Subindex 1
Byte 0
00 h
Bit 7 6 5 4 3 2 1 0
epm_t211
Fig. 12.5−5
Byte
0
12.5−4
Mapping of the control byte under I4103h, subindex 1 (module 1)
Assignment
Control
Bits 0 ... 1 Setpoint selection
00: No setpoint selection
01: Setpoint selection for output I/O.0
10: Setpoint selection for output I/O.1
11: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2
Reserved
Bit 3
Condition for setting the output = HIGH
0: If SSI encoder value is higher than setpoint
1: If SSI encoder value is lower than setpoint
Bits 4 ... 7 Reserved
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising SSI interface
Input data assignment via index
l
12.5
12.5.2
The output data of the modules (subindex 1 ... 9) are indicated under index
I4100h:
Index
I4100h
Byte 3
00 h
Subindex 1
Byte 2
00 h
Byte 1
00 h
Byte 0
Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0 Bit 7 6 5 4 3 2 1 0
epm_t209
Fig. 12.5−6
Byte
0
1
2
3
l
Mapping of the output data under I4100h, subindex 1 (module 1)
Assignment
Reserved
SSI encoder value (LOW byte)
SSI encoder value (MID byte)
SSI encoder value (HIGH byte)
Bits 0 ... 7
Bits 0 ... 7 Output of SSI encoder value
Bits 0 ... 7
The status of the switching conditions for module I/O.0 and I/O.1 is
indicated under index I4102h (subindex 1 ... 9):
Index
I4102h
Byte 0
00 h
Subindex 1
Bit 7 6 5 4 3 2 1 0
epm_t206
Fig. 12.5−7
Byte
0
L
Mapping of the status byte under I4102h, subindex 1 (module 1)
Assignment
Status
EDSPM−TXXX−9.0−11/2009
Bit 0
Status I/O.0
Bit 1
Status I/O.1
Bits 2 ... 7 Reserved
12.5−5
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.3
12.5.3
Parameterising SSI interface
Process data assignment for "SSI mapping PLC" (I4104 = 0)
Process data assignment for "SSI mapping PLC" (I4104 = 0)
This mapping is required for encoder value evaluation with Lenze PLC units and
function blocks of the "IO_System.lib".
Setting index I4104h = 0 (Lenze setting) adapts the input/output byte assignment
for communication with Lenze PLC units.
Gateway
Control
Data In HB
Data In MB
Data In LB
Rx
PDO
1
ER
RD
BA
0 1
ADR.
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
X1
Hold
.7
DC
24V
+24 V
0 1 2 3 4 5 6 7
L
PW
SSI
Encoder
Data from module
SSI-Interface
L
Status
Data Out HB
Data Out MB
Data Out LB
Data to module
0 1 2 3 4 5 6 7
8
9
10
E/A.0
Tx
PDO
E/A.0
E/A.1
epm−t172
Fig. 12.5−8
Data input /output of SSI interface
For data input / output, four bytes are available which are transmitted (Rx PDO) or
output (Tx PDO) by PDOs.
)
Note!
Input and output data get lost when the mains supply is switched
off/on; they are not stored!
Input data
Output data
12.5−6
The Rx PDO contains the input data used to control the outputs (I/O.0 and I/O.1)
depending on the encoder value.
Byte
0
Assignment
Control
1
2
3
Comparison value (HIGH byte)
Comparison value (MID byte)
Comparison value (LOW byte)
Bits 0 ... 1 Setpoint selection
00: No setpoint selection
01: Setpoint selection for output I/O.0
10: Setpoint selection for output I/O.1
11: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2
Reserved
Bit 3
Condition for setting the output = HIGH
0: If SSI encoder value is higher than setpoint
1: If SSI encoder value is lower than setpoint
Bits 4 ... 7 Reserved
Bits 0 ... 7
Bits 0 ... 7 Selection of comparison value
Bits 0 ... 7
The Tx PDO contains the output data supplied by the encoder.
Byte
0
Assignment
Status
1
2
3
SSI encoder value (HIGH byte)
SSI encoder value (MID byte)
SSI encoder value (LOW byte)
Bit 0
Bit 1
Bits 2 ... 7
Bits 0 ... 7
Bits 0 ... 7
Bits 0 ... 7
EDSPM−TXXX−9.0−11/2009
Status I/O.0
Status I/O.1
Reserved
Output of SSI encoder value
L
Parameter setting via system bus (CAN) / CANopen
Parameterising SSI interface
Process data assignment for "SSI mapping PLC" (I4104 = 0)
Counter access
12
12.5
12.5.3
Data to module
Control
Data In HB
Data In MB
Data In LB
=02
Data In HB
Data In MB
Data In LB
=01
load
Data In HB
Data In MB
Data In LB
Rx
PDO
Data In HB
Data In MB
Data In LB
0 1 2 3 4 5 6 7
E/A.0
=
compare
=
E/A.1
SSI
Encoder
Data from module
Status
Data Out HB
Data Out MB
Data Out LB
Status
Data Out HB
Data Out MB
Data Out LB
0 1 2 3 4 5 6 7
Tx
PDO
epm−t187
Fig. 12.5−9
Counter access SSI interface, Hold function deactivated
Data to module
Control
Data In HB
Data In MB
Data In LB
Rx
PDO
Data In HB
Data In MB
Data In LB
0 1 2 3 4 5 6 7
load
Data In HB
Data In MB
Data In LB
=02
E/A.1
compare =
SSI
Encoder
E/A.0
= +24 V
hold
Data from module
Status
Data Out HB
Data Out MB
Data Out LB
Status
Data Out HB
Data Out MB
Data Out LB
0 1 2 3 4 5 6 7
Tx
PDO
epm−t191
Fig. 12.5−10
L
Counter access SSI interface, Hold function activated
EDSPM−TXXX−9.0−11/2009
12.5−7
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.4
12.5.4
Parameterising SSI interface
Process data assignment for "SSI mapping standard 1" (I4104 = 1)
Process data assignment for "SSI mapping standard 1" (I4104 = 1)
)
Note!
"SSI mapping standard 1" and "SSI mapping standard 2" differ in
the arrangement of the input/output bytes and the control byte.
l Please read the documentation for the controller, in particular
for the CAN−IN function block, to see which mapping is to be
used for communication.
This mapping is required for encoder value evaluation using standard 9300
controllers. The encoder value is provided as DWORD.
Setting index I4104h = 1 adapts the input/output byte assignment for
communication with Lenze 9300 controllers.
Control
Data In LB
Data In MB
Data In HB
Rx
PDO
1
ER
RD
BA
0 1
ADR.
+24 V
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
X1
Hold
0 1 2 3 4 5 6 7
L
PW
SSI
Encoder
Data from module
SSI-Interface
L
.7
DC
24V
Tx
PDO
8
9
10
E/A.0
Status
Gateway
Data Out LB
Data Out MB
Data Out HB
Data to module
0 1 2 3 4 5 6 7
E/A.0
E/A.1
epm−t199
Fig. 12.5−11
Data input /output of SSI interface
For data input / output, four bytes are available which are transmitted (Rx PDO) or
output (Tx PDO) by PDOs.
)
Note!
Input and output data get lost when the mains supply is switched
off/on; they are not stored!
12.5−8
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising SSI interface
Process data assignment for "SSI mapping standard 1" (I4104 = 1)
Input data
Assignment
Comparison value (LOW byte)
Comparison value (MID byte)
Comparison value (HIGH byte)
Reserved
Control
Bits 0 ... 7
Bits 0 ... 7 Selection of comparison value
Bits 0 ... 7
Bits 0 ... 1 Setpoint selection
00: No setpoint selection
01: Setpoint selection for output I/O.0
10: Setpoint selection for output I/O.1
11: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2
Reserved
Bit 3
Condition for setting the output = HIGH
0: If SSI encoder value is higher than setpoint
1: If SSI encoder value is lower than setpoint
Bits 4 ... 7 Reserved
The Tx PDO contains the output data supplied by the encoder.
Byte
0
1
2
3
4
L
12.5
12.5.4
The Rx PDO contains the input data used to control the outputs (I/O.0 and I/O.1)
depending on the encoder value.
Byte
0
1
2
3
4
Output data
12
Assignment
SSI encoder value (LOW byte)
SSI encoder value (MID byte)
SSI encoder value (HIGH byte)
Reserved
Status
EDSPM−TXXX−9.0−11/2009
Bits 0 ... 7
Bits 0 ... 7 Output of SSI encoder value
Bits 0 ... 7
Bit 0
Status I/O.0
Bit 1
Status I/O.1
Bits 2 ... 7 Reserved
12.5−9
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.4
Parameterising SSI interface
Process data assignment for "SSI mapping standard 1" (I4104 = 1)
Counter access
Data to module
Data In LB
Data In MB
Data In HB
Control
=02
Data In LB
Data In MB
Data In HB
=01
load
Data In LB
Data In MB
Data In HB
Rx
PDO
Data In LB
Data In MB
Data In HB
0 1 2 3 4 5 6 7
E/A.0
=
compare
=
E/A.1
SSI
Encoder
Data from module
Status
Data Out LB
Data Out MB
Data Out HB
Status
Data Out LB
Data Out MB
Data Out HB
0 1 2 3 4 5 6 7
Tx
PDO
epm−t197
Fig. 12.5−12
Counter access SSI interface, Hold function deactivated
Data to module
Data In LB
Data In MB
Data In HB
Control
Rx
PDO
Data In LB
Data In MB
Data In HB
0 1 2 3 4 5 6 7
load
Data In LB
Data In MB
Data In HB
=02
E/A.1
compare =
SSI
Encoder
E/A.0
= +24 V
hold
Data from module
Status
Data Out LB
Data Out MB
Data Out HB
Status
Data Out LB
Data Out MB
Data Out HB
0 1 2 3 4 5 6 7
Tx
PDO
epm−t198
Fig. 12.5−13
12.5−10
Counter access SSI interface, Hold function activated
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising SSI interface
Process data assignment for "SSI mapping standard 2" (I4104 = 2)
12.5.5
12.5
12.5.5
Process data assignment for "SSI mapping standard 2" (I4104 = 2)
)
Note!
"SSI mapping standard 1" and "SSI mapping standard 2" differ in
the arrangement of the input/output bytes and the control byte.
l Please read the documentation for the controller, in particular
for the CAN−IN function block, to see which mapping is to be
used for communication.
This mapping is required for encoder value evaluation using standard 9300
controllers. The encoder value is provided as DWORD.
Setting index I4104h = 2 adapts the input/output byte assignment for
communication with Lenze 9300 controllers.
Data In LB
Data In MB
Data In HB
Control
Rx
PDO
1
ER
RD
BA
0 1
ADR.
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
X1
Hold
0 1 2 3 4 5 6 7
L
PW
SSI
Encoder
Data from module
SSI-Interface
L
.7
DC
24V
+24 V
Tx
PDO
8
9
10
E/A.0
Data Out LB
Data Out MB
Data Out HB
Gateway
Status
Data to module
0 1 2 3 4 5 6 7
E/A.0
E/A.1
epm−t202
Fig. 12.5−14
Data input /output of SSI interface
For data input / output, four bytes are available which are transmitted (Rx PDO) or
output (Tx PDO) by PDOs.
)
Note!
Input and output data get lost when the mains supply is switched
off/on; they are not stored!
L
EDSPM−TXXX−9.0−11/2009
12.5−11
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.5
Input data
Output data
12.5−12
Parameterising SSI interface
Process data assignment for "SSI mapping standard 2" (I4104 = 2)
The Rx PDO contains the input data used to control the outputs (I/O.0 and I/O.1)
depending on the encoder value.
Byte
0
Assignment
Control
1
2
3
4
5
6
Reserved
Reserved
Reserved
Comparison value (LOW byte)
Comparison value (MID byte)
Comparison value (HIGH byte)
Bits 0 ... 1 Setpoint selection
00: No setpoint selection
01: Setpoint selection for output I/O.0
10: Setpoint selection for output I/O.1
11: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2
Reserved
Bit 3
Condition for setting the output = HIGH
0: If SSI encoder value is higher than setpoint
1: If SSI encoder value is lower than setpoint
Bits 4 ... 7 Reserved
Bits 0 ... 7
Bits 0 ... 7 Selection of comparison value
Bits 0 ... 7
The Tx PDO contains the output data supplied by the encoder.
Byte
0
Assignment
Status
1
2
3
4
5
6
Reserved
Reserved
Reserved
SSI encoder value (LOW byte)
SSI encoder value (MID byte)
SSI encoder value (HIGH byte)
Bit 0
Status I/O.0
Bit 1
Status I/O.1
Bits 2 ... 7 Reserved
Bits 0 ... 7
Bits 0 ... 7 Output of SSI encoder value
Bits 0 ... 7
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising SSI interface
Process data assignment for "SSI mapping standard 2" (I4104 = 2)
Counter access
12
12.5
12.5.5
Data to module
Data In LB
Data In MB
Data In HB
=02
Data In LB
Data In MB
Data In HB
=01
load
Data In LB
Data In MB
Data In HB
Control
Rx
PDO
Data In LB
Data In MB
Data In HB
0 1 2 3 4 5 6 7
E/A.0
=
compare
=
E/A.1
SSI
Encoder
Data from module
Data Out LB
Data Out MB
Data Out HB
Status
Status
Data Out LB
Data Out MB
Data Out HB
0 1 2 3 4 5 6 7
Tx
PDO
epm−t203
Fig. 12.5−15
Counter access SSI interface, Hold function deactivated
Data to module
Data In LB
Data In MB
Data In HB
Control
Rx
PDO
Data In LB
Data In MB
Data In HB
0 1 2 3 4 5 6 7
load
Data In LB
Data In MB
Data In HB
=02
E/A.1
compare =
SSI
Encoder
E/A.0
= +24 V
hold
Data from module
Data Out LB
Data Out MB
Data Out HB
Status
Status
Data Out LB
Data Out MB
Data Out HB
0 1 2 3 4 5 6 7
Tx
PDO
epm−t204
Fig. 12.5−16
L
Counter access SSI interface, Hold function activated
EDSPM−TXXX−9.0−11/2009
12.5−13
12
Parameter setting via system bus (CAN) / CANopen
12.5
12.5.6
12.5.6
Example
Parameterising SSI interface
Example of parameter setting via process data
Example of parameter setting via process data
The station consists of a CAN gateway and an SSI interface. An encoder with a
24−bit resolution and Gray code is used.
Output I/O.0 is to switch with a counter value of > 1000, output I/O.1 with a counter
value of > 2000. For a simpler representation, the figures are provided in a
hexadecimal format.
Selection
Mapping
Node address
Coding (I3001/1)
Hold function (I3001/1)
SSI mapping PLC (I4104h = 0)
2
Gray code
Deactivated
1. Assigning parameter data
epm−t188
Fig. 12.5−17
Example − How to assign parameter data when using SSI interface
2. Assigning comparison value for channel 0
epm−t189
Fig. 12.5−18
Example − How to assign a comparison value to channel 0 when using SSI interface
3. Assigning comparison value for channel 1
epm−t190
Fig. 12.5−19
12.5−14
Example − How to assign a comparison value to channel 1 when using SSI interface
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 1xcounter/16xdigital input module
Parameter data
12.6
12.6.1
12.6
Parameterising 1xcounter/16xdigital input module
12.6.1
Parameter data
The parameter data can be used to assign a mode to the internal counter and to
configure the digital input filter.
For the 1xcounter/16xdigital input, three bytes of parameter data are available,
which are assigned via SDOs.
Parameter setting via Global Drive Control (GDC):
Depending on the plug−in station, the module is parameterised via the indices
3001h ... 3010xh (maximum 8 counter modules). The parameter data is stored in
the subindex 1.
Parameter setting via CoDeSys:
The max. 8 counter modules are addressed via index I3401h. The parameter data
are assigned in the subindices 1 ... 64 (4 bytes per subindex). The counter module
assigns 1 subindex.
Index
I3xxxh
Subindex
1
00h
Byte 2
Byte 1
Byte 0
00h
00h
00h
epm−t176
Fig. 12.6−1
Display of the parameter data of 1xcounter/16xdigital input
The parameter data follows the assignment below:
Byte
0
Assignment
Counter mode
1
2
Filter factor A
Filter factor B
)
00h
01h
02h
03h
04h
05h ... FFh
0 ... 255
0 ... 255
Encoder with 4 edges
32−bit counter
Clock up/clock down evaluation
Measuring the frequency
Measuring the period
Reserved
Configuration of the digital input filters for
counter inputs E.0 and E.1
Lenze setting
00h
00h
00h
Note!
Store changed parameters in the EEPROM via index I2003h. The
settings are maintained after switching off the supply voltage.
L
EDSPM−TXXX−9.0−11/2009
12.6−1
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.2
12.6.2
Parameterising 1xcounter/16xdigital input module
Input data / output data
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 to
the counter (Rx PDO) or output by the counter (Tx PDO).
)
Note!
Input and output data get lost when the mains supply is switched
off/on; they are not stored!
12.6−2
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 1xcounter/16xdigital input module
Input data / output data
Input data
12.6
12.6.2
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 (Data
In). 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 lower
count limit. The moment the lower count limit (when counting downwards) has
been reached, the count value jumps to the upper count limit.
The counter is controlled via byte 4 (control). It is assigned as follows:
Byte
4
Assignment
Control byte
Bit 0
Bit 1
Bit 2
Bit 3
Bits 4 ... 7
1)
1 = Start counter (software gate is open) 1)
1 = Stop counter (software gate is closed) 1)
1 = Counter is loaded with starting value /
comparison value
1 = Count value is deleted
reserved
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, is
active.
Via byte 5 the reference frequency for the modes 3 (frequency measurement) and
4 (period measurement) can be set. It is assigned as follows:
Byte
5
Output data
L
Assignment
Reference frequency
00h
01h
02h
03h
04h
05h
06h
07h
08h...FFh
16 MHz
8 MHz
4 MHz
1 MHz
100 kHz
10 kHz
1 kHz
100 Hz
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).
EDSPM−TXXX−9.0−11/2009
12.6−3
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.2
Parameterising 1xcounter/16xdigital input module
Input data / output data
Counter access
epm−t175
Fig. 12.6−3
12.6−4
Counter access − 1xcounter/16xdigital input
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 1xcounter/16xdigital input module
Encoder (mode 0)
12.6.3
12.6
12.6.3
Encoder (mode 0)
In the mode 0, the rising and falling edges of signal A and B are evaluated. The
counter 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 lower
count limit. The moment, the lower count limit (when counting downwards) has
been reached, the count value jumps to the upper count limit.
Clear signal
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has
HIGH level.
A/B signal
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 on
which signal is leading.
Counter access
epm−t177
Fig. 12.6−4
L
Counter access of 1xcounter/16xdigital input in the mode 0
EDSPM−TXXX−9.0−11/2009
12.6−5
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.3
Signal characteristic
Parameterising 1xcounter/16xdigital input module
Encoder (mode 0)
The counter is incremented by 1 on
l
a LOW−HIGH edge of signal A and a LOW level of signal B.
l
a HIGH−LOW edge of signal A and a HIGH level of signal B.
l
a LOW−HIGH edge of signal B and a HIGH level of signal A.
l
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
l
a LOW−HIGH edge of signal A and a HIGH level of signal B.
l
a HIGH−LOW edge of signal A and a LOW level of signal B.
l
a LOW−HIGH edge of signal B and a LOW level of signal A.
l
a HIGH−LOW edge of signal B and a HIGH level of signal A.
epm−t179
Fig. 12.6−6
12.6−6
Signal characteristic of 1xcounter/16xdigital input in the mode 0 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 1xcounter/16xdigital input module
32 bit counter (mode 1)
12.6.4
12.6
12.6.4
32 bit counter (mode 1)
In the mode 1 the counter operates as a 32−bit counter. The counter 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 lower
count limit. The moment, the lower count limit (when counting downwards) has
been reached, the count value jumps to the upper count limit.
Clear signal
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has
HIGH level.
A/B signal
With the software gate open: With every rising edge of signal A (E.0) the counter
is either incremented or decremented by 1.
The counting direction is determined via the level of signal B (E.1):
Upcounter: LOW level
Downcounter: HIGH level
Counter access
epm−t177
Fig. 12.6−7
L
Counter access of 1xcounter/16xdigital input in the mode 1
EDSPM−TXXX−9.0−11/2009
12.6−7
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.4
Parameterising 1xcounter/16xdigital input module
32 bit counter (mode 1)
Signal characteristic
epm−t180
Fig. 12.6−8
Signal characteristic of 1xcounter/16xdigital input in the mode 1 (upcounter)
Fig. 12.6−9
Signal characteristic of 1xcounter/16xdigital input in the mode 1 (downcounter)
epm−t181
12.6−8
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 1xcounter/16xdigital input module
32 bit counter with clock up/down evaluation (mode 2)
12.6.5
12.6
12.6.5
32 bit counter with clock up/down evaluation (mode 2)
In the mode 2 the counter operates as a clock−up/clock−down counter. The
counter 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 up) has been reached, the count value jumps to the lower count
limit. The moment, the lower count limit (when counting down) has been reached,
the count value jumps to the upper count limit.
Clear signal
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has HIGH
level.
A/B signal
With the software gate open: With every rising edge of the signal A (E.0) the counter
is incremented by 1. With every rising edge of the signal B (E.1) the counter is
decremented by 1.
Counter access
epm−t177
Fig. 12.6−10
L
Counter access of 1xcounter/16xdigital input in the mode 2
EDSPM−TXXX−9.0−11/2009
12.6−9
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.5
Parameterising 1xcounter/16xdigital input module
32 bit counter with clock up/down evaluation (mode 2)
Signal characteristic
epm−t182
Fig. 12.6−11
12.6−10
Signal characteristic of 1xcounter/16xdigital input in the mode 2
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 1xcounter/16xdigital input module
Measuring the frequency (mode 3)
12.6.6
12
12.6
12.6.6
Measuring the frequency (mode 3)
In mode 3, the counter operates as a frequency meter. For this purpose the counter
counts 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 a
reference frequency (Ref. Freq.) in the Rx PDO.
Reference frequency
Byte
5
Assignment
Reference frequency
Time slot calculation
TW + 1 @ n
f ref
Tw
fref
n
00h
01h
02h
03h
04h
05h
06h
07h
08h...FFh
16 MHz
8 MHz
4 MHz
1 MHz
100 kHz
10 kHz
1 kHz
100 Hz
not permissible
Time slot
Reference frequency (is transmitted in byte 5)
Starting value (is transmitted in bytes 0 ... 3)
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has
HIGH level.
A signal
When the software gate is open:
Clear signal
L
l
The reference counter is started by the first rising edge of signal A (E.0) and
then incremented with every rising edge of the reference clock.
l
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).
l
Then, the counter and reference counter are automatically reset and the next
frequency measurement starts with the next rising edge of signal A.
l
If two rising edges do not occur in the signal A within the time slot Tw, the
count 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 until a new value is loaded.
EDSPM−TXXX−9.0−11/2009
12.6−11
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.6
Parameterising 1xcounter/16xdigital input module
Measuring the frequency (mode 3)
Frequency calculation
f + f ref @ m
n
f
fref
m
n
Frequency of signal A
Reference frequency
Count value
Starting value
Example: Reference frequency fref = 1 MHz, starting value n = 1,000,000, count
value m = 10,000
f + 1 MHz @ 10000 + 10kHz
1000000
Counter access
epm−t183
Fig. 12.6−12
Counter access of 1xcounter/16xdigital input in the mode 3
Fig. 12.6−13
Signal characteristic of 1xcounter/16xdigital input in the mode 3
Signal characteristic
epm−t185
12.6−12
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
12
Parameterising 1xcounter/16xdigital input module
Measuring the period (mode 4)
12.6.7
12.6
12.6.7
Measuring the period (mode 4)
In mode 4 the counter operates as a permanent period meter. The counter counts
the number of rising edges of a reference counter between two rising edges of
signal A (E.0).
The frequency of a reference counter can be preset in the Rx PDO in byte 5 (Ref.
Freq.).
Reference frequency
Byte
5
Assignment
Reference frequency
00h
01h
02h
03h
04h
05h
06h
07h
08h...FFh
16 MHz
8 MHz
4 MHz
1 MHz
100 kHz
10 kHz
1 kHz
100 Hz
not permissible
Start/stop signal
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) has HIGH
level.
A signal
When the software gate is open:
Clear signal
l
The reference counter is started by the first rising edge of signal A and then
incremented with every rising edge of the reference clock.
l
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 signal
A.
Period calculation
T+ 1 @n
f ref
T
fref
n
Period
Reference frequency
Count value
Example: Reference frequency fref = 1 MHz, count value n = 10,000
T+
1 @ 10000 + 10ms
1MHz
)
Note!
The count value remains valid until the next measurement is
completed or the counter is reset via the clear signal; this means
that you do not receive the current count value, but the one from
the previous measurement if a measurement has not been
completed, e.g. because no second rising edge of signal A has
occurred.
L
EDSPM−TXXX−9.0−11/2009
12.6−13
12
Parameter setting via system bus (CAN) / CANopen
12.6
12.6.7
Parameterising 1xcounter/16xdigital input module
Measuring the period (mode 4)
Counter access
epm−t184
Fig. 12.6−14
Counter access of 1xcounter/16xdigital input in the mode 4
Fig. 12.6−15
Signal characteristic of 1xcounter/16xdigital input in the mode 4
Signal characteristic
epm−t186
12.6−14
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via system bus (CAN) / CANopen
Parameterising 1xcounter/16xdigital input module
Parameterising digital input filters
12.6.8
12
12.6
12.6.8
Parameterising digital input filters
Counting pulses at the inputs E.0 and E.1 must have a specific minimum length to
be evaluated. The pulse length TPulse is set via digital input filters.
l
Lenze setting: TPulse = 2.5 ms
l
Filter factor A is defined via byte 1 of the parameter data:
– Permissible values: 0 ... 255 (Lenze setting: 0)
l
Filter factor B is defined via byte 2 of the parameter data:
– Permissible values: 0 ... 255 (Lenze setting: 0)
Formula for calculation
TPulse ³ (Filter factor A + 1) × (Filter factor B + 1) × 2.5 ms
Example
Filter factor settings:
l
Filter factor A = 3
l
Filter factor B = 0
Counting pulses with the following minimum length are evaluated:
TPulse ³ (3 + 1) × (0 + 1) × 2.5 ms
TPulse ³ 10 ms
L
EDSPM−TXXX−9.0−11/2009
12.6−15
12
Parameter setting via system bus (CAN) / CANopen
Transmitting parameter data
12.7
12.7
Transmitting parameter data
If you change parameters (e. g. monitoring times in the index I2400h), the new
settings must be saved non−volatilely via index I2003h. The settings continue to
exist after disconnecting the supply voltage.
Step
1. Save changes
L
Action
Set index I2003h = 1
EDSPM−TXXX−9.0−11/2009
Note
12.7−1
12
Parameter setting via system bus (CAN) / CANopen
12.8
12.8
Loading default setting
Via index I2100hex all parameter changes are reset to the default setting. Changes
made by you are deleted from the EEPROM of the distributed I/O system.
Step
1. Loading factory setting
2. Reset Node
3. Save changes
L
Action
Set index I2100h = 1
Set index I2358h = 1
Set index I2003h = 1
EDSPM−TXXX−9.0−11/2009
Note
The changes are accepted.
12.8−1
Parameter setting via PROFIBUS−DP
13
Contents
13
Parameter setting via PROFIBUS−DP
Contents
13.1
13.2
13.3
L
Parameterising analog modules . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−1
13.1.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−1
13.1.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−6
13.1.3
Converting measured values for voltage and current . . . . . . . . . . . . . . . . . . . . . . . .
13.1−6
13.1.4
Signal functions of 4xanalog input . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−7
13.1.5
Signal functions of 4xanalog input ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−11
13.1.6
Signal functions 4xanalog input ±20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−12
13.1.7
Signal functions of 4xanalog output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−14
13.1.8
Signal functions of 4xanalog output ±10 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−16
13.1.9
Signal functions 4xanalog output 0...20mA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−17
13.1.10
Signal functions of 4xanalog input /output . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.1−18
Parameterising 2/4xcounter module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−1
13.2.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−1
13.2.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−4
13.2.3
2 x 32 bit counter (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−5
13.2.4
Encoder (modes 1, 3, and 5) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−7
13.2.5
Measuring the pulse width, fref 50 kHz (mode 6) . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−11
13.2.6
4 × 16 bit counter (modes 8 ... 11) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−13
13.2.7
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13) . . . . . . . .
13.2−15
13.2.8
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
13.2−18
13.2.9
Measuring the frequency (modes 16 and 18) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−21
13.2.10
Measuring the period (modes 17 and 19) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−25
13.2.11
Measuring the pulse width, fref programmable (mode 20) . . . . . . . . . . . . . . . . . . . .
13.2−28
13.2.12
Measuring the pulse width with GATE, fref programmable (modes 21 and 22) . . . . . .
13.2−31
13.2.13
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26) . . . . . . . . . . . . . . . . . .
13.2−34
13.2.14
2 x 32 bit counter with G/RES (mode 27) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−38
13.2.15
Encoder with G/RES (modes 28 ... 30) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−40
13.2.16
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32) . . . . . . . .
13.2−44
13.2.17
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
13.2−47
13.2.18
2 x 32 bit counter with GATE (mode 35) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−50
13.2.19
Encoder with GATE (modes 36 ... 38) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.2−52
Parameterising SSI interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3−1
13.3.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3−1
13.3.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.3−3
EDSPM−TXXX−9.0−11/2009
13.1
13
Parameter setting via PROFIBUS−DP
Contents
13.4
13.2
Parameterising 1xcounter/16xdigital input module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.1
Parameter data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.2
Input data / output data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.3
Encoder (mode 0) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.4
32 bit counter (mode 1) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.5
32 bit counter with clock up/down evaluation (mode 2) . . . . . . . . . . . . . . . . . . . . . .
13.4.6
Measuring the frequency (mode 3) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.7
Measuring the period (mode 4) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
13.4.8
Parameterising digital input filters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDSPM−TXXX−9.0−11/2009
13.4−1
13.4−1
13.4−2
13.4−4
13.4−6
13.4−8
13.4−10
13.4−12
13.4−14
L
Parameter setting via PROFIBUS−DP
Parameterising analog modules
Parameter data
13
13.1
13.1.1
13.1
Parameterising analog modules
13.1.1
Parameter data
(
Stop!
The modules are not protected against wrong parameter settings
by the hardware. They will be destroyed if the signals or encoders
connected do not match the measuring range set:
l Max. 15 V input voltage in the voltage measuring range.
l No input voltage in the resistance measuring range.
l When the measuring range is changed, only assign the inputs
after the first gateway initialisation has been completed:
– During initialisation, the previous settings are still active.
Unsuitable input circuits may destroy the modules. Changes
will only become effective and are permanently saved after
initialisation.
4xanalog input module
l
For a 4×analog input module, 10 bytes of parameter data are available. The
following are defined via the parameter data
– The signal function for each input (current measurement, voltage
measurement, temperature measurement etc.),
– The module error behavior,
– The conversion speed.
l
The module can be parameterised with the configuration tool or via slot and
index.
– To set the parameters via slot and index, the function blocks SFB 52 (read)
and SFB 53 (write) are required. ( 10.5−3)
Slot number
1 ... 32
Index
00h
01h
Access
R
W
R
F1h
F2h
R
R
Description
Read out diagnostic data record 0
Write parameters to the module
The corresponding diagnostic data record of the electronic module can be
read out via the index.
· Example:
– Index 01h: read out diagnostic data record 1
– Index 02h: read out diagnostic data record 2
Read out the module parameters
Read out the process image of the module
R = read
W = write
L
EDSPM−TXXX−9.0−11/2009
13.1−1
13
Parameter setting via PROFIBUS−DP
13.1
13.1.1
Parameterising analog modules
Parameter data
The following bytes with fixed assignment are available for parameter data:
Byte
Assignment
0
Enabling/inhibiting diagnostic
alarm 1)
Bits 0 ...
5%
Bit 6
Bit7
6
7
Reserved
Selecting signal function for
input E.0
Selecting signal function for
input E.1
Selecting signal function for
input E.2
Selecting signal function for
input E.3
Select options for input E.0 1)
Select options for input E.1 1)
8
Select options for input E.2 1)
9
1)
1
2
3
4
5
Select options for input E.3
Bits 0 ...
3
Bits 6 ...
7
2)
13.1−2
Reserved
0
Alarm inhibited
1
Alarm enabled
Reserved
12.3−6
Selection of signal function 13.1−7
Bits 4 ...
5%
1)
Lenze
setting
00h
Conversion speed 2)
0000 15 conversions/s
0001 30 conversions/s
0010 60 conversions/s
0011 123 conversions/s
0100 168 conversions/s
0101 202 conversions/s
0110 3.7 conversions/s
0111 7.5 conversions/s
Resolution
16 Bit
16 Bit
15 Bit
14 Bit
12 Bit
10 Bit
16 Bit
16 Bit
00h
00h
00h
00h
Data selection
00
Deactivated
01
Use 2 of 3 values
10
Use 4 of 6 values
Hysteresis
00
Deactivated
01
Hysteresis ±8
10
Hysteresis ±16
The function is not available for the modules 4×analog input ±10V and 4×analog input ±20mA.
The conversion speeds given are valid for the operation of an analog input. When operating several inputs, the
corresponding conversion speed must be divided by the number of active inputs to detect the conversion speed
per input.
Please note that due to shorter integration times the resolution is reduced at higher conversion speeds. The data
transfer format remains the same. Only the lower bits (LSBs) no longer are relevant for the analog value.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Parameter data
4xanalog output modules
13.1
13.1.1
l
For a 4×analog output module, 6 bytes of parameter data are available. The
following are defined via the parameter data
– The signal function for each output (current signal output, voltage signal
output),
– The module error behaviour.
l
The module can be parameterised with the configuration tool or via slot and
index.
– To set the parameters via slot and index, the function blocks SFB 52 (read)
and SFB 53 (write) are required.
Slot number
1 ... 32
Index
00h
01h
Access
R
W
R
F1h
F2h
R
R
Description
Read out diagnostic data record 0
Write parameters to the module
The corresponding diagnostic data record of the electronic module can be
read out via the index.
· Example:
– Index 01h: read out diagnostic data record 1
– Index 02h: read out diagnostic data record 2
Read out the module parameters
Read out the process image of the module
R = read
W = write
The following bytes with fixed assignment are available for parameter data:
Byte
0
Assignment
Enabling/inhibiting diagnostic
alarm 1)
Bits 0 ...
5%
Bit 6
Bit7
1
2
3
4
5
1)
L
Reserved
Selecting signal function for
output E.0
Selecting signal function for
output E.1
Selecting signal function for
output E.2
Selecting signal function for
output E.3
Lenze setting
00h
Reserved
0
Alarm inhibited
1
Alarm enabled
Reserved
12.3−6
Selection of the signal function: 13.1−14
The function is not available for the modules 4×analog output ±10V and 4×analog output 0...20mA.
EDSPM−TXXX−9.0−11/2009
13.1−3
13
Parameter setting via PROFIBUS−DP
13.1
13.1.1
4xanalog input/output module
Parameterising analog modules
Parameter data
l
For the 4xanalog input/output module, up to 8 bytes of parameter data are
available. The following are defined via the parameter data
– The signal function for each input or output (current measurement, voltage
measurement, temperature measurement, or current signal output, voltage
signal output),
– The module error behavior,
– The conversion speed.
l
The module can be parameterised with the configuration tool or via slot and
index.
– To set the parameters via slot and index, the function blocks SFB 52 (read)
and SFB 53 (write) are required.
Slot number
1 ... 32
Index
00h
01h
Access
R
W
R
F1h
F2h
R
R
Description
Read out diagnostic data record 0
Write parameters to the module
The corresponding diagnostic data record of the electronic module can be
read out via the index.
· Example:
– Index 01h: read out diagnostic data record 1
– Index 02h: read out diagnostic data record 2
Read out the module parameters
Read out the process image of the module
R = read
W = write
13.1−4
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Parameter data
13.1
13.1.1
The following bytes with fixed assignment are available for parameter data:
Byte
Assignment
0
Activating/deactivating wire
breakage detection and
enabling/inhibiting diagnostic
alarm 1)
Bit 0
Bit 1
Bits 2 ...
5
Bit 6
1
Reserved
2
Selecting signal function for
input E.0
Selecting signal function for
input E.1
Selecting signal function for
output E.0
Selecting signal function for
output E.1
Select options for input E.0
Select options for input E.1
3
4
5
6
7
Wire breakage detection for input E.0
0
Deactivated
12.3−6
1
Activated
Wire breakage detection for input E.1
0
Deactivated
12.3−6
1
Activated
Reserved
Diagnostic alarm
inhibited
1
Diagnostic alarm
enabled
Reserved
Lenze
setting
00h
0
12.3−6
Bits 0 ...
7
Selection of signal function 13.1−18
Bits 0 ...
3
Bits 4 ...
7
Conversion speed 2)
0000 15 conversions/s
0001 30 conversions/s
0010 60 conversions/s
0011 123 conversions/s
0100 168 conversions/s
0101 202 conversions/s
0110 3.7 conversions/s
0111 7.5 conversions/s
Reserved
Resolution
16 Bit
16 Bit
15 Bit
14 Bit
12 Bit
10 bits
16 Bit
16 Bit
00h
00h
8 ... 11 Reserved
1)
2)
L
The wire breakage detection is used in the measuring range 4 ... 20 mA. If the wire breakage detection is
activated in byte 0 and the diagnostic alarm is enabled, a current reduction to below 0.8 mA is indicated.
The conversion speeds given are valid for the operation of an analog input. When operating several inputs, the
corresponding conversion speed must be divided by the number of active inputs to detect the conversion speed
per input.
Please note that due to shorter integration times the resolution is reduced at higher conversion speeds. The data
transfer format remains the same. Only the lower bits (LSBs) no longer are relevant for the analog value.
EDSPM−TXXX−9.0−11/2009
13.1−5
13
Parameter setting via PROFIBUS−DP
13.1
13.1.2
13.1.2
Parameterising analog modules
Input data / output data
Input data / output data
Two bytes (LOW byte, HIGH byte) are available for input and output data.
13.1.3
Signal
range
±10 V
0 ... 10 V
1 ... 5 V
Byte17
LOW byte
S7 format
Bits 0 ... 7 Binary signal value
HIGH byte
Bits 0 ... 6 Binary signal value
Bit 7
Polarity bit
0
Positive polarity
1
Negative polarity
Converting measured values for voltage and current
Signal
[U] / [I]
S7 format
−10 V
−5 V
0V
+5 V
+10 V
0V
Decimal value
[dec]
−27648
−13824
0
+13824
+27648
0
Hexadecimal value
[h]
9400
CA00
0000
3600
6C00
0000
+5 V
+8192
2000
+10 V
+16384
4000
S5 format
Decimal value
[dec]
−16384
−8192
0
+8192
+16384
0
Hexadecimal value
[h]
C000
E000
0000
2000
4000
0000
+8192
2000
+16384
4000
+1 V
0
0000
+3 V
+8192
2000
+16384
4000
0
0000
Formulae for calculation
dec + 27648 @ U
10
U + dec @ 10
27648
dec + 16384 @ U
10
U + dec @ 10
16384
+5 V
±4 V
±400 mV
4 ... 20 mA
±20 mA
13.1−6
S5 format
Bit 0
Overflow bit
0
Value within signal range
1
Signal range exceeded
Bit 1
Error bit
0
No error
1
Internal fault
Bit 2
Activity bit (always 0)
Bits 3 ... 7 Binary signal value
Bits 0 ... 6 Binary signal value
Bit 7
Polarity bit
0
Positive polarity
1
Negative polarity
−4 V
−27648
9400
0V
0
0000
+4 V
+27648
6C00
−400 mV
−27648
9400
0V
0
0000
+400 mV
+27648
6C00
+4 mA
0
0000
+12 mA
+13824
3600
+20 mA
+27648
6C00
−20 mA
−10 mA
0 mA
+10 mA
+20 mA
−27648
−13824
0
+13824
+27648
9400
CA00
0000
3600
6C00
Formulae for calculation
dec + 16348 @ U
10
U + dec @ 10
16348
dec + 16384 @ U
10
U + dec @ 10
16384
dec + 27648 @ U * 1
4
U + dec @
4 )1
16384
dec + 27648 @ U
4
4
27648
dec + 27648 @ U
400
U + dec @
U + dec @ 400
27648
dec + 27648 @ I * 4
16
U + dec @ 16 )1
27648
dec + 27648 @ I
20
U + dec @ 20
27648
+8192
2000
+16384
4000
−16384
−8192
0
+8192
+16384
C000
E000
0000
2000
4000
EDSPM−TXXX−9.0−11/2009
dec + 16384 @ I * 4
16
U + dec @ 16 )1
16384
dec + 16384 @ I
20
U + dec @ 20
16384
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions of 4xanalog input
13.1.4
13.1
13.1.4
Signal functions of 4xanalog input
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Temperature measurement with signal function 01h. Measured value = 80.5 °C.
1. I/O system IP20 converts the measured value into an integer:
80.5 [°C] × 10 = 805
2. Reconvert the measured value to output it with decimal positions:
805[°C]
+ 80.5°C
10
Paramete
r bytes
2/3/4/5
00h18
01h
02h
03h
04h
05h
06h
07h
08h
09h
0Ah
0Bh
0Ch
0Dh
0Eh
Signal function
Parameter data in module are not overwritten
Temperature
PT100
−200.0
measurement with PT1000
−200.0
two−wire
NI100
−50.0
connection
NI1000
−50.0
Resistance
60 W
0.00
measurement with
0
two−wire
600 W
0.00
connection
0
3000 W
0.00
0
6000 W
0.00
0
Temperature
PT100
−200.0
measurement with PT1000
−200.0
four−wire
NI100
−50.0
connection
NI1000
−50.0
Resistance
60 W
0.00
measurement with
two−wire
600 W
0.00
connection
0Fh
10h
11h
12h
13h
14h
15h
L
Temperature
measurement with
thermoelement and
external
compensation4)
Format 1)
Signal range
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.01 W}
{1dec}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.01 W}
+850.0
+500.0
+250.0
+250.0
+60.00
32767
+600.00
32767
+3000.00
32767
+6000.00
32767
+850.0
+500.0
+250.0
+250.0
+60.00
{0.01 W}
+600.00
3000 W
0.00
{0.01 W}
+3000.00
Type J
Type K
Type N
Type R
Type T
Type S
−210.0
−270.0
−200.0
−50.0
−270.0
−50.0
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
+850.0
+1200.0
+1300.0
+1760.0
+400.0
+1760.0
EDSPM−TXXX−9.0−11/2009
S7
Two’s
complement
Tolerance 2)
±1 °C 3)
±0.2 % of the
final value 3)
S7
S7
Two’s
complement
S7
S7
Two’s
complement
±0.5 °C
±0.1 % of the
final value
±0.05 % of
the final value
±0.05 % of
the final value
±1 °C
±1.5 °C
±1.5 °C
±4 °C
±1.5 °C
±5 °C
13.1−7
13
Parameter setting via PROFIBUS−DP
13.1
13.1.4
Parameterising analog modules
Signal functions of 4xanalog input
Paramete
r bytes
2/3/4/5
18h
19h
1Ah
1Bh
1Ch
1Dh
27h
28h
29h
2Ah
2Bh
2Ch
2Dh
2Eh
Signal function
Temperature
measurement with
thermoelement and
internal
compensation 5)
Voltage
measurement
Voltage
measurement
Voltage
measurement
Voltage
measurement
Voltage
measurement
Current
measurement
Current
measurement
Current
measurement
Format 1)
Signal range
Type J
Type K
Type N
Type R
Type T
Type S
0 ... 50
mV
±10 V
±4 V
±400 mV
±10 V
±20 mA
−210.0
−270.0
−200.0
−50.0
−270.0
−50.0
0.00
0
Min.
0.00
0
−10.00
−27648
Min.
−11.85 V
−32767 dec
−4.00
−27648
Min.
−4.74 V
−32767 dec
−400
−27648
Min.
−474 mV
−32767 dec
−10.00
−16384
Min.
−12.50 V
−20480dec
−20.00
−27648
Min.
4 ... 20
mA
−23.70 mA
−32767 dec
4.00
0
Min.
4 ... 20
mA
0 mA
−5530dec
4.00
0
Min.
0 mA
−4096dec
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.1 °C}
{0.01 mV}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{1 mV}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
+850.0
+1200.0
+1300.0
+1760.0
+400.0
+1760.0
+50.00
27648
Max.
+59.25 mV
32767 dec
+10.00
27648
Max.
+11.85 V
32767 dec
+4.00 V
27648dec
Max.
+4.74 V
32767 dec
+400
27648
Max.
+474 mV
32767 dec
+10.00
16384
Max.
+12.50 V
20480dec
+20.00
27648
Max.
S7
Two’s
complement
Tolerance 2)
±1.5 °C
±2 °C
±2 °C
±5 °C
±2 °C
±5 °C
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.1 % of the
final value
S7
Two’s
complement
±0.2 % of the
final value
S5
Sum and sign
±0.05 % of
the final value
S7
Two’s
complement
+23.70 mA
+32767dec
{0.01 mA}
20.00
{1dec}
27648
S7
Limit
Max.
Two’s
values
complement
+22.96 mA
+32767dec
{0.01 mA}
20.00
{1dec}
16384
Limit
Max.
S5
values
Sum and sign
+22.96 mA
+20480
±0.05 % of
the final value
±0.2 % of the
final value
dec
13.1−8
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions of 4xanalog input
13.1
13.1.4
Paramete Signal function
r bytes
2/3/4/5
2Fh
Current
measurement
32h
33h
Resistance
measurement with
four−wire
connection
±20 mA
6000 W
6000 W
35h
60 W
36h
600 W
37h
3000 W
38h
6000 W
3Ah
3Bh
3Dh
3Eh
Current
measurement
Voltage
measurement
Resistance
measurement with
four−wire
connection
57h
58h
59h
±20 mA
±10 V
60 W
600 W
3000 W
3Fh
Voltage
measurement
Voltage
measurement
Voltage
measurement
0 ... 50
mV
±10 V
±4 V
−20.00
−16384
Min.
{0.01 mA}
{1dec}
Limit
values
−23.70 mA
−19456dec
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
0.00
0
−20.00
−16384
Min.
+23.70 mA
+19456dec
{0.01 W}
+6000.00
{1dec}
32767 dec
{0.01 W}
+6000.00
{1dec}
6000 dec
{0.01 W}
+60.00
6000 dec
{0.01 W}
+600.00
{1dec}
6000 dec
{0.01 W}
+3000.00
{1dec}
30000 dec
{0.01 W}
+6000.00
{1dec}
6000 dec
{0.01 mA}
+20.00
{1dec}
16384
Limit
Max.
values
+23.70 mA
+19456dec
{0.01V}
+10.00
{1dec}
16384
Limit
Max.
values
+12.50 V
20480dec
{0.01 W}
+60.00
{1dec}
6000 dec
{0.01 W}
+600.00
{1dec}
6000 dec
{0.01 W}
+3000.00
{1dec}
30000 dec
{0.01 mV}
+50.00
{1dec}
5000
Limit
Max.
values
+59.25 V
5925dec
{0.01V}
+10.00
{1dec}
10000
Limit
Max.
values
+11.85 V
11850dec
{0.01V}
+4.00
{1dec}
4000
Limit
Max.
values
+4.74 V
4740dec
−23.70 mA
−19456dec
−10.00
−16384
Min.
−12.50 V
−20480dec
0.00
0
0.00
0
0.00
0
0.00
0
Min.
0.00
0
−10.00
−10000
Min.
−11.85 V
−11850dec
−4.00
−4000
Min.
−4.74 V
−4740dec
L
Format 1)
Signal range
EDSPM−TXXX−9.0−11/2009
+20.00
16384
Max.
Tolerance 2)
±0.05 % of
the final value
S5
Sum and sign
S7
±0.05 % of
the final value
±0.05 % of
the final value
±0.2 % of the
final value 3)
±0.1 % of the
final value 3)
±0.1 % of the
final value 3)
±0.1 % of the
final value 3)
±0.05 % of
the final value
S5
Two’s
complement
±0.2 % of the
final value
S5
Two’s
complement
S7
±0.1 % of the
final value
±0.05 % of
the final value
±0.05 % of
the final value
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
13.1−9
13
Parameter setting via PROFIBUS−DP
13.1
13.1.4
Parameterising analog modules
Signal functions of 4xanalog input
Paramete Signal function
r bytes
2/3/4/5
5Ah
Voltage
measurement
5Ch
5Dh
Current
measurement
Current
measurement
±400 mV
±20 mA
4 ... 20
mA
−400
−4000
Min.
−474 mV
−4740dec
−20.00
−20000
Min.
−23.70 mA
−23700dec
4.00
0
Min.
0 mA
−4000dec
FFh
1)
2)
3)
4)
5)
13.1−10
Format 1)
Signal range
{1 mV}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
+400
4000
Max.
+474 mV
4740dec
+20.00
20000
Max.
+23.70 mA
+23700dec
{0.01 mA}
20.00
{1dec}
16000
Limit
Max.
values
+22.96 mA
+18960dec
Tolerance 2)
±0.1 % of the
final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
±0.05 % of
the final value
S7
Two’s
complement
Analog input deactivated
Format of the input data ( 13.1−6).
Tolerance of the input range at an ambient temperature of 25 °C and 15 conversions/s. Sensor inaccuracies were
not considered.
Transition resistances on contacts and cable resistances were not taken into consideration.
Cold spot compensation must be effected externally.
The cold spot must be compensated internally. The temperature of the terminal is taken into consideration.
Connect the conductors of the thermoelements directly to the terminal; if necessary, operate with thermoelement
extension cables.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions of 4xanalog input ±10
13.1.5
13.1
13.1.5
Signal functions of 4xanalog input ±10
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Voltage measurement with signal function 28h. Measured value = 8.5 V.
1. I/O system IP20 converts the measured value into an integer:
8.5 [V] × 10 = 85
2. Reconvert the measured value to output it with decimal positions:
85[V]
+ 8.5V
10
Paramete Signal function
Signal range
r bytes
2/3/4/5
00h19
Parameter data in module are not overwritten
28h
Voltage
±10 V
−10.00
{0.01V}
measurement
−27648
{1dec}
Min.
Limit
values
−11.76 V
−32512dec
2Bh
Voltage
±10 V
−10.00
{0.01V}
measurement
−16384
{1dec}
Min.
Limit
values
−12.50 V
−20480dec
3Bh
Voltage
±10 V
−10.00
{0.01V}
measurement
−16384
{1dec}
Min.
Limit
values
−12.50 V
−20480dec
FFh
Analog input deactivated
1)
2)
3)
L
Format 1)
+10.00
27648
Max.
+11.76 V
32511dec
+10.00
16384
Max.
+12.50 V
20480dec
+10.00
16384
Max.
+12.50 V
20480dec
S7
Two’s
complement
Tolerance
±0.1 % 2)
±0.2 % 3)
±0.1 % 2)
±0.2 % 3)
S5
Sum and sign
S5
Two’s
complement
±0.1 % 2)
±0.2 % 3)
Format of the input data ( 13.1−6).
Tolerance of the input range at an ambient temperature of 25 °C.
Tolerance of the input range across the entire admissible temperature range.
EDSPM−TXXX−9.0−11/2009
13.1−11
13
Parameter setting via PROFIBUS−DP
13.1
13.1.6
13.1.6
Parameterising analog modules
Signal functions 4xanalog input ±20mA
Signal functions 4xanalog input ±20mA
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Current measurement with signal function 2Ch. Measured value = 15.5 mA.
1. I/O system IP20 converts the measured value into an integer:
15.5 [V] × 10 = 155
2. Reconvert the measured value to output it with decimal positions:
155[mA]
+ 15.5mA
10
Paramete Signal function
Signal range
Format 1)
r bytes
2/3/4/5
00h20
Parameter data in module are not overwritten
2Ch
Current
±20 mA −20.00
{0.01 mA}
+20.00
measurement
−27648
{1dec}
27648
S7
Min.
Limit
Max.
Two’s
values
complement
−23.52 mA
+23.52 mA
−32512dec
+32511dec
2Dh
Current
4 ... 20
4.00
{0.01 mA}
20.00
measurement
mA
0
{1dec}
27648
S7
Min.
Limit
Max.
Two’s
values
complement
1.185 mA
+22.81 mA
−4864dec
+32511dec
2Eh
Current
4 ... 20
4.00
{0.01 mA}
20.00
measurement
mA
0
{1dec}
16384
Min.
Limit
Max.
S5
values
Sum and sign
0.8 mA
+24.00 mA
−3277dec
+20480
Tolerance
±0.1 % 2)
±0.2 % 3)
±0.2 % 2)
±0.5 % 3)
±0.2 % 2)
±0.5 % 3)
dec
2Fh
Current
measurement
±20 mA
−20.00
−16384
Min.
−25.00 mA
−20480dec
{0.01 mA}
{1dec}
Limit
values
+20.00
16384
Max.
+25.00 mA
+20480
±0.1 % 2)
±0.2 % 3)
S5
Sum and sign
dec
13.1−12
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions 4xanalog input ±20mA
Paramete Signal function
r bytes
2/3/4/5
39h
Current
measurement
13.1
13.1.6
Format 1)
Signal range
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.8 mA
−3277dec
20.00
16384
Max.
+24.00 mA
+20480
Tolerance
±0.2 % 2)
±0.5 % 3)
S5
Two’s
complement
dec
3Ah
Current
measurement
±20 mA
−20.00
−16384
Min.
−25.00 mA
−20480dec
{0.01 mA}
{1dec}
Limit
values
+20.00
16384
Max.
+25.00 mA
+20480
±0.1 % 2)
±0.2 % 3)
S5
Two’s
complement
dec
FFh
1)
2)
3)
L
Analog input deactivated
Format of the input data ( 13.1−6).
Tolerance of the input range at an ambient temperature of 25 °C.
Tolerance of the input range across the entire admissible temperature range.
EDSPM−TXXX−9.0−11/2009
13.1−13
13
Parameter setting via PROFIBUS−DP
13.1
13.1.7
13.1.7
Parameterising analog modules
Signal functions of 4xanalog output
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.
Paramete Signal function
r bytes
2/3/4/5
00h21
No signal emitted at output
01h
Voltage signal
±10 V
output
02h
05h
09h
0Ah
0Dh
03h
Voltage signal
output
Voltage signal
output
Voltage signal
output
Voltage signal
output
Voltage signal
output
Current signal
output
+1 ... +5
V
−10.00
−16384
Min.
−12.50 V
−20480dec
1.0
0
Min.
0.0
−4096dec
0... +10 V 0.0
0
Min.
±10 V
+1 ... +5
V
0.0
0
−10.00
−27648
Min.
−11.76 V
−32512dec
1.00
0
Min.
0V
−6912 dec
0... +10 V 0.00
0
Min.
±20 mA
Format 1)
Signal range
0.00
0
−20.00
−16384
Min.
−25.00 mA
−20480dec
{0.01V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
+10.00
16384
Max.
+12.50 V
20480dec
+5.0
16384
Max.
+6.0 V
20480dec
+10.0
16384
Max.
+12.5 V
20480dec
+10.00 V
27648dec
Max.
+11.76 V
32511dec
+5.00
27648
Max.
+5.704 V
32511dec
+10.00
27648
Max.
+11.76 V
32511dec
+20.00
16384
Max.
+25.00 mA
+20480
Tolerance
±0.2 % 2) 3)
S5
Two’s
complement
±0.4 % 2) 3)
S5
Two’s
complement
±0.3 % 2) 3)
S5
Two’s
complement
±0.2 % 2) 3)
S7
Two’s
complement
±0.4 % 2) 3)
S7
Two’s
complement
±0.3 % 2) 3)
S7
Two’s
complement
±0.2 % 2) 4)
S5
Two’s
complement
dec
13.1−14
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions of 4xanalog output
13.1
13.1.7
Paramete Signal function
r bytes
2/3/4/5
04h
Current signal
output
Format 1)
Signal range
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
−4096 dec
20.00
16384
Max.
+24.00 mA
+20480
Tolerance
±0.5 % 2) 4)
S5
Two’s
complement
dec
06h
Current signal
output
0 ... 20
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
16384
Max.
+25.00 mA
+20480
±0.4 % 2) 4)
S5
Two’s
complement
dec
0Bh
0Ch
Current signal
output
Current signal
output
±20 mA
4 ... 20
mA
0Eh
Current signal
output
0 ... 20
mA
0Eh
Current signal
output
0 ... 20
mA
−20.00
−27648
Min.
{0.01 mA}
{1dec}
Limit
values
−23.52 mA
−32512dec
4.00
0
Min.
+23.52 mA
+32511dec
{0.01 mA}
20.00
{1dec}
27648
Limit
Max.
values
+22.81 mA
+32511dec
{0.01 mA}
20.00
{1dec}
27648
0.00
−6912 dec
0.00
0
Min.
0.00
0
FFh
1)
2)
3)
4)
L
Limit
values
+20.00
27648
Max.
Max.
+23.52 mA
+32511dec
±0.2 % 2) 4)
S7
Two’s
complement
±0.5 % 2) 4)
S7
Two’s
complement
S7
Two’s
complement
S7
Two’s
complement
±0.4 % 2) 4)
±0.4 % 2) 4)
Analog output is switched off
Format of the output data ( 13.1−6).
Tolerance of the output range at an ambient temperature of 25 °C.
The value was determined with a load R = 1 GW. The output resistance is 30 W.
The value was determined with a load R = 10 W.
EDSPM−TXXX−9.0−11/2009
13.1−15
13
Parameter setting via PROFIBUS−DP
13.1
13.1.8
13.1.8
Parameterising analog modules
Signal functions of 4xanalog output ±10
Signal functions of 4xanalog output ±10
)
Note!
In the event of an overflow or underflow, wrong values are output.
Strong signal jumps with sign reversal may occur.
Paramete Signal function
r bytes
2/3/4/5
00h22
No signal emitted at output
01h
Voltage signal
±10 V
output
05h
09h
0Dh
Voltage signal
output
Voltage signal
output
Voltage signal
output
0 ... +10
V
±10 V
0 ... +10
V
−10.00
−16384
Min.
−12.50 V
−20480dec
0.0
0
Min.
0.0
0
−10.00
−27648
Min.
−11.76 V
−32512dec
0.0
0
Min.
0.0
0
FFh
1)
2)
3)
13.1−16
Format 1)
Signal range
{0.01V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.1V}
{1dec}
Limit
values
+10.00
16384
Max.
+12.50 V
20480dec
+10.0
16384
Max.
+12.5 V
20480dec
+10.00 V
27648dec
Max.
+11.76 V
32511dec
+10.0
27648
Max.
+11.76 V
32511dec
S5
Two’s
complement
S5
Two’s
complement
S7
Two’s
complement
S7
Two’s
complement
Tolerance
±0.1 % 2)
±0.2 % 3)
±0.2 % 2)
±0.4 % 3)
±0.1 % 2)
±0.2 % 3)
±0.2 % 2)
±0.4 % 3)
Analog output is switched off
Format of the output data ( 13.1−6).
Tolerance of the output range at an ambient temperature of 25 °C.
Tolerance of the output range across the entire admissible temperature range.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions 4xanalog output 0...20mA
13.1.9
13.1
13.1.9
Signal functions 4xanalog output 0...20mA
)
Note!
In the event of an overflow or underflow, wrong values are output.
Strong signal jumps with sign reversal may occur.
Paramete
r bytes
2/3/4/5
00h23
01h
06h
Signal function
Format 1)
Signal range
No signal emitted at output
Current signal
0 ... 20
output
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
16384
Max.
+25.00 mA
+20480
Tolerance
±0.2 % 2)
±0.4 % 3)
S5
Two’s
complement
dec
04h
Current signal
output
4 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
−4096 dec
20.00
16384
Max.
+24.00 mA
+20480
±0.3 % 2)
±0.5 % 3)
S5
Two’s
complement
dec
0Ch
0Eh
Current signal
output
Current signal
output
4 ... 20
mA
0 ... 20
mA
4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
−6912 dec
0.00
0
Min.
+22.81 mA
+32511dec
{0.01 mA}
20.00
{1dec}
27648
Limit
Max.
values
+23.52 mA
+32511dec
0.00
0
FFh
1)
2)
3)
L
20.00
27648
Max.
S7
Two’s
complement
S7
Two’s
complement
±0.3 % 2)
±0.5 % 3)
±0.2 % 2)
±0.4 % 3)
Analog output is switched off
Format of the output data ( 13.1−6).
Tolerance of the output range at an ambient temperature of 25 °C.
Tolerance of the output range across the entire admissible temperature range.
EDSPM−TXXX−9.0−11/2009
13.1−17
13
Parameter setting via PROFIBUS−DP
13.1
13.1.10
Parameterising analog modules
Signal functions of 4xanalog input /output
13.1.10 Signal functions of 4xanalog input /output
)
Note!
l
l
Short−circuit unused inputs (connect positive and negative
terminals) or deactivate them by assigning the function number
FFh.
In the event of an overflow or underflow, wrong values are
output. Strong signal jumps with sign reversal may occur.
I/O system IP20 multiplies measured values with decimal positions and without
normalisation by a factor and transfers them as integers to the bus. To output the
decimal positions, divide the measured values by the same factor.
Example:
Measuring task: Temperature measurement with signal function 01h. Measured value = 80.5 °C.
1. I/O system IP20 converts the measured value into an integer:
80.5 [°C] × 10 = 805
2. Reconvert the measured value to output it with decimal positions:
805[°C]
+ 80.5°C
10
Input functions
Signal range
Paramete Signal function
r bytes
2/3
00h24
Parameter data in module are not overwritten
3Bh
Voltage
±10 V
−10.00
{0.01V}
measurement
−16384
{1dec}
Min.
Limit
values
−12.50 V
−20480dec
Format 1)
+10.00
+16384
Max.
+12.50 V
+20480
Tolerance 2)
±0.2 %
S5
Two’s
complement
dec
2Bh
Voltage
measurement
±10 V
−10.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
−12.50 V
−20480dec
+10.00
+16384
Max.
+12.50 V
+20480
±0.2 %
S5
Sum and sign
dec
72h
Voltage
measurement
1 ... 5 V
+1.00
0
Min.
{0.01V}
{1dec}
Limit
values
0.00
−4096dec
+5.00
+16384
Max.
+6.00 V
+20480
±0.6 %
S5
Sum and sign
dec
75h
Voltage
measurement
0 ... 10 V
0.00
0
Min.
0.00
0
{0.01V}
{1dec}
Limit
values
+10.00
+16384
Max.
+12.50 V
+20480
±0.4 %
S5
Two’s
complement
dec
13.1−18
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions of 4xanalog input /output
Paramete Signal function
r bytes
2/3
28h
Voltage
measurement
7Ah
7Dh
3Ah
Voltage
measurement
Voltage
measurement
Current
measurement
13.1
13.1.10
Format 1)
Signal range
±10 V
1 ... 5 V
0 ... 10 V
±20 mA
−10.00
−27648
Min.
−11.76 V
−32512dec
+1.00
0
Min.
0.00
−6912 dec
0.00
0
Min.
0.00
0
−20.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+5.00
+27648
Max.
+5.704 V
+32511dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+20.00
+16384
Max.
+25.00 mA
+20480
Tolerance 2)
±0.2 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
±0.4 %
S7
Two’s
complement
±0.3 %
S5
Two’s
complement
dec
2Fh
Current
measurement
±20 mA
−20.00
−16384
Min.
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+20.00
+16384
Max.
+25.00 mA
+20480
±0.3 %
S5
Sum and sign
dec
2Eh
Current
measurement
4 ... 20
mA
+4.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
+0.8 mA
−3277dec
+20.00
+16384
Max.
+24.00 mA
+20480
±0.8 %
S5
Sum and sign
dec
76h
Current
measurement
0 ... 20
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
+16384
Max.
+25.00 mA
+20480
±0.6 %
S5
Two’s
complement
dec
2Ch
2Dh
Current
measurement
Current
measurement
±20 mA
4 ... 20
mA
−20.00
−27648
Min.
{0.01 mA}
{1dec}
Limit
values
−23.51 mA
−32512dec
+4.00
0
Min.
+23.51 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+22.81 mA
+32511dec
+1.18 mA
−4864dec
L
EDSPM−TXXX−9.0−11/2009
+20.00
+27648
Max.
±0.3 %
S7
Two’s
complement
±0.8 %
S7
Two’s
complement
13.1−19
13
Parameter setting via PROFIBUS−DP
13.1
13.1.10
Parameterising analog modules
Signal functions of 4xanalog input /output
Paramete Signal function
r bytes
2/3
7Eh
Current
measurement
0 ... 20
mA
0.00
0
Min.
0.00
0
FFh
1)
2)
13.1−20
Format 1)
Signal range
{0.01 mA}
{1dec}
Limit
values
+20.00
+27648
Max.
+23.52 mA
+32511dec
Tolerance 2)
±0.6 %
S7
Two’s
complement
Analog input deactivated
Format of the input data ( 13.1−6).
Tolerance of the input range at an ambient temperature of 25 °C. Sensor inaccuracies were not considered.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising analog modules
Signal functions of 4xanalog input /output
Output functions
13.1
13.1.10
Paramete Signal function
Signal range
r bytes
4/5
00h
Parameter data in module are not overwritten
01h
Voltage signal
±10 V
−10.00
{0.01V}
output
−16384
{1dec}
Min.
Limit
values
−12.50 V
−20480dec
Format 1)
+10.00
+16384
Max.
+12.50 V
+20480
Tolerance 2)
±0.2 %
S5
Two’s
complement
dec
02h
Voltage signal
output
1 ... 5 V
+1.00
0
Min.
{0.01V}
{1dec}
Limit
values
0.00
−4096dec
+5.00
+16384
Max.
+6.00 V
+20480
±0.6 %
S5
Two’s
complement
dec
05h
Voltage signal
output
0 ... 10 V
0.00
0
Min.
{0.01V}
{1dec}
Limit
values
0.00
0
+10.00
+16384
Max.
+12.50 V
+20480
±0.4 %
S5
Two’s
complement
dec
09h
0Ah
0Dh
03h
Voltage signal
output
Voltage signal
output
Voltage signal
output
Current signal
output
±10 V
1 ... 5 V
0 ... 10 V
±20 mA
−10.00
−27648
Min.
−11.76 V
−32512dec
+1.00
0
Min.
0.00
−6912 dec
0.00
0
Min.
0.00
0
−20.00
−16384
Min.
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01V}
{1dec}
Limit
values
{0.01 mA}
{1dec}
Limit
values
−25.00 mA
−20480dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+5.00
+27648
Max.
+5.704 V
+32511dec
+10.00
+27648
Max.
+11.76 V
+32511dec
+20.00
+16384
Max.
+25.00 mA
+20480
±0.2 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
±0.4 %
S7
Two’s
complement
±0.3 %
S5
Two’s
complement
dec
04h
Current signal
output
4 ... 20
mA
+4.00
0
Min.
+0.00
−4096dec
{0.01 mA}
{1dec}
Limit
values
+20.00
+16384
Max.
+24.00 mA
+20480
±0.8 %
S5
Two’s
complement
dec
L
EDSPM−TXXX−9.0−11/2009
13.1−21
13
Parameter setting via PROFIBUS−DP
13.1
13.1.10
Parameterising analog modules
Signal functions of 4xanalog input /output
Paramete Signal function
r bytes
4/5
06h
Current signal
output
Format 1)
Signal range
0 ... 20
mA
0.00
0
Min.
{0.01 mA}
{1dec}
Limit
values
0.00
0
+20.00
+16384
Max.
+25.00 mA
+20480
Tolerance 2)
±0.6 %
S5
Two’s
complement
dec
0Bh
0Ch
0Eh
Current signal
output
Current signal
output
Current signal
output
±20 mA
4 ... 20
mA
0 ... 20
mA
−20.00
−27648
Min.
{0.01 mA}
{1dec}
Limit
values
−23.52 mA
−32512dec
+4.00
0
Min.
+23.52 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+22.81 mA
+32511dec
{0.01 mA}
+20.00
{1dec}
+27648
Limit
Max.
values
+23.52 mA
+32511dec
0.00
−6912 dec
0.00
0
Min.
0.00
0
FFh
1)
2)
13.1−22
+20.00
+27648
Max.
±0.3 %
S7
Two’s
complement
±0.8 %
S7
Two’s
complement
±0.6 %
S7
Two’s
complement
Analog output is switched off
Format of the output data ( 13.1−6).
Tolerance of the output range at an ambient temperature of 25 °C.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Parameter data
13.2
13.2.1
13.2
Parameterising 2/4xcounter module
13.2.1
Parameter data
The operating mode of the 2/4xcounter (e.g. 2 x 32−bit counter or 4 x 16−bit
counter) can be determined by assigning each channel (counter 0 and counter 1)
a mode via the parameter data.
(
Stop!
Depending on the mode setting, the terminal assignment of the
counter module changes!
For the 2/4xcounter, 2 bytes of parameter data are available.
The parameter data follow the assignment below:
Byte
0
1
Assignment
Mode, counter 0
Mode, counter 1
Lenze setting
00h
00h
Selecting the modes
Counter mode overview
Mode of
Function
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
[h]
[dec]
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
RES
·
·
–
–
2 counters
0
4 counters
1
A
B
0.1
0.2
A
B
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
–
–
–
–
0Ch
12
2 × 32−bit counters
(counting direction up)
RES
CLK
GATE
RES
CLK
GATE
·
·
–
ü
0Dh
13
2 × 32−bit counters
(counting direction down)
RES
CLK
GATE
RES
CLK
GATE
·
·
–
ü
0Eh
14
2 × 32−bit counters
(counting direction up)
RES
CLK
GATE
RES
CLK
GATE
·
·
ü
ü
0Fh
15
2 × 32−bit counters
(counting direction down)
RES
CLK
GATE
RES
CLK
GATE
·
·
ü
ü
10h
16
Frequency measuring
RES
CLK
START
STOP
–
–
·
·
–
ü
11h
17
Measuring the period
RES
CLK
START
STOP
–
–
·
·
–
ü
12h
18
Frequency measuring
(Counter output on/off)
RES
CLK
START
STOP
–
–
·
·
–
ü
2 counters
0
1
1 counter
L
0/1
EDSPM−TXXX−9.0−11/2009
13.2−1
13
Parameter setting via PROFIBUS−DP
13.2
13.2.1
Parameterising 2/4xcounter module
Parameter data
Mode of
[h]
[dec]
13h
19
Function
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
Measuring the period
(Counter output on/off)
RES
CLK
START
STOP
–
–
·
·
–
ü
2 counters
0
1
06h
6
Measuring the pulse width
(fref 50 kHz, counting direction is
selectable)
RES
PULSE
DIR
RES
PULSE
DIR
–
–
–
–
14h
20
Measuring the pulse width
(fref programmable, counting
direction is selectable)
RES
PULSE
DIR
RES
PULSE
DIR
–
–
–
–
15h
21
Measuring the pulse width
(fref programmable, counting
direction: Upwards)
RES
PULSE
GATE
RES
PULSE
GATE
–
–
–
–
16h
22
Measuring the pulse width
(fref programmable, counting
direction: 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
–
–
–
ü
18h
24
2 × 32−bit counters
(counting direction down, "Set"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
19h
25
2 × 32−bit counters
(counting direction up, "Reset"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
1Ah
26
2 × 32−bit counters
(counting direction down, "Reset"
function)
RES
CLK
GATE
RES
CLK
GATE
–
–
–
ü
13.2−2
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Parameter data
Mode of
Function
13.2
13.2.1
IN1
IN2
IN3
IN4
IN5
IN6
OUT0
OUT1
Auto
Reload
Compare
Load
[h]
[dec]
1Bh
27
32−bit counter
G/RESû
CLK
DIR
G/RESû
CLK
DIR
·
·
–
–
1Ch
28
Encoder 1 edge
G/RESû
A
B
G/RESû
A
B
·
·
–
–
1Dh
29
Encoder 2 edges
G/RESû
A
B
G/RESû
A
B
·
·
–
–
1Eh
30
Encoder 4 edges
G/RESû
A
B
G/RESû
A
B
·
·
–
–
2 counters
0
2 counters
1
0
1
1Fh
31
2 × 32−bit counters
(counting direction up)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
–
ü
20h
32
2 × 32−bit counters
(counting direction down)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
–
ü
21h
33
2 × 32−bit counters
(counting direction up)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
ü
ü
22h
34
2 × 32−bit counters
(counting direction down)
RESû
CLK
GATE
RESû
CLK
GATE
·
·
ü
ü
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
·
·
–
–
2 counters
0
1
·
ü
–
A
Auto Reload
Digital output can signal an event
Function available.
No function / function not available
Encoder signal A
"Auto Reload" causes the counter to accept a preset value as soon
as the counter content matches the Compare register content.
B
Encoder signal B
Compare Load You may use "Compare Load" to specify a counter limit value to
trigger an output when reached or to restart the counters via Auto
Reload.
CLK
Clock signal of a connected encoder
HIGH level starts and / or stops the counting process
DIR
Indicates counting direction depending on signal level
LOW: Upcounter
HIGH: Downcounter
GATE
Gate signal is level−triggered
HIGH: Pulses are measured
G/RESû
Gate signal is level−triggered and reset signal is edge−triggered
HIGH: Pulses are measured
LOW−HIGH edge: Deletes one or both counters
PULSE
The pulse width of the supplied signal is measured with an internal
time base
RES
Reset signal is level−triggered
HIGH: Deletes one or both counters
RESû
Reset signal is edge−triggered
LOW−HIGH edge: Deletes one or both counters
START
Start signal is edge−triggered
STOP
Stop signal is edge−triggered
L
EDSPM−TXXX−9.0−11/2009
13.2−3
Parameter setting via PROFIBUS−DP
13.2
13.2.2
Input data / output data
Data to module
Gateway
Counter
0 1 2 3 4 5 6 7 8 9
L
L
64
32
16 A
8 D
4 R.
2
1
–
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
13.2.2
Parameterising 2/4xcounter module
Input data / output data
1
0
PW
ER
RD
DE
1
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
X1
.7
DC +
24V
Data from module
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
13
8
9
10
-
EPM – T120 xx.xx
epm−t249
Fig. 13.2−1
Data input / output of 2/4xcounter
For the data input / data output, 10 bytes are available which are transmitted to the
counter or output by the counter.
Input data
8 bytes (byte 0 ... 7) of input data (Data In) for the specification of counter starting
values or comparison values.
Control byte
Due to a level change in byte 9 (Control), the values are written into a counter
register. Each bit in byte 9 is assigned to a specific counter register word.
Output data
8 bytes (byte 0 ... 7) of output data (Data Out) for reading out the current count
values.
Status byte
The behaviour of the counter, when the master module restarts (e.g. after changing
the parameter setting), can be controlled via byte 8 (status). The following
combinations are possible:
Bit 0
1
0
1
Bit 1
0
1
1
Description
Counter reading remanent on restart
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!
13.2−4
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 x 32 bit counter (mode 0)
13.2.3
13
13.2
13.2.3
2 x 32 bit counter (mode 0)
Terminal assignment
epm−t064
Fig. 13.2−2
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.
CLK signal
Each LOW−HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements the
counter by 1, respectively.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
L
EDSPM−TXXX−9.0−11/2009
13.2−5
Parameter setting via PROFIBUS−DP
13.2
13.2.3
Start Value
Counter 0 Counter 1
Counter 0
Counter 1
0 1 2 3 4 5 6 7 8 9
0 1 2 3
4 5 6 7
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter access
Parameterising 2/4xcounter module
2 x 32 bit counter (mode 0)
=48dec
Data In
Data In
Data In
Data In
13
=3dec
In1/In4 (RES)
In2/In5 (CLK)
In3/In6 (DIR)
Out0/Out1
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t233
Fig. 13.2−3
Signal characteristic
Counter access of the 2/4xcounter in the mode 0
RES
DIR
Tt0H
Tt0L
CLK
TreH2d
Counter
xxxx xxxx
TclH2d
0000 0000
0000 0001
0000 0002
0000 0003
0000 0004
0000 0005
epm−t067
Fig. 13.2−4
Signal characteristic of 2/4xcounter in the mode 0 (upcounter)
RES
DIR
Tt0H
Tt0L
CLK
TreH2d
Counter
xxxx xxxx
TclH2d
0000 0000
FFFF FFFF
FFFF FFFE
FFFF FFFD
FFFF FFFC
FFFF FFFB
epm−t066
Fig. 13.2−5
13.2−6
Signal characteristic of 2/4xcounter in the mode 0 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
13.2.4
13
13.2
13.2.4
Encoder (modes 1, 3, and 5)
Terminal assignment
1
+24 V DC
Counter 0
2
In1 (RES)
3
In2 (A)
4
In3 (B)
5
Out0
Counter 1
6
In4 (RES)
7
In5 (A)
8
In6 (B)
9
Out1
10
GND
epm−t070
Fig. 13.2−6
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 starting
value.
The modes differ in the number of edges which are evaluated:
Mode 1: 1 edge
Mode 3: 2 edges
Mode 5: 4 edges
A/B signal
See signal characteristics.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is to HIGH level for at
least 100 ms, even if the counter continues to count. When the counter stops at
zero, the output OUT0 / OUT1 remains on the HIGH level.
L
EDSPM−TXXX−9.0−11/2009
13.2−7
13
Parameter setting via PROFIBUS−DP
13.2
13.2.4
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
Counter access
Start Value
Counter 1
0 1 2 3
4 5 6 7
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Counter 0
0 1 2 3 4 5 6 7 8 9
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter 0 Counter 1
=48dec
=3dec
In1/In4 (RES)
In2/In5 (A)
In3/In6 (B)
Out0/Out1
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
4 5
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
Status
8
epm−t234
Fig. 13.2−7
Signal characteristic in mode 1
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 HIGH
level is applied to input IN3 / IN6 (B) at this time.
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TcIH2d
TreH2d
Counter
XXXX
0000 0000
0000 0001
0000 0003
0000 0002
0000 0004
0000 0005
0000 0006
epm−t069
Fig. 13.2−8
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 a HIGH
level is applied to input IN3 / IN6 (B) at this time.
RES
TdL2cIH
TcIH2dH
B
Tt0H
Tt0L
A
TreH2d
Counter
XXXX
TcIH2d
0000 0000
FFFF FFFF
FFFF FFFE
FFFF FFFD
FFFF FFFC
FFFF FFFB
FFFF FFFA
epm−t068
Fig. 13.2−9
13.2−8
Signal characteristic of 2/4xcounter in the mode 1 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
Signal characteristic in mode 3
13.2
13.2.4
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TcIH2d
TreH2d
Counter
XXXX
00000000
00000001
00000002
00000003
00000004
00000005
00000006 00000007
00000008
00000009
epm−t071
Fig. 13.2−10
Signal characteristic of 2/4xcounter in the mode 3 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TreH2d
Counter
XXXXX
TcIH2d
00000000
FFFFFFFF FFFFFFFE FFFFFFFD FFFFFFFC FFFFFFFB FFFFFFFA FFFFFFF9 FFFFFFF8 FFFFFFF7
epm−t072
Fig. 13.2−11
L
Signal characteristic of 2/4xcounter in the mode 3 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.2−9
13
Parameter setting via PROFIBUS−DP
13.2
13.2.4
Signal characteristic in mode 5
Parameterising 2/4xcounter module
Encoder (modes 1, 3, and 5)
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
RES
TdL2cIH
TcIH2dH
B
TcIH
TcIL
A
TreH2d
Counter
XXXX
00000000
01
02
03
04
05
06
07
08
09
0A
0B
0C
0D
0E
0F
10
11
12
epm−t073
Fig. 13.2−12
Signal characteristic of 2/4xcounter in the mode 5 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
RES
TdL2clH
TclH2dH
B
TclH
TclL
A
TreH2d
Counter
XXXX
00000000
FF
FE
FD
FC
FB
FA
F9
F8
F7
F6
F5
F4
F3
F2
F1
F0
EF
EE
epm−t074
Fig. 13.2−13
13.2−10
Signal characteristic of 2/4xcounter in the mode 5 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the pulse width, fref 50 kHz (mode 6)
13.2.5
13
13.2
13.2.5
Measuring the pulse width, fref 50 kHz (mode 6)
Terminal assignment
1
+24 V DC
Counter 0
2
In1 (RES)
3
In2 (PULSE)
4
In3 (DIR)
5
Out0
Counter 1
6
In4 (RES)
7
In5 (PULSE)
8
In6 (DIR)
9
Out1
10
GND
epm−t075
Fig. 13.2−14
Terminal assignment of the 2/4xcounter in the mode 6
The pulse widths of the signals at input IN2 / IN5 (PULSE) are measured with an
internal time base.
PULSE signal
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 unit
20 ms (corresponds to a clock frequency of fref = 50 kHz; the clock frequency
cannot be changed). This result is available in the data output range and can be
read out until the next new result.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Output OUT0 / OUT1 has no function.
L
EDSPM−TXXX−9.0−11/2009
13.2−11
13
Parameter setting via PROFIBUS−DP
13.2
13.2.5
Parameterising 2/4xcounter module
Measuring the pulse width, fref 50 kHz (mode 6)
Counter access
fref
fref
In1/In4 (RES)
In2/In5 (PULSE)
In3/In6 (DIR)
8
8
Status
Status
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
4 5
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
epm−t235
Fig. 13.2−15
Signal characteristic
Counter access of the 2/4xcounter in the mode 6
RES
DIR
PULSE
TreH2d
50kHz
Counter
XX
Result
XX
00
00
00
00
01
02
03
04
XXXX
05
06
07
00
01
XXXX
07
epm−t077
Fig. 13.2−16
Signal characteristic of 2/4xcounter in the mode 6 (upcounter)
RST
DIR
PULSE
TreH2d
50kHz
Counter
XX
Result
XX
00
00
00
00
FF
FE
0000
FD
FC
FB
FA
F9
0000
00
FF
FFF9
epm−t076
Fig. 13.2−17
13.2−12
Signal characteristic of 2/4xcounter in the mode 6 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
4 × 16 bit counter (modes 8 ... 11)
13.2.6
13
13.2
13.2.6
4 × 16 bit counter (modes 8 ... 11)
Terminal assignment
1
2
Counter 0.2
Counter 0.1
3
4
5
6
Counter 1.2
Counter 1.1
7
8
9
10
+24 V DC
n.c.
In2 (CLK)
In3 (CLK)
n.c.
n.c.
In5 (CLK)
In6 (CLK)
n.c.
GND
epm−t079
Fig. 13.2−18
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 a
starting value.
The modules differ in having different counting directions:
Mode 8:
l
Counters 0.2 and 1.2 count up
l
Counters 0.1 and 1.1 count up
Mode 9:
l
Counters 0.2 and 1.2 count down
l
Counters 0.1 and 1.1 count up
Mode 10:
l
Counters 0.2 and 1.2 count up
l
Counters 0.1 and 1.1 count down
Mode 11:
CLK signal
L
l
Counters 0.2 and 1.2 count down
l
Counters 0.1 and 1.1 count down
Each LOW−HIGH edge at input IN2 / IN3 / IN5 / IN6 (CLK) causes the associated
counter to count up and / or down, respectively.
EDSPM−TXXX−9.0−11/2009
13.2−13
Parameter setting via PROFIBUS−DP
13.2
13.2.6
Parameterising 2/4xcounter module
4 × 16 bit counter (modes 8 ... 11)
Counter access
Counter 0.1
Counter 1.2
Counter 1.1
0 1
2 3
4 5
6 7
=1dec
=2dec
=32dec
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
0 1 2 3 4 5 6 7 8 9
Counter 0.2
Counter 1.1
Counter 1.2
Counter 0.1
Counter 0.2
Start Value
Data In
Data In
13
=16dec
5
Counter 1.1
Counter 1.2
Counter 0.2
4
7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
Data Out
Data Out
3
Data Out
Data Out
2
6
Data Out
Data Out
1
Data Out
Data Out
0
Counter 0.1
Act. Value
In2/In3/In4/In5
(CLK)
Status
8
epm−t236
Fig. 13.2−19
Counter access of the 2/4xcounter in the modes 8 ... 11
Signal characteristic
Tt0H
Tt0L
CLK 0.1
TclH2d
Counter 0.1
FFFE
FFFF
0000
0001
0002
Tt0H
0003
0004
0005
Tt0L
CLK 0.2
TclH2d
Counter 0.2
0001
0002
0003
0004
0005
0006
0007
0008
epm−t080
Fig. 13.2−20
13.2−14
Signal characteristic of 2/4xcounter in mode 8 considering as example the counters
0.1 and 0.2
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
13.2.7
13.2
13.2.7
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
Terminal assignment
epm−t082
Fig. 13.2−21
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
The modules differ in having different counting directions:
Mode 12: Upcounter.
Mode 13: Downcounter
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Once the counter reaches the value loaded in the "Compare" register, output
OUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuing
its task.
L
EDSPM−TXXX−9.0−11/2009
13.2−15
13.2
13.2.7
Counter access
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
Start Value
0 1
2 3
Data In
Data In
8 9
Status
Control
Counter 0
0 1 2 3
Data In
Data In
Data In
Data In
Counter 0
=2dec
Data In
Data In
13
=1dec
=8dec
=4dec
compare
=
1
2
3
Data In
Data In
In1 (RES)
In2 (CLK)
In3 (GATE)
Data In
Data In
0
Out0
Act. Value
Counter 0
0 1 2 3
Data Out
Data Out
Data Out
Data Out
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Start Value
Data In
Data In
Data In
Data In
Status
Control
4 5
6 7
Data In
Data In
Counter 1
4 5 6 7 8 9
Data In
Data In
Counter 1
=32dec
=16dec
=128dec
=64dec
compare
=
5
6
7
Data In
Data In
In4 (RES)
In5 (CLK)
In6 (GATE)
Data In
Data In
4
Out1
6 7
4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
Act. Value
Counter 1
4 5
Status
8
epm−t237
Fig. 13.2−22
13.2−16
Counter access of the 2/4xcounter in the modes 12 and 13
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES level−triggered (modes 12 and 13)
Signal characteristic
13
13.2
13.2.7
RES
Gate
Tt0H
Tt0L
CLK
TclH2d
TreH2d
Counter 0
xxxx xxxx
0000 0000
0000 0001
0000 0002
0000 0003
epm−t083
Fig. 13.2−23
L
Signal characteristic of 2/4xcounter in the mode 12
EDSPM−TXXX−9.0−11/2009
13.2−17
13
Parameter setting via PROFIBUS−DP
13.2
13.2.8
13.2.8
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14
and 15)
Terminal assignment
epm−t082
Fig. 13.2−24
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
These modes offer the function "Auto Reload". This means, that the Load Register
can be assigned with a value which is automatically loaded into the counter as
soon as it reaches the comparison value set.
The modules differ in having different counting directions:
Mode 14: Upcounter.
Mode 15: Downcounter
RES signal
A HIGH level at input IN1 / IN4 (RES) sets the counter to zero.
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
The counter counts up to the value set in the compare register. With this last
LOW−HIGH edge the counter content is overwritten with the value set in the load
register. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.
OUT signal
13.2−18
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 output
OUT0 / OUT1.)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
13.2
13.2.8
Counter 0
=8dec
=4dec
Data In
Data In
Data In
Data In
0 1 2 3
=1dec
8 9
=2dec
0 1 2 3
Status
Control
Counter 0
Data In
Data In
Data In
Data In
Counter access
13
1 2
3
Data In
Data In
Data In
Data In
0
Load
=
12
3
Data In
Data In
Data In
Data In
0
In1 (RES)
In2 (CLK)
In3 (GATE)
compare
Counter 1
4 5 6 7 8 9
4 5 6 7
Data Out
Data Out
Data Out
Data Out
Out0
56
7
Data In
Data In
Data In
Data In
4
=64dec
=128dec
=16dec
=32dec
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter 1
Counter 0
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
=
56
7
Data In
Data In
Data In
Data In
4
In4 (RES)
In5 (CLK)
In6 (GATE)
compare
4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Status
Counter 1
6 7
Data Out
Data Out
Data Out
Data Out
Out1
4 5
Status
8
epm−t238
Fig. 13.2−25
L
Counter access of the 2/4xcounter in the modes 14 and 15
EDSPM−TXXX−9.0−11/2009
13.2−19
13
Parameter setting via PROFIBUS−DP
13.2
13.2.8
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES level−triggered and auto reload (modes 14 and 15)
Signal characteristic
Compare
0000 0004
Load
0000 0002
Compare
0000 0004
Load
0000 0002
Compare
Load
0000 0004
0000 0002
RES
Gate
Tt0H
Tt0L
CLK
TreH2d
Counter
xxxx xxxx
TclH2d
0000 0000
0000 0001
0000 0002
0000 0003
..04 0000 0002
0000 0003
..04 0000 0002
0000 0003
..04 0000 0002
OUT 0
epm−t085
Fig. 13.2−26
13.2−20
Signal characteristic of 2/4xcounter in the mode 14 (upcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
13.2.9
13.2
13.2.9
Measuring the frequency (modes 16 and 18)
Terminal assignment
1
+24 V DC
2
In1 (RES)
3
In2 (CLK)
4
In3 (START)
5
Out0
6
In4 (STOP)
7
n.c.
8
n.c.
9
Out1
10
GND
epm−t087
Fig. 13.2−27
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, counters 0 and 1 are required. For
this, 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 counter
0 (see figure "counter access"). The number "n" of the reference frequency pulses
determines the gate time (period of time the counter 1 is to be released). "n" can
be between 1 and 232−1 and is loaded into the compare register.
RES signal
A LOW−HIGH edge at input IN1 (RES) sets the counter to zero.
START signal
A LOW−HIGH edge at input IN3 (START) starts the measuring process.
CLK signal
During the measuring process the counter 0 counts with the first LOW−HIGH edge
at the input IN2 (CLK) the pulses "n" of the reference frequency. Simultaneously
the counter 1 counts every LOW−HIGH edge at the input IN2 (CLK).
STOP signal
Both counters are stopped when
L
l
the counter 0 reading reaches the Compare value, or
l
input IN4 (STOP) receives a HIGH signal.
EDSPM−TXXX−9.0−11/2009
13.2−21
13
Parameter setting via PROFIBUS−DP
13.2
13.2.9
OUT signal
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
Mode 16:
The output OUT 0 is set to HIGH level when the measuring process starts, and is
set to LOW level, when the measuring process is completed. The output OUT1
indicates 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 set
to LOW level, when the counting process is completed. The output OUT1 indicates
the output signal of OUT0 in an inverted way.
Computing the frequency
f+
)
f
fref
m
n
f ref @ m
n
Frequency to be computed
Reference frequency (see figure "counter access")
Content, counter 1 (number of CLK pulses)
Number of reference frequency pulses in counter 0 (corresponds to Compare
unless prematurely terminated by a HIGH signal at input IN4 (STOP)
Note!
If the reference frequency [fref] and the number of reference
frequency 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.
13.2−22
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
13.2
13.2.9
Counter 0
Counter 1
0 1 2 3 4 5 6 7 8 9
0 1 2 3
4 5 6 7
Data In
Data In
Data In
Data In
Data In
Start Value
Counter 0 Counter 1
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter access
13
0dec
1dec
2dec
3dec
=1dec
=128dec
compare
CLKref
2 3
Data In
Data In
Data In
Data In
0 1
fref = 10 MHz
fref = 1 MHz
fref =100 kHz
fref = 10 kHz
counter 0
=
In1 (RES)
In3 (Start)
In4 (Stop)
counter 1
Out0/Out1
In2 (CLK)
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t239
Fig. 13.2−28
L
Counter access of the 2/4xcounter in the modes 16 and 18
EDSPM−TXXX−9.0−11/2009
13.2−23
13
Parameter setting via PROFIBUS−DP
13.2
13.2.9
Signal characteristic in mode 16
Parameterising 2/4xcounter module
Measuring the frequency (modes 16 and 18)
RES
START
STOP
CLK
Counter 1
xxx
0
Counter 0
xxx
0
1
2
3
m
n
Out0
Out1
epm−t089
Fig. 13.2−29
Signal characteristic of 2/4xcounter in the mode 16
OUT0 = HIGH
Measuring process in progress
Signal characteristic in mode 18
epm−t093
Fig. 13.2−30
Signal characteristic of 2/4xcounter in the mode 18
OUT0 = HIGH
13.2−24
Gate open
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Measuring the period (modes 17 and 19)
13.2
13.2.10
13.2.10 Measuring the period (modes 17 and 19)
Terminal assignment
1
+24 V DC
2
In1 (RES)
3
In2 (CLK)
4
In3 (START)
5
Out0
6
In4 (STOP)
7
n.c.
8
n.c.
9
Out1
10
GND
epm−t087
Fig. 13.2−31
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" measured
period 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 1
are required. For this, both counters must be parameterised to
mode 17 or 19. Different modes cannot be set.
With the PDO byte 7 (Data In) a reference frequency (fref) is transmitted to counter
1 (see figure "counter access"). The number "m" of the reference frequency pulses
determines the gate time (period of time the counter 1 is to be released). "m" can
be between 1 and 232−1 and is loaded into the compare register.
RES signal
A LOW−HIGH edge at input IN1 (RES) sets the counter to zero.
START signal
A LOW−HIGH edge at input IN3 (START) starts the measuring process.
CLK signal
During the measuring process the counter 1 counts with the first LOW−HIGH edge
at the input IN2 (CLK) the pulses "m" of the reference frequency. Simultaneously
the counter 0 counts every LOW−HIGH edge at the input IN2 (CLK).
STOP signal
Both counters are stopped when
L
l
the counter 0 reaches the Compare value, or
l
input IN4 (STOP) receives a HIGH signal.
EDSPM−TXXX−9.0−11/2009
13.2−25
13
Parameter setting via PROFIBUS−DP
13.2
13.2.10
OUT signal
Parameterising 2/4xcounter module
Measuring the period (modes 17 and 19)
Mode 17:
The output OUT 0 is set to HIGH level when the measuring process starts, and is
set to LOW level, when the measuring process is completed. The output OUT1
indicates 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 set
to LOW level, when the counting process is completed. The output OUT1 indicates
the output signal of OUT0 in an inverted way.
Computing the period
T+
Average period
Reference frequency (see figure "counter access")
Content, counter 1 (number of reference frequency pulses)
Number of CLK pulses in counter 0 (corresponds to Compare unless prematurely
terminated by a HIGH signal at input IN4 (STOP)
Counter 0
Counter 1
0 1 2 3 4 5 6 7 8 9
0 1 2 3
4 5 6 7
Data In
Data In
Data In
Data In
Data In
Start Value
Counter 0 Counter 1
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter access
n
f ref @ m
T
fref
m
n
0dec
1dec
2dec
3dec
=1dec
=128dec
compare
CLKref
2 3
Data In
Data In
Data In
Data In
0 1
fref = 10 MHz
fref = 1 MHz
fref =100 kHz
fref = 10 kHz
counter 0
=
In2 (CLK)
In1 (RES)
In3 (Start)
In4 (Stop)
counter 1
Out0/Out1
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t240
Fig. 13.2−32
13.2−26
Counter access of the 2/4xcounter in the modes 17 and 19
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the period (modes 17 and 19)
Signal characteristic in mode 17
13
13.2
13.2.10
RES
START
STOP
CLK
Counter 0
xxx
0
Counter 1
xxx
0
1
2
3
n
m
Out0
Out1
epm−t091
Fig. 13.2−33
Signal characteristic of 2/4xcounter in the mode 17
OUT0 = HIGH
Measuring process in progress
Signal characteristic in mode 19
epm−t195
Fig. 13.2−34
Signal characteristic of 2/4xcounter in the mode 19
OUT0 = HIGH
L
Gate open
EDSPM−TXXX−9.0−11/2009
13.2−27
13
Parameter setting via PROFIBUS−DP
13.2
13.2.11
Parameterising 2/4xcounter module
Measuring the pulse width, fref programmable (mode 20)
13.2.11 Measuring the pulse width, fref programmable (mode 20)
Terminal assignment
1
Counter 0
2
3
4
5
Counter 1
6
7
8
9
10
+24 V DC
In1 (RES)
In2 (PULSE)
In3 (DIR)
Out0
In4 (RES)
In5 (PULSE)
In6 (DIR)
Out1
GND
epm−t075
Fig. 13.2−35
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 a
programmable time base (fref, see figure Counter access").
PULSE signal
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 unit
1/fref. This result can be found and read out in the data output range until the next
result appears.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR).
Upcounter: LOW level
Downcounter: HIGH level
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Output OUT0 / OUT1 has no function.
13.2−28
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the pulse width, fref programmable (mode 20)
13.2
13.2.11
Counter 0
Counter 1
0 1 2 3 4 5 6 7 8 9
0 1 2 3
4 5 6 7
Data In
Status
Control
Data In
Data In
Start Value
Counter 0 Counter 1
Data In
Counter access
13
0dec
1dec
2dec
3dec
=8dec
fref = 10 MHz
fref = 1 MHz
fref =100 kHz
fref = 10 kHz
=128dec
CLKref,0
CLKref,1
In1/In4 (RES)
In2/In5 (PULSE)
In3/In6 (DIR)
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t241
Fig. 13.2−36
L
Counter access of the 2/4xcounter in the mode 20
EDSPM−TXXX−9.0−11/2009
13.2−29
13
Parameter setting via PROFIBUS−DP
13.2
13.2.11
Signal characteristic
Parameterising 2/4xcounter module
Measuring the pulse width, fref programmable (mode 20)
RES
GATE
PULSE
TreH2d
1
fref
Counter
XX
Result
XX
00
00
00
00
01
02
03
0000
04
05
06
07
07
0000
00
07
epm−t097
Fig. 13.2−37
Signal characteristic of 2/4xcounter in the mode 20 (upcounter)
RES
DIR
PULSE
TreH2d
1
fref
Counter XX
Result XX
00
00
00
00
FF
FE
0000
FD
FC
FB
FA
F9
0000
F9
FFF9
epm−t096
Fig. 13.2−38
13.2−30
Signal characteristic of 2/4xcounter in the mode 20 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
13
13.2
13.2.12
13.2.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
Terminal assignment
1
+24 V DC
Counter 0
2
IN1 (RES)
3
IN2 (PULSE)
4
IN3 (GATE)
5
Out0
Counter 1
6
IN4 (RES)
7
IN5 (PULSE)
8
IN6 (GATE)
9
Out1
10
GND
epm−t098
Fig. 13.2−39
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 a
programmable time base (fref, see figure Counter access").
The modules differ in having different counting directions:
Mode 21: Upcounter.
Mode 22: Downcounter
GATE/CLK signal
The measuring process is enabled with a HIGH level at input IN3 / IN6 (GATE).
PULSE signal
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 unit
1/fref. This result can be found and read out in the data output range until the next
result appears.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Output OUT0 / OUT1 has no function.
)
Note!
The measuring process is terminated only if a HIGH level is
applied at input IN3 / IN6 (GATE) for the complete duration of the
measuring process.
L
EDSPM−TXXX−9.0−11/2009
13.2−31
13
13.2
13.2.12
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
Counter access
Counter 1
0 1 2 3
4 5 6 7
Data In
Data In
Data In
Counter 0
0 1 2 3 4 5 6 7 8 9
Data In
Status
Control
Start Value
Counter 0 Counter 1
0dec
1dec
2dec
3dec
=8dec
fref = 10 MHz
fref = 1 MHz
fref =100 kHz
fref = 10 kHz
=128dec
CLKref,0
CLKref,1
In1/In4 (RES)
In2/In5 (PULSE)
In3/In6 (GATE)
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
4 5
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
Status
8
epm−t242
Fig. 13.2−40
Signal characteristic in mode 21
Counter access of the 2/4xcounter in the modes 21 and 22
RES
GATE
PULSE
TreH2d
1
fref
Counter
XX
Result
XX
00
00
00
00
01
02
0000
03
04
05
06
06
0000
00
01
06
epm−t100
Fig. 13.2−41
13.2−32
Signal characteristic of 2/4xcounter in the mode 21 (upcounter)
EDSPM−TXXX−9.0−11/2009
L
13
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
Measuring the pulse width with GATE, fref programmable (modes 21 and 22)
13.2
13.2.12
Signal characteristic in mode 22
RES
GATE
PULSE
TreH2d
1
fref
Counter
XX
Result
XX
00
00
00
00
0000
FF
FE
FD
FC
FB
FA
FA
0000
00
FF
FA
epm−t101
Fig. 13.2−42
L
Signal characteristic of 2/4xcounter in the mode 22 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.2−33
13
Parameter setting via PROFIBUS−DP
13.2
13.2.13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
13.2.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
Terminal assignment
epm−t082
Fig. 13.2−43
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
The modes differ in triggering the outputs Out0 / Out 1 differently (set or reset
function) and the counting direction:
Modes 23 and 25: Upcounter.
Modes 24 and 26: Downcounter
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
RES signal
During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).
A HIGH level deletes the counter.
OUT signal
Modes 23 and 24 (set function):
l
The signal at output OUT0 / OUT1 is set to HIGH level on counter loading.
l
When reaching the value loaded in Compare, the output signal is set to LOW
level. The counter continues to run.
Modes 25 and 26 (reset function):
13.2−34
l
The signal at output OUT0 / OUT1 is set to LOW level on counter loading.
l
When reaching the value loaded in Compare, the output signal is set to
HIGH level (modes 25 and 26). The counter continues to run.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
Start Value
0 1
2 3
Data In
Data In
8 9
Status
Control
Counter 0
0 1 2 3
Data In
Data In
Data In
Data In
Counter 0
Data In
Data In
Counter access
13.2
13.2.13
=2dec
=1dec
=8dec
=4dec
compare
=
1
2
3
Data In
Data In
In1 (RES)
In2 (CLK)
In3 (GATE)
Data In
Data In
0
Out0
Act. Value
Counter 0
0 1 2 3
Data Out
Data Out
Data Out
Data Out
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Start Value
Counter 1
4 5
6 7
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
4 5 6 7 8 9
Data In
Data In
Counter 1
=32dec
=16dec
=128dec
=64dec
compare
=
5
6
7
Data In
Data In
In4 (RES)
In5 (CLK)
In6 (GATE)
Data In
Data In
4
Out1
6 7
4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
Act. Value
Counter 1
4 5
Status
8
epm−t237
Fig. 13.2−44
L
Counter access of the 2/4xcounter in the modes 23 ... 26
EDSPM−TXXX−9.0−11/2009
13.2−35
13
Parameter setting via PROFIBUS−DP
13.2
13.2.13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
Signal characteristic in mode 23
RES
GATE
Tt0H
Tt0L
CLK
TreH2d
Counter 0
xxxx xxxx
TclH2d
0000 0004
0000 0005
0000 0006
0000 0007
0000 0008
Out0
0
epm−t102
Fig. 13.2−45
Signal characteristic of 2/4xcounter in the mode 23 (upcounter, set function)
Compare reached
Signal characteristic in mode 24
RES
GATE
Tt0H
Tt0L
CLK
TreH2d
Counter 0
xxxx xxxx
TclH2d
0000 0009
0000 0008
0000 0007
0000 0006
0000 0005
Out0
0
epm−t103
Fig. 13.2−46
Signal characteristic of 2/4xcounter in the mode 24 (downcounter, set function)
Compare reached
Signal characteristic in mode 25
RES
GATE
Tt0H
Tt0L
CLK
TreH2d
Counter 0
xxxx xxxx
TclH2d
0000 0004
0000 0005
0000 0006
0000 0007
0000 0008
Out0
0
1
epm−t104
Fig. 13.2−47
Signal characteristic of 2/4xcounter in the mode 25 (upcounter, reset function)
OUT0 LOW active
Load counter
Compare reached
13.2−36
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)
13
13.2
13.2.13
Signal characteristic in mode 26
epm−t105
Fig. 13.2−48
Signal characteristic of 2/4xcounter in the mode 26 (downcounter, reset function)
OUT0 LOW active
Load counter
Compare reached
L
EDSPM−TXXX−9.0−11/2009
13.2−37
13
Parameter setting via PROFIBUS−DP
13.2
13.2.14
Parameterising 2/4xcounter module
2 x 32 bit counter with G/RES (mode 27)
13.2.14 2 x 32 bit counter with G/RES (mode 27)
Terminal assignment
epm−t142
Fig. 13.2−49
Terminal assignment of the 2/4xcounter in the mode 27
The mode 27 offers two 32−bit counters which can be assigned with a starting
value.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
CLK signal
If a HIGH level is applied to input IN3 / IN6 (G/RES), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
G/RES signal
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 the
input IN1 / IN4 (G/RES) the counter is deleted.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
13.2−38
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
2 x 32 bit counter with G/RES (mode 27)
Start Value
Counter 1
0 1 2 3
4 5 6 7
=48dec
Data In
Data In
Data In
Data In
Counter 0
0 1 2 3 4 5 6 7 8 9
Data In
Data In
Data In
Data In
Counter 0 Counter 1
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter access
13.2
13.2.14
=3dec
In1/In4 (G/RES)
In2/In5 (CLK)
In3/In6 (DIR)
Out0/Out1
6 7
0 1 2 3 4 5 6 7 7
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t243
Fig. 13.2−50
Counter access of the 2/4xcounter in the mode 27
Fig. 13.2−51
Signal characteristic of 2/4xcounter in the mode 27 (upcounter)
Fig. 13.2−52
Signal characteristic of 2/4xcounter in the mode 27 (downcounter)
Signal characteristic
epm−t146
epm−t147
L
EDSPM−TXXX−9.0−11/2009
13.2−39
13
Parameter setting via PROFIBUS−DP
13.2
13.2.15
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
13.2.15 Encoder with G/RES (modes 28 ... 30)
Terminal assignment
epm−t144
Fig. 13.2−53
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 starting
value.
The modes differ in the number of edges which are evaluated:
Mode 28: 1 edge
Mode 29: 2 edges
Mode 30: 4 edges
A/B signal
See signal characteristics.
G/RES signal
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 the
input IN1 / IN4 (G/RES) the counter is deleted.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
13.2−40
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
13.2
13.2.15
Counter access
Start Value
4 5 6 7
=48dec
Data In
Data In
Data In
Data In
Counter 1
0 1 2 3
Data In
Data In
Data In
Data In
Counter 0
0 1 2 3 4 5 6 7 8 9
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter 0 Counter 1
=3dec
In1/In4 (G/RES)
In2/In5 (A)
In3/In6 (B)
Out0/Out1
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t244
Fig. 13.2−54
Signal characteristic in mode 28
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 HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t148
Fig. 13.2−55
Signal characteristic of the 2/4xcounter in the mode 28 (upcounter)
Every LOW−HIGH edge at input IN2 / IN5 (A) decrements the counter by 1 if a HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t149
Fig. 13.2−56
L
Signal characteristic of 2/4xcounter in the mode 28 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.2−41
13
Parameter setting via PROFIBUS−DP
13.2
13.2.15
Signal characteristic in mode 29
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t150
Fig. 13.2−57
Signal characteristic of 2/4xcounter in the mode 29 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t151
Fig. 13.2−58
13.2−42
Signal characteristic of 2/4xcounter in the mode 29 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Encoder with G/RES (modes 28 ... 30)
Signal characteristic in mode 30
13.2
13.2.15
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t152
Fig. 13.2−59
Signal characteristic of 2/4xcounter in the mode 30 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t153
Fig. 13.2−60
L
Signal characteristic of 2/4xcounter in the mode 30 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.2−43
13
Parameter setting via PROFIBUS−DP
13.2
13.2.16
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
13.2.16 2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
Terminal assignment
epm−t154
Fig. 13.2−61
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
The modules differ in having different counting directions:
Mode 31: Upcounter.
Mode 32: Downcounter
RESû signal
A LOW/HIGH edge at input IN1 / IN04 (RESû ) clears the counter.
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
OUT signal
Once the counter reaches the value loaded in the "Compare" register, output
OUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuing
its task.
13.2−44
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
Start Value
0 1
2 3
Data In
Data In
8 9
Status
Control
Counter 0
0 1 2 3
Data In
Data In
Data In
Data In
Counter 0
=2dec
Data In
Data In
Counter access
13.2
13.2.16
=1dec
=8dec
=4dec
compare
=
1
2
3
Data In
Data In
In1 (RES )
In2 (CLK)
In3 (GATE)
Data In
Data In
0
Out0
Act. Value
Counter 0
0 1 2 3
Data Out
Data Out
Data Out
Data Out
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Start Value
Counter 1
4 5
6 7
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
4 5 6 7 8 9
Data In
Data In
Counter 1
=32dec
=16dec
=128dec
=64dec
compare
=
5
6
7
Data In
Data In
In4 (RES )
In5 (CLK)
In6 (GATE)
Data In
Data In
4
Out1
6 7
4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
Act. Value
Counter 1
4 5
Status
Status
8 9
epm−t245
Fig. 13.2−62
L
Counter access of the 2/4xcounter in the modes 31 and 32
EDSPM−TXXX−9.0−11/2009
13.2−45
13
Parameter setting via PROFIBUS−DP
13.2
13.2.16
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE and RES edge−triggered (modes 31 and 32)
Signal characteristic
epm−t156
Fig. 13.2−63
13.2−46
Signal characteristic of 2/4xcounter in the mode 31
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
13
13.2
13.2.17
13.2.17 2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33
and 34)
Terminal assignment
epm−t154
Fig. 13.2−64
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 via
a gate signal (gate). A starting value and a comparison value can be assigned to
each counter.
These modes offer the function "Auto Reload". This means, that the Load Register
can be assigned with a value which is automatically loaded into the counter as
soon as it reaches the comparison value set.
The modules differ in having different counting directions:
Mode 33: Upcounter
Mode 34: Downcounter
RESû signal
A LOW/HIGH edge at input IN1 / IN04 (RESû) clears the counter.
GATE/CLK signal
If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented or
decremented by 1 with each LOW/HIGH edge.
The counter counts up to the value set in the compare register. With this last
LOW−HIGH edge the counter content is overwritten with the value set in the load
register. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.
OUT signal
L
If an "Auto Reload" occurs, the signal level at the output OUT0 / OUT1 changes.
(A LOW−HIGH−edge at the output IN1 / IN4 (RESû) does not reset the output
OUT0 / OUT1.)
EDSPM−TXXX−9.0−11/2009
13.2−47
Counter 0
0 1 2 3
=4dec
=8dec
8 9
Data In
Data In
Data In
Data In
0 1 2 3
=1dec
Counter 0
=2dec
Counter access
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
Status
Control
13.2
13.2.17
Parameter setting via PROFIBUS−DP
Data In
Data In
Data In
Data In
13
1 2
3
Data In
Data In
Data In
Data In
0
Load
=
12
3
Data In
Data In
Data In
Data In
0
In1 (RES )
In2 (CLK)
In3 (GATE)
compare
Counter 1
4 5 6 7 8 9
4 5 6 7
Data Out
Data Out
Data Out
Data Out
Out0
56
7
Data In
Data In
Data In
Data In
4
=64dec
=128dec
=16dec
=32dec
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter 1
Counter 0
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
=
56
7
Data In
Data In
Data In
Data In
4
In4 (RES )
In5 (CLK)
In6 (GATE)
compare
4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Status
Counter 1
6 7
Data Out
Data Out
Data Out
Data Out
Out1
4 5
Status
8
epm−t246
Fig. 13.2−65
13.2−48
Counter access of the 2/4xcounter in the modes 33 and 34
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 2/4xcounter module
2 × 32 bit counter with GATE, RES edge−triggered and auto reload (modes 33 and 34)
13
13.2
13.2.17
Signal characteristic
epm−t159
Fig. 13.2−66
L
Signal characteristic of 2/4xcounter in the mode 33 (upcounter)
EDSPM−TXXX−9.0−11/2009
13.2−49
13
Parameter setting via PROFIBUS−DP
13.2
13.2.18
Parameterising 2/4xcounter module
2 x 32 bit counter with GATE (mode 35)
13.2.18 2 x 32 bit counter with GATE (mode 35)
Terminal assignment
epm−t160
Fig. 13.2−67
Terminal assignment of the 2/4xcounter in the mode 35
The mode 35 offers two 32−bit counters which can be assigned with a starting
value.
DIR signal
The counting direction is determined via the signal level at input IN3 / IN6 (DIR):
Upcounter: LOW level
Downcounter: HIGH level
CLK signal
Each LOW−HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements the
counter by 1, respectively.
GATE signal
During the counting process, a HIGH level must be applied to input IN1 / IN4
(GATE). With a LOW level the counter content is frozen.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
13.2−50
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
2 x 32 bit counter with GATE (mode 35)
Start Value
Counter 1
0 1 2 3
4 5 6 7
=48dec
Data In
Data In
Data In
Data In
Counter 0
0 1 2 3 4 5 6 7 8 9
Data In
Data In
Data In
Data In
Counter 0 Counter 1
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter access
13.2
13.2.18
=3dec
In1/In4 (GATE)
In2/In5 (CLK)
In3/In6 (DIR)
Out0/Out1
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t247
Fig. 13.2−68
Counter access of the 2/4xcounter in the mode 35
Fig. 13.2−69
Signal characteristic of 2/4xcounter in the mode 35 (upcounter)
Fig. 13.2−70
Signal characteristic of 2/4xcounter in the mode 35 (downcounter)
Signal characteristic
epm−t162
epm−t163
L
EDSPM−TXXX−9.0−11/2009
13.2−51
13
Parameter setting via PROFIBUS−DP
13.2
13.2.19
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
13.2.19 Encoder with GATE (modes 36 ... 38)
Terminal assignment
epm−t164
Fig. 13.2−71
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 starting
value.
The modes differ in the number of edges which are evaluated:
Mode 36: 1 edge
Mode 37: 2 edges
Mode 38: 4 edges
A/B signal
See signal characteristics.
GATE signal
During the counting process, a HIGH level must be applied to input IN1 / IN4
(GATE). With a LOW level the counter content is frozen.
OUT signal
When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level for
at least 100 ms, even if the counter continues to count. When the counter stops
at zero, the output OUT0 / OUT1 remains on the HIGH level.
13.2−52
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
13.2
13.2.19
Counter access
Start Value
4 5 6 7
=48dec
Data In
Data In
Data In
Data In
Counter 1
0 1 2 3
Data In
Data In
Data In
Data In
Counter 0
0 1 2 3 4 5 6 7 8 9
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Data In
Status
Control
Counter 0 Counter 1
=3dec
In1/In4 (GATE)
In2/In5 (A)
In3/In6 (B)
Out0/Out1
6 7
0 1 2 3 4 5 6 7 8
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Data Out
Status
2 3
Data Out
Data Out
Data Out
Data Out
0 1
Data Out
Data Out
Data Out
Data Out
Act. Value
Counter 0 Counter 1
4 5
Status
8
epm−t248
Fig. 13.2−72
Signal characteristic in mode 36
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 HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t166
Fig. 13.2−73
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 a HIGH
level is applied to input IN3 / IN6 (B) at this time.
epm−t167
Fig. 13.2−74
L
Signal characteristic of 2/4xcounter in the mode 36 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.2−53
13
Parameter setting via PROFIBUS−DP
13.2
13.2.19
Signal characteristic in mode 37
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t168
Fig. 13.2−75
Signal characteristic of 2/4xcounter in the mode 37 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t169
Fig. 13.2−76
13.2−54
Signal characteristic of 2/4xcounter in the mode 37 (downcounter)
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 2/4xcounter module
Encoder with GATE (modes 36 ... 38)
Signal characteristic in mode 38
13.2
13.2.19
The counter is incremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
epm−t170
Fig. 13.2−77
Signal characteristic of 2/4xcounter in the mode 38 (upcounter)
The counter is decremented by 1 on
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a LOW−HIGH edge at input IN2 / IN5 (A) and a LOW level at the input
IN3 / IN6 (B).
l
a HIGH−LOW edge at input IN2 / IN5 (A) and a HIGH level at input
IN3 / IN6 (B).
epm−t171
Fig. 13.2−78
L
Signal characteristic of 2/4xcounter in the mode 38 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.2−55
Parameter setting via PROFIBUS−DP
Parameterising SSI interface
Parameter data
13
13.3
13.3.1
13.3
Parameterising SSI interface
13.3.1
Parameter data
l
For the SSI interface, 4 bytes of parameter data are available. The following
are defined via the parameter data
– Baud rate
– Coding type
– Evaluation of the combined I/O.0
l
The module can be parameterised with the configuration tool or via slot and
index.
– To set the parameters via slot and index, the function blocks SFB 52 (read)
and SFB 53 (write) are required. ( 10.5−3)
Slot number
1 ... 32
Index
00h
01h
Access
R
W
R
F1h
F2h
R
R
Description
Read out diagnostic data record 0
Write parameters to the module
The corresponding diagnostic data record of the electronic module can be
read out via the index.
· Example:
– Index 01h: read out diagnostic data record 1
– Index 02h: read out diagnostic data record 2
Read out the module parameters
Read out the process image of the module
R = read
W = write
L
EDSPM−TXXX−9.0−11/2009
13.3−1
13
Parameter setting via PROFIBUS−DP
13.3
13.3.1
Parameterising SSI interface
Parameter data
The parameter data is assigned as follows:
Byte
0
1
2
Assignment
Reserved
Reserved
Baud rate 1)
3
Coding 2)
Lenze setting
00h = 300 kBaud
01h = 100 kBaud
02h = 300 kBaud
03h = 600 kBaud
04h ... FFh = 300 kBaud
Bit 0
0
Binary code
1
Gray code
Bit 1
Reserved
Bit 2
0
Deactivate
1
Activate
Bits 3 ...
Reserved
7
Hold function 3)
1)
2)
3)
00h
00h
The encoder connected to the SSI interface transmits serial data. Therefore the encoder receives a clock pulse
from the SSI interface. The clock pulse is determined by you.
If the encoder transmits the data in Gray code to the SSI interface, activate the Gray code to ensure that the data
will be transferred in binary code from the gateway.
If the hold function is activated, the current encoder value will be frozen as soon as +24 V are applied to the input
I/O.0 +24 V. For this, the switching function must be parameterised for the input I/O.0.
)
Note!
The baud rate depends on the cable length and the SSI encoder.
The cables must be twisted and shielded in pairs. The following
data serve as a guideline:
Cable length
< 400 m
< 100 m
< 50 m
13.3−2
Baud rate
100 kBaud
300 kBaud
600 kBaud
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising SSI interface
Input data / output data
Input data / output data
Data to module
Gateway
0 1 2 3
Control
Data In HB
Data In MB
Data In LB
1
0
PW
ER
RD
DE
SSI
Encoder
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
.7
X1
Hold
+24 V
8
9
10
DC +
24V
-
EPM – T120 xx.xx
0 1 2 3
L
64
32
16 A
8 D
4 R.
2
1
–
1
Data from module
SSI-Interface
L
Status
Data Out HB
Data Out MB
Data Out LB
13.3.2
13.3
13.3.2
E/A.0
E/A.0
E/A.1
epm−t250
Fig. 13.3−1
Data input /output of SSI interface
For the data input / data output, 4 bytes are available which are transmitted to the
module or output by the module.
)
Note!
Input and output data are lost when the supply voltage is
disconnected; they are not saved!
Input data
Output data
L
The input data can be used to control the outputs (I/O.0 and I/O.1) depending on
the encoder value.
Byte
0
Assignment
Control
1
2
3
Comparison value (HIGH byte)
Comparison value (MID byte)
Comparison value (LOW byte)
Byte
0
Assignment
Status
1
2
3
SSI encoder value (HIGH byte)
SSI encoder value (MID byte)
SSI encoder value (LOW byte)
EDSPM−TXXX−9.0−11/2009
Bits 0 ... 1 Setpoint selection
%
00: No setpoint selection
01: Setpoint selection for output I/O.0
10: Setpoint selection for output I/O.1
11: Setpoint selection for outputs I/O.0 and I/O.1
Bit 2
Reserved
Bit 3
Condition for setting the output = HIGH
0: If SSI encoder value is higher than setpoint
1: If SSI encoder value is lower than setpoint
Bits 4 ... 7 Reserved
Bits 0 ... 7
Bits 0 ... 7 Selection of comparison value
Bits 0 ... 7
Bit 0
Bit 1
Bits 2 ... 7
%
Bits 0 ... 7
Bits 0 ... 7
Bits 0 ... 7
Status I/O.0
Status I/O.1
Reserved
Output of SSI encoder value
13.3−3
13
Parameter setting via PROFIBUS−DP
13.3
13.3.2
Counter access
Parameterising SSI interface
Input data / output data
Data to module
Control
Data In HB
Data In MB
Data In LB
Data In HB
Data In MB
Data In LB
0 1 2 3
=02
load
Data In HB
Data In MB
Data In LB
Data In HB
Data In MB
Data In LB
=01
E/A.0
=
compare
=
E/A.1
SSI
Encoder
Data from module
Status
Data Out HB
Data Out MB
Data Out LB
Status
Data Out HB
Data Out MB
Data Out LB
0 1 2 3
epm−t251
Fig. 13.3−2
Counter access SSI interface, Hold function deactivated
Data to module
Data In HB
Data In MB
Data In LB
Control
Data In HB
Data In MB
Data In LB
0 1 2 3
load
Data In HB
Data In MB
Data In LB
=02
E/A.1
compare =
SSI
Encoder
E/A.0
= +24 V
hold
Data from module
Status
Data Out HB
Data Out MB
Data Out LB
Status
Data Out HB
Data Out MB
Data Out LB
0 1 2 3
epm−t252
Fig. 13.3−3
13.3−4
Counter access SSI interface, Hold function activated
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 1xcounter/16xdigital input module
Parameter data
13.4
13.4.1
13.4
Parameterising 1xcounter/16xdigital input module
13.4.1
Parameter data
l
For the 1xcounter/16xdigital input, 3 bytes of parameter data are available.
The parameter data can be used to assign a mode to the internal counter
and to configure the digital input filter.
l
The module can be parameterised with the configuration tool or via slot and
index.
– To set the parameters via slot and index, the function blocks SFB 52 (read)
and SFB 53 (write) are required. ( 10.5−3)
Slot number
1 ... 32
Index
00h
01h
Access
R
W
R
F1h
F2h
R
R
Description
Read out diagnostic data record 0
Write parameters to the module
The corresponding diagnostic data record of the electronic module can be
read out via the index.
· Example:
– Index 01h: read out diagnostic data record 1
– Index 02h: read out diagnostic data record 2
Read out the module parameters
Read out the process image of the module
R = read
W = write
The parameter data follows the assignment below:
L
Byte
0
Assignment
Counter mode
1
2
Filter factor A
Filter factor B
00h
01h
02h
03h
04h
05h ... FFh
0 ... 255
0 ... 255
EDSPM−TXXX−9.0−11/2009
Encoder with 4 edges
32−bit counter
Clock up/clock down evaluation
Measuring the frequency
Measuring the period
Reserved
Configuration of the digital input filters for
counter inputs E.0 and E.1
Lenze setting
00h
00h
00h
13.4−1
Parameter setting via PROFIBUS−DP
13.4
13.4.2
Input data / output data
L
64
32
16 A
8 D
4 R.
2
1
–
1
0
PW
ER
E.0
RD
DE
Counter/Dig In
:
X1
DC +
24V
0 1 2 3 4 5
1
.0
2
.1
3
.2
4
.3
5
.4
6
.5
7
.6
E.1
Data from module
L
.7
E.0...E.7
E.8...E.15
Gateway
0 1 2 3 4 5
Control
Ref. Freq.
Data to module
Data In
Data In
Data In
Data In
13.4.2
Parameterising 1xcounter/16xdigital input module
Input data / output data
Data Out
Data Out
Data Out
Data Out
13
8
9
10
-
E.15
EPM – T120 xx.xx
epm−t253
Fig. 13.4−1
Data input / data output 1xcounter/16xdigital input
For the data input / data output, 6 bytes are available which are transmitted to the
counter or output by the counter.
)
Note!
Input and output data are lost when the supply voltage is
disconnected; they are not saved!
Input data
The inputs E.0 and E.1 are used as counter inputs and digital inputs.
The counter starting value is located in bytes 0 to 3 (Data In). If a starting value is
loaded, the counter counts up or down, starting with this value.
The counting range lies between 0 and +4.294.967.295. As soon as the upper limit
(when counting up) has been reached, the count value jumps to the lower count
limit. The moment, the lower count limit (when counting down) has been reached,
the count value jumps to the upper count limit.
The counter is controlled via byte 4 (control). It is assigned as follows:
Byte
4
Assignment
Control byte
Bit 0
Bit 1
Bit 2
Bit 3
Bit 4 ... 7
1)
1 = Start counter (software gate is open) 1)
1 = Stop counter (software gate is closed) 1)
1 = Counter is loaded with starting value / comparison
value
1 = Count value is deleted
Reserved
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, is
active.
Via byte 5 the reference frequency for the modes 3 (frequency measurement) and
4 (period measurement) can be set. It is assigned as follows:
Byte
5
13.4−2
Assignment
Reference frequency
00h
01h
02h
03h
04h
05h
06h
07h
08h...FFh
EDSPM−TXXX−9.0−11/2009
16 MHz
8 MHz
4 MHz
1 MHz
100 kHz
10 kHz
1 kHz
100 Hz
not permissible
L
Parameter setting via PROFIBUS−DP
Parameterising 1xcounter/16xdigital input module
Input data / output data
Output data
Counter access
13
13.4
13.4.2
The current count value is located in bytes 0 to 3 (Data Out) and can be read out
there. Bytes 4 and 5 contain the control signals (E.0 ... E.15).
Data to module
Start value counter
0 1 2 3
Data In
Data In
Data In
Data In
Control
Ref. Freq.
Data In
Data In
Data In
Data In
0 1 2 3 4 5
Load=4dec
Start=1dec
Stop=2dec
Clear=8dec
A
B
Data from module
Act. value
counter
:
E.15
Data Out
Data Out
Data Out
Data Out
4 5
4 5
E.0...E.7
E.8...E.15
E.2
E.0...E.7
E.8...E.15
E.1
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
E.0
epm−t254
Fig. 13.4−2
L
Counter access − 1xcounter/16xdigital input
EDSPM−TXXX−9.0−11/2009
13.4−3
13
Parameter setting via PROFIBUS−DP
13.4
13.4.3
13.4.3
Parameterising 1xcounter/16xdigital input module
Encoder (mode 0)
Encoder (mode 0)
In the mode 0, the rising and falling edges of signal A and B are evaluated. The
counter 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 lower
count limit. The moment, the lower count limit (when counting downwards) has
been reached, the count value jumps to the upper count limit.
Clear signal
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has
HIGH level.
A/B signal
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 on
which signal is leading.
Counter access
Data to module
Start value counter
0 1 2 3
Data In
Data In
Data In
Data In
Control
Ref. Freq.
Data In
Data In
Data In
Data In
0 1 2 3 4 5
Load=4dec
Start=1dec
Stop=2dec
Clear=8dec
A
B
Data from module
Act. value
counter
:
E.15
Data Out
Data Out
Data Out
Data Out
4 5
4 5
E.0...E.7
E.8...E.15
E.2
E.0...E.7
E.8...E.15
E.1
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
E.0
epm−t255
Fig. 13.4−3
13.4−4
Counter access of 1xcounter/16xdigital input in the mode 0
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 1xcounter/16xdigital input module
Encoder (mode 0)
Signal characteristic
13.4
13.4.3
The counter is incremented by 1 on
l
a LOW−HIGH edge of signal A and a LOW level of signal B.
l
a HIGH−LOW edge of signal A and a HIGH level of signal B.
l
a LOW−HIGH edge of signal B and a HIGH level of signal A.
l
a HIGH−LOW edge of signal B and a LOW level of signal A.
epm−t178
Fig. 13.4−4
Signal characteristic of 1xcounter/16xdigital input in the mode 0 (upcounter)
The counter is decremented by 1 with
l
a LOW−HIGH edge of signal A and a HIGH level of signal B.
l
a HIGH−LOW edge of signal A and a LOW level of signal B.
l
a LOW−HIGH edge of signal B and a LOW level of signal A.
l
a HIGH−LOW edge of signal B and a HIGH level of signal A.
epm−t179
Fig. 13.4−5
L
Signal characteristic of 1xcounter/16xdigital input in the mode 0 (downcounter)
EDSPM−TXXX−9.0−11/2009
13.4−5
13
Parameter setting via PROFIBUS−DP
13.4
13.4.4
13.4.4
Parameterising 1xcounter/16xdigital input module
32 bit counter (mode 1)
32 bit counter (mode 1)
In the mode 1 the counter operates as a 32−bit counter. The counter 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 lower
count limit. The moment, the lower count limit (when counting downwards) has
been reached, the count value jumps to the upper count limit.
Clear signal
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has
HIGH level.
A/B signal
With the software gate open: With every rising edge of signal A (E.0) the counter
is either incremented or decremented by 1.
The counting direction is determined via the level of signal B (E.1):
Upcounter: LOW level
Downcounter: HIGH level
Counter access
Data to module
Start value counter
0 1 2 3
Data In
Data In
Data In
Data In
Control
Ref. Freq.
Data In
Data In
Data In
Data In
0 1 2 3 4 5
Load=4dec
Start=1dec
Stop=2dec
Clear=8dec
A
B
Data from module
Act. value
counter
:
E.15
Data Out
Data Out
Data Out
Data Out
4 5
4 5
E.0...E.7
E.8...E.15
E.2
E.0...E.7
E.8...E.15
E.1
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
E.0
epm−t255
Fig. 13.4−6
13.4−6
Counter access of 1xcounter/16xdigital input in the mode 1
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
13
Parameterising 1xcounter/16xdigital input module
32 bit counter (mode 1)
13.4
13.4.4
Signal characteristic
epm−t180
Fig. 13.4−7
Signal characteristic of 1xcounter/16xdigital input in the mode 1 (upcounter)
Fig. 13.4−8
Signal characteristic of 1xcounter/16xdigital input in the mode 1 (downcounter)
epm−t181
L
EDSPM−TXXX−9.0−11/2009
13.4−7
13
Parameter setting via PROFIBUS−DP
13.4
13.4.5
13.4.5
Parameterising 1xcounter/16xdigital input module
32 bit counter with clock up/down evaluation (mode 2)
32 bit counter with clock up/down evaluation (mode 2)
In the mode 2 the counter operates as a clock−up/clock−down counter. The
counter 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 up) has been reached, the count value jumps to the lower count
limit. The moment, the lower count limit (when counting down) has been reached,
the count value jumps to the upper count limit.
Clear signal
A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has HIGH
level.
A/B signal
With the software gate open: With every rising edge of the signal A (E.0) the counter
is incremented by 1. With every rising edge of the signal B (E.1) the counter is
decremented by 1.
Counter access
Data to module
Start value counter
0 1 2 3
Data In
Data In
Data In
Data In
Control
Ref. Freq.
Data In
Data In
Data In
Data In
0 1 2 3 4 5
Load=4dec
Start=1dec
Stop=2dec
Clear=8dec
A
B
Data from module
Act. value
counter
:
E.15
Data Out
Data Out
Data Out
Data Out
4 5
4 5
E.0...E.7
E.8...E.15
E.2
E.0...E.7
E.8...E.15
E.1
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
E.0
epm−t255
Fig. 13.4−9
13.4−8
Counter access of 1xcounter/16xdigital input in the mode 2
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 1xcounter/16xdigital input module
32 bit counter with clock up/down evaluation (mode 2)
13
13.4
13.4.5
Signal characteristic
epm−t182
Fig. 13.4−10
L
Signal characteristic of 1xcounter/16xdigital input in the mode 2
EDSPM−TXXX−9.0−11/2009
13.4−9
13
Parameter setting via PROFIBUS−DP
13.4
13.4.6
13.4.6
Parameterising 1xcounter/16xdigital input module
Measuring the frequency (mode 3)
Measuring the frequency (mode 3)
In mode 3, the counter operates as a frequency meter. For this purpose the counter
counts 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 a
reference frequency (Ref. Freq.) in the Rx PDO.
Reference frequency
Byte
5
Assignment
Reference frequency
Time slot calculation
TW + 1 @ n
f ref
Tw
fref
n
00h
01h
02h
03h
04h
05h
06h
07h
08h...FFh
16 MHz
8 MHz
4 MHz
1 MHz
100 kHz
10 kHz
1 kHz
100 Hz
not permissible
Time slot
Reference frequency (is transmitted in byte 5)
Starting value (is transmitted in bytes 0 ... 3)
Load signal
When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter is
pre−assigned with the starting value from byte 0 to 3 (Data In).
Start/stop signal
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) has
HIGH level.
A signal
When the software gate is open:
Clear signal
13.4−10
l
The reference counter is started by the first rising edge of signal A (E.0) and
then incremented with every rising edge of the reference clock.
l
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).
l
Then, the counter and reference counter are automatically reset and the next
frequency measurement starts with the next rising edge of signal A.
l
If two rising edges do not occur in the signal A within the time slot Tw, the
count 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 until a new value is loaded.
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 1xcounter/16xdigital input module
Measuring the frequency (mode 3)
Frequency calculation
f + f ref @ m
n
f
fref
m
n
13
13.4
13.4.6
Frequency of signal A
Reference frequency
Count value
Starting value
Example: Reference frequency fref = 1 MHz, starting value n = 1,000,000, count
value m = 10,000
f + 1 MHz @ 10000 + 10kHz
1000000
Counter access
Data to module
Start value counter
0 1 2 3
Data In
Data In
Data In
Data In
Control
Ref. Freq.
Data In
Data In
Data In
Data In
0 1 2 3 4 5
Load=4dec
Start=1dec
Stop=2dec
Clear=8dec
A
Data from module
Act. value
counter
:
E.15
Data Out
Data Out
Data Out
Data Out
4 5
4 5
E.0...E.7
E.8...E.15
E.2
E.0...E.7
E.8...E.15
E.1
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
E.0
epm−t256
Fig. 13.4−11
Counter access of 1xcounter/16xdigital input in the mode 3
Signal characteristic
epm−t185
Fig. 13.4−12
L
Signal characteristic of 1xcounter/16xdigital input in the mode 3
EDSPM−TXXX−9.0−11/2009
13.4−11
13
Parameter setting via PROFIBUS−DP
13.4
13.4.7
13.4.7
Parameterising 1xcounter/16xdigital input module
Measuring the period (mode 4)
Measuring the period (mode 4)
In mode 4 the counter operates as a permanent period meter. The counter counts
the number of rising edges of a reference counter between two rising edges of
signal A (E.0).
The frequency of a reference counter can be preset in the Rx PDO in byte 5 (Ref.
Freq.).
Reference frequency
Byte
5
Assignment
Reference frequency
00h
01h
02h
03h
04h
05h
06h
07h
08h...FFh
16 MHz
8 MHz
4 MHz
1 MHz
100 kHz
10 kHz
1 kHz
100 Hz
not permissible
Start/stop signal
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) has HIGH
level.
A signal
When the software gate is open:
Clear signal
l
The reference counter is started by the first rising edge of signal A and then
incremented with every rising edge of the reference clock.
l
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 signal
A.
Period calculation
T
fref
n
T+ 1 @n
f ref
Period
Reference frequency
Count value
Example: Reference frequency fref = 1 MHz, count value n = 10,000
T+
1 @ 10000 + 10ms
1MHz
)
Note!
The count value remains valid until the next measurement is
completed or the counter is reset via the clear signal; this means
that you do not receive the current count value, but the one from
the previous measurement if a measurement has not been
completed, e.g. because no second rising edge of signal A has
occurred.
13.4−12
EDSPM−TXXX−9.0−11/2009
L
Parameter setting via PROFIBUS−DP
Parameterising 1xcounter/16xdigital input module
Measuring the period (mode 4)
Counter access
13
13.4
13.4.7
Data to module
Control
Ref. Freq.
0 1 2 3 4 5
Start=1dec
Stop=2dec
Clear=8dec
A
Data from module
Act. value
counter
:
E.15
Data Out
Data Out
Data Out
Data Out
4 5
4 5
E.0...E.7
E.8...E.15
E.2
E.0...E.7
E.8...E.15
E.1
0 1 2 3
2 3
Data Out
Data Out
Data Out
Data Out
0 1
E.0
epm−t257
Fig. 13.4−13
Counter access of 1xcounter/16xdigital input in the mode 4
Fig. 13.4−14
Signal characteristic of 1xcounter/16xdigital input in the mode 4
Signal characteristic
epm−t186
L
EDSPM−TXXX−9.0−11/2009
13.4−13
13
Parameter setting via PROFIBUS−DP
13.4
13.4.8
13.4.8
Parameterising 1xcounter/16xdigital input module
Parameterising digital input filters
Parameterising digital input filters
Counting pulses at the inputs E.0 and E.1 must have a specific minimum length to
be evaluated. The pulse length TPulse is set via digital input filters.
l
Lenze setting: TPulse = 2.5 ms
l
Filter factor A is defined via byte 1 of the parameter data:
– Permissible values: 0 ... 255 (Lenze setting: 0)
l
Filter factor B is defined via byte 2 of the parameter data:
– Permissible values: 0 ... 255 (Lenze setting: 0)
Formula for calculation
TPulse ³ (Filter factor A + 1) × (Filter factor B + 1) × 2.5 ms
Example
Filter factor settings:
l
Filter factor A = 3
l
Filter factor B = 0
Counting pulses with the following minimum length are evaluated:
TPulse ³ (3 + 1) × (0 + 1) × 2.5 ms
TPulse ³ 10 ms
13.4−14
EDSPM−TXXX−9.0−11/2009
L
Troubleshooting and fault elimination
14
Contents
14
Troubleshooting and fault elimination
Contents
14.1
L
Fault messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
EDSPM−TXXX−9.0−11/2009
14.1−1
14.1
14
Troubleshooting and fault elimination
Fault messages
14.1
14.1
Fault messages
Module
CAN gateway
Fault
No data transfer
Display
No LED is lit.
Cause
No supply voltage.
Remedy
Make sure that the module is
supplied with 24 V DC.
Incorrect data transmission to
the backplane bus.
LED "ER" is lit.
No module contact with the
backplane bus.
Place module on DIN rail, turn
downward until it audibly
engages with the DIN rail.
Next, restart the module by
disconnecting and
reconnecting the supply
voltage.
Transmit telegram 00 01 00
from master to change into the
"Operational" state.
Save all settings via index
I2003h.
No process data is transmitted. LED ’BA’ is blinking.
System bus in
"Pre−Operational" state.
Parameter changes were not
saved after supply voltage
disconnection.
HIGH signal at a digital input is
not transmitted/indicated.
–
Parameter changes were not
saved.
The green status LED of the
output is not lit.
High signal lacks reference
potential (GND) via pin 10.
Establish reference potential.
8×digital output 0.5A
16×digital output 0.5A
8×digital output 1A
16×digital output 1A
8×digital output 2A
8×digital input / output
No HIGH level output at the
digital output.
The red status LED ’F’ is lit.
Short circuit at a digital output
due to incorrect wiring.
The output remains off until the
error has been eliminated.
Connected load defective.
Digital output overload as
load’s current consumption is
too high.
Check wiring.
4×relay
Relay contact does not open.
–
Excess load has lead to relay
contact fusing.
Replace module and reduce
load on the relay contact.
4×analog input
4×analog input ±10V
4×analog input ±20mA
4×analog input / output
Signal at analog input is not
transmitted.
The red LED of the
corresponding input is lit.
Open circuit within measuring
range 4 ... 20 mA.
Check wiring.
No sensor connected.
Connect sensor.
Short−circuit the plus and
minus terminals of an input if it
is not to be used.
Reduce input current.
8×digital input
16×digital input
1×counter/16×digital input
8×digital input / output
The red LED of the associated
input is blinking.
2/4×counter
L
If networking takes place via
–
system bus (CAN) or CANopen,
the value 0 is not transmitted
to the master via the digital
input IN1 / IN4 after a reset.
The transmission only starts at
the next count value.
EDSPM−TXXX−9.0−11/2009
Input current >40 mA.
Process data transfer to the
master (PDO−Tx) is
event−controlled.
Check load.
Select load with lower current
consumption.
When using the module
8×digital output 1A, exchange
it, if possible, by a module
8×digital output 2A.
Setting cyclic process data
change (I1800h ... I1809h).
14.1−1
15
Appendix
Contents
15
Appendix
Contents
L
15.1
Index table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.1−1
15.2
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2.1
Terminology and abbreviations used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.2−1
15.2−1
15.3
Total index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
15.3−3
EDSPM−TXXX−9.0−11/2009
15.1
15
Appendix
Index table
15.1
Index table
Column
Index
Abbreviation
Ixxxxh
1
2
Ixxxxh
¿
Ixxxxh*
Name
Lenze
Selection
Important
Index
15.1
Device type
I1001h
Error register
l
How to read the index table:
Index parameter value is stored in the EEPROM with I2003h = 1
Index name
Lenze setting, setting on delivery
99 min. value
{unit}
max. value
Brief, important explanations
Reference to detailed explanations
Possible settings
Lenze
I1000h
The indices are numbered in ascending order for reference purposes.
Meaning
Index Ixxxxh
Subindex 1 of Ixxxxh
Subindex 2 of Ixxxxh
After entry, the index parameter value is stored in the EEPROM
1
{%}
–
Page x
Name
l
Important
Selection
Display only
Type
Display only
Bit 0
Generic
Bit 1
Bit 2
Bit 3
Bit 4
Bit 5
Bit 6
Bit 7
Reserved
Reserved
Reserved
Comm.
Reserved
Reserved
ManSpec.
Communication error (Overrun CAN)
Manufacturer−specific error
Shown in detail in I1003h
Display only
History buffer
I1003h
I1004h
1 Actual errors
Number of
supported PDOs
Display only
1 Number of
synchronous PDOs
supported
2 Number of
synchronus PDOs
supported
I1005h * Sync COB−ID
128
I1006h * Sync interval (ms)
0
L
8.10−2
An unspecified error has occurred
(flag set on each error message)
128
0
{1}
{1 ms}
2047
4294967295 · I/O system IP20 acts as sync consumer:
– Set bit 30 = 0 under I1005h
– After the time set under I1006h,
I/O system IP20 switches to the
communication status set under
I1029h
– A reset will be carried out with the
next sync telegram
– With I1006h = 0, the monitoring is
deactivated
· I/O system IP20 acts as sync producer:
– Set bit 30 = 1 under I1005h (Lenze
setting)
– I/O system IP20 transmits the sync
telegram after the time set under
I1006h
EDSPM−TXXX−9.0−11/2009
15.1−1
15
Appendix
15.1
Index table
Index
Name
I1008h
DIS: Device name
I1009h
DIS: Hardware
version
I100Ah
DIS: Software
version
I100Bh
Node ID
Possible settings
Lenze
Important
Selection
0
0
{1}
I100Ch * Guard time
0
0
{1 ms}
I100Dh * Life time factor
0
0
{1}
I100Eh
Node Guarding
identifier
I1010h
¿
I1011h
¿
Store parameter
0
Restore parameter
0
I1014h
COB ID emergency
I1016h
¿
Heartbeat
consumer time
1 Heartbeat time
Data contents
Heartbeat time
Node ID
Reserved
Byte 0
Byte 1
Byte 2
Byte 3
00h
00h
00h
00h
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
0
0
{1}
0
0
{1 ms}
Node ID
0
0
{1}
Heartbeat producer
time
0
0
{1 ms}
0
Function is not active
3 Heartbeat time
Node ID
4 Heartbeat time
Node ID
5 Heartbeat time
I1017h
¿
Emergency telegram
Identifier 80h + node address is displayed
after boot−up.
{1 ms}
Node ID
15.1−2
8.6−1
Load factory setting in accordance with
CANopen (communication protocol
DS301/DS401)
0
2 Heartbeat time
8.6−1
Display only
8.6−1
Identifier = Basic identifier + node address
(basic identifier cannot be modified)
Store in accordance with CANopen
(communication protocol DS301/DS401)
0
Node ID
Display only
Device name
Display only
Hardware version
Display only
Software version
63 Display only
System bus node address
65535 Node Guarding
Monitoring time
0 = monitoring not active
255 Node Guarding
Response time computation factor
0 = monitoring not active
The response time is computed as:
monitoring period x factor
8.10−2
I/O system IP20 can monitor up to five
8.7−1
nodes (subindex 1 ... 5).
If the monitored node does not respond, I/O
system IP20 changes to the status
"Pre−Operational". The outputs switch to a
defined state.
65535 · In the compact system, only subindex 1
is available
255 · Heartbeat time:
– The monitored node must respond
65535
within the time set. The time is set in
byte 0 and 1.
255
– If the monitored node does not
respond within the set time, I/O
65535
system IP20 switches to the
communication status set under
255
I1029h
– The communication status is reset
65535
when a new heartbeat telegram is
received
255
· Node ID:
– Node address of the node to be
65535
monitored. The address is set in
255
byte 2.
65535 I/O system IP20 can be monitored by other
nodes.
Within this time the device status of I/O
system IP20 is transmitted to the fieldbus.
Not available for system bus (CAN)
communication protocol
EDSPM−TXXX−9.0−11/2009
8.7−1
L
15
Appendix
Index table
Index
Name
15.1
Possible settings
Lenze
Important
Selection
Display only
Device identification
I1018h
1 Vendor ID
2 Product code
3 Revision number
I1027h Type of
1 Module no. 1
2 Module no. 2
... ...
32 Module no. 32
I1029h * Error behaviour
I1200h
Display only
Module list
Subindices 1 ... 32 Module identifiers of
the plugged modules
0
1
2
3
1 Communication
error
0
2 Manufacturer−speci
fic error
0
Pre−Operational
No state changed
Stopped
Reset
Error behaviour
I/O system IP20 switches to the status set
if the communication with the master fails
or "node guarding", "heartbeat", or the
output monitoring have been activated.
Only available for the compact system.
If a digital output has a short circuit and
the time set in I2410h has been exceeded,
the module switches to the status set.
Display only
Current identifiers for SDO communication
Server SDO
parameter 1
1 SDO1−Rx
2 SDO1−Tx
I1201h Server SDO
parameter 2
1536 (basic identifier) + node address
1408 (basic identifier) + node address
Display only
Current identifiers for SDO communication
1 SDO2−Rx
2 SDO2−Tx
1600 (basic identifier) + node address
1472 (basic identifier) + node address
I1400h
¿
Index is available in the modular and
compact system
1 COB−ID used by
RxPDO 1
2 Transmisson type
768
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
L
{1}
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
640
385
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
EDSPM−TXXX−9.0−11/2009
8.3−3
2047 Defining the individual identifiers for
process data object 1
I1401h
¿
1 COB−ID used by
RxPDO 2
2 Transmisson type
8.10−3
Every received value is accepted
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 2
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
Every received value is accepted
15.1−3
15
Appendix
15.1
Index
Index table
Name
Possible settings
Lenze
Important
Selection
I1402h
¿
Index is only available in the modular
system
1 COB−ID used by
RxPDO 3
2 Transmisson type
512
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
2047 Defining the individual identifiers for
process data object 3
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
I1403h
¿
1 COB−ID used by
RxPDO 4
2 Transmisson type
830
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
1024
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
15.1−4
Every received value is accepted
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 5
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
1080
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
Every received value is accepted
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 6
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
I1406h
¿
1 COB−ID used by
RxPDO 7
2 Transmisson type
8.3−3
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
I1405h
¿
1 COB−ID used by
RxPDO 6
2 Transmisson type
Every received value is accepted
Index is only available in the modular
system
2047 Defining the individual identifiers for
process data object 4
I1404h
¿
1 COB−ID used by
RxPDO 5
2 Transmisson type
8.3−3
1152
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
Every received value is accepted
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 7
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
Every received value is accepted
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Index table
Index
Name
15.1
Possible settings
Lenze
Important
Selection
I1407h
¿
Index is only available in the modular
system
1 COB−ID used by
RxPDO 8
2 Transmisson type
1280
385
{1}
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
2047 Defining the individual identifiers for
process data object 8
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
I1408h
¿
1 COB−ID used by
RxPDO 9
2 Transmisson type
{1}
1344
385
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
{1}
385
255
0
0 ... 240
{1}
Process data update on sync telegram
transmission
241
... 254
Reserved
255
Process data update on occurrence of an event
{1}
1
2
3
4
5
6
7
8
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
00000000h
{1}
{1}
{1}
{1}
{1}
{1}
{1}
{1}
1st mapped object
2nd mapped object
3rd mapped object
4th mapped object
5th mapped object
6th mapped object
7th mapped object
8th mapped object
L
EDSPM−TXXX−9.0−11/2009
Every received value is accepted
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 10
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
I1600h
¿
0
8.3−3
255 Defining the transmission mode
The input data are accepted on sync
telegram transmission.
1665
0 Number of mapped
RxPDO1
Every received value is accepted
Index is only available in the modular
system
2047 Defining the individual identifiers for
process data object 9
I1409h
¿
1 COB−ID used by
RxPDO 10
2 Transmisson type
8.3−3
Every received value is accepted
Mapping parameters for receive PDOs
255 8 bit value
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
15.1−5
15
Appendix
15.1
Index
Index table
Name
Possible settings
Lenze
Important
Selection
8.3−3
I1800h
¿
1 COB−ID used by
TxPDO 1
2 Transmisson type
767
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
0
{1}
2047 Defining the individual identifiers for
process data object 1
{1 ms}
{1 ms}
639
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
0
0
{1}
{1 ms}
{1 ms}
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
255
255
3 Inhibit time
5 Event time
15.1−6
0
0
0
0
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
8.3−3
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
384
254
Only if a cycle time is set in I180xh,
subindex 5
2047 Defining the individual identifiers for
process data object 2
I1802h
¿
1 COB−ID used by
TxPDO 3
2 Transmission type
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
I1801h
¿
1 COB−ID used by
TxPDO 2
2 Transmission type
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
{1}
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 3
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
65535 Inhibit time
65535 Cycle time
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Index table
Index
Name
15.1
Possible settings
Lenze
Important
Selection
I1803h
¿
Index is only available in the modular
system
1 COB−ID used by
TxPDO 4
2 Transmission type
896
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
0
0
{1}
{1 ms}
{1 ms}
448
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
0
0
{1}
{1 ms}
{1 ms}
704
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
L
0
0
0
0
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 5
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
I1805h
¿
1 COB−ID used by
TxPDO 6
2 Transmission type
2047 Defining the individual identifiers for
process data object 4
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
I1804h
¿
1 COB−ID used by
TxPDO 5
2 Transmission type
8.3−3
{1}
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 6
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
EDSPM−TXXX−9.0−11/2009
65535 Inhibit time
65535 Cycle time
15.1−7
15
Appendix
15.1
Index
Index table
Name
Possible settings
Lenze
Important
Selection
I1806h
¿
Index is only available in the modular
system
1 COB−ID used by
TxPDO 7
2 Transmission type
960
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
0
0
{1}
2047 Defining the individual identifiers for
process data object 7
{1 ms}
{1 ms}
1216
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
0
0
{1}
{1 ms}
{1 ms}
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
255
255
3 Inhibit time
5 Event time
15.1−8
0
0
0
0
Only if a cycle time is set in I180xh,
subindex 5
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
8.3−3
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
1728
254
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
2047 Defining the individual identifiers for
process data object 8
I1808h
¿
1 COB−ID used by
TxPDO 9
2 Transmission type
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
I1807h
¿
1 COB−ID used by
TxPDO 8
2 Transmission type
8.3−3
{1}
65535 Inhibit time
65535 Cycle time
Index is only available in the modular
system
8.3−3
2047 Defining the individual identifiers for
process data object 9
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
{1 ms}
{1 ms}
65535 Inhibit time
65535 Cycle time
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Index table
Index
Name
15.1
Possible settings
Lenze
Important
Selection
I1809h
¿
Index is only available in the modular
system
1 COB−ID used by
TxPDO 10
2 Transmisson type
1984
385
255
0
0
{1}
Function deactivated
1 ... 240
Process data transfer after sync no. 1
...
Process data transfer after sync no. 240
Time−controlled process data transfer
254
255
255
3 Inhibit time
5 Event time
0
0
{1}
{1 ms}
{1 ms}
0 Number of mapped
TxPDO1
0
{1}
1
2
3
4
5
6
7
8
00000000h
{1}
00000000h
{1}
00000000h
{1}
00000000h
{1}
00000000h
{1}
00000000h
{1}
00000000h
{1}
00000000h
{1}
0
{1}
0
1000 kbits/s
1
500 kbits/s
2
250 kbits/s
3
125 kbits/s
4
100 kbits/s
5
50 kbits/s
6
20 kbits/s
7
10 kbits/s
8
800 kbits/s
0
No function
1
Save
0
No function
1
Lenze system bus CAN mode
CANopenmode
2
0
No function
1
Default setting
0
No function
1
CAN reset node
0
{1}
0
Operational
1
Pre−Operational
2
Warning
3
Bus off
I1A00h
¿
I2001h
1
I2003h * Save
0
I2004h
¿
0
Mode setting
I2100h * Default setting
0
I2358h * CAN reset node
0
I2359h
CAN state
L
2047 Defining the individual identifiers for
process data object 10
255 Defining the transmission mode
The output data are accepted on sync
telegram transmission.
The output data are accepted after
transmission of the set number (1 ... 240)
of sync telegrams.
Only if a cycle time is set in I180xh,
subindex 5
Event−controlled process data transfer
Event−controlled process data transfer with cyclic Only if a cycle time is set in I180xh,
overlay
subindex 5
0
0
1st mapped object
2nd mapped object
3rd mapped object
4th mapped object
5th mapped object
6th mapped object
7th mapped object
8th mapped object
CAN baud rate
8.3−3
EDSPM−TXXX−9.0−11/2009
65535 Inhibit time
65535 Cycle time
Mapping parameters for receive PDOs
255 8 bit value
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
FFFFFFFFh
255
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
32 bit value
Display only
System bus baud rate
I2003h = 1: Non−volatile saving of
parameter changes in the EEPROM
Change−over of the CAN mode
· The set mode will only be accepted
after a CAN reset node (I2358h = 1).
Loading factory setting
The EEPROM content is cleared
12.8−1
Reset node
8.8−1
3 Display only
System bus status
8.10−3
15.1−9
15
Appendix
15.1
Index table
Index
Name
I2360h * Property function
forcing
I2361h
CAN mode
I2400h
¿
Timer value
1
2
3
4
5
6
7
8
9
10
PD01
PD02
PD03
PD04
PD05
PD06
PD07
PD08
PD09
PD10
I2410h * Time−out short
circuit monitoring
I2500h
Dummy object for
PDO mapping
I3001h
¿
Config
analog/counter
module 1
Possible settings
Lenze
0
0
0
0
0
0
0
0
0
0
0
0
2
1
0h
2
0h
3
0h
4
0h
I3002h
¿
Config
analog/counter
module 2
1
0h
2
0h
3
0h
4
I3003h
¿
Selection
0
Important
1 · Forcing of digital outputs (I6200h) and
analog outputs (I6411h)
· After a restart, I2360h is set 0
{1}
0
1
Forcing deactive in "Pre−Operational" state
Forcing active in "Pre−Operational" state
0
0
1
0
{1}
Lenze system bus mode
CANopenmode
{1 ms}
0
1
0h
2
0h
3
0h
4
0h
15.1−10
8.9−1
65535 Monitoring time for process data input
objects
For the compact system, only index I2400h,
subindex 1 is available
{1 ms}
65535 Only available for the compact system.
If a digital output has a short circuit and
the time set has been exceeded, the
module switches to the status set in
I1029h, subindex 2.
Display only
Index is only available in the compact
system
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 1
· I3001h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3001h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 2
· I3002h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3002h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 3
· I3003h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3003h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
0h
Config
analog/counter
module 3
Forcing only possible in "Operational" state
Forcing only possible in "Pre−Operational"
state
1 Display only
Active communication mode
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Index table
Index
Name
I3004h
¿
Config
analog/counter
module 4
15.1
Possible settings
Lenze
1
0h
2
0h
3
0h
4
I3005h
¿
1
0h
2
0h
3
0h
4
0h
Config
analog/counter
module 6
1
0h
2
0h
3
0h
4
I3007h
¿
1
0h
2
0h
3
0h
4
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 4
· I3004h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3004h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 5
· I3005h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3005h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 6
· I3006h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3006h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 7
· I3007h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3007h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 8
· I3008h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3008h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 9
· I3009h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3009h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
0h
Config
analog/counter
module 8
1
0h
2
0h
3
0h
4
0h
I3009h
¿
{1h}
0h
Config
analog/counter
module 7
I3008h
¿
Selection
00000000h
0h
Config
analog/counter
module 5
I3006h
¿
Important
Config
analog/counter
module 9
1
0h
2
0h
3
0h
4
0h
L
EDSPM−TXXX−9.0−11/2009
15.1−11
15
Appendix
15.1
Index table
Index
Name
I300Ah
¿
Config
analog/counter
module 10
Possible settings
Lenze
1
0h
2
0h
3
0h
4
I300Bh
¿
1
0h
2
0h
3
0h
4
0h
Config
analog/counter
module 12
1
0h
2
0h
3
0h
4
I300Dh
¿
1
0h
2
0h
3
0h
4
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 10
· I300Ah can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I300Ah is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 11
· I300Bh can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I300Bh is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 12
· I300Ch can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I300Ch is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 13
· I300Dh can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I300Dh is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 14
· I300Eh can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I300Eh is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 15
· I300Fh can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I300Fh is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
0h
Config
analog/counter
module 14
1
0h
2
0h
3
0h
4
0h
I300Fh
¿
{1h}
0h
Config
analog/counter
module 13
I300Eh
¿
Selection
00000000h
0h
Config
analog/counter
module 11
I300Ch
¿
Important
Config
analog/counter
module 15
1
0h
2
0h
3
0h
4
0h
15.1−12
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Index table
Index
Name
I3010h
¿
Config
analog/counter
module 16
15.1
Possible settings
Lenze
1
0h
2
0h
3
0h
4
I3401h
¿
1 1st mapped object
0h
2 2nd mapped object
0h
... ...
0h
64 64th mapped
object
0h
Digital counter
value 16DI/1C
1
2
...
8
I4001h
Selection
00000000h
{1h}
FFFFFFFFh Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module on
slot 16
· I3010h can only be accessed via Global
Drive Control (GDC). Use I3401h in
CoDeSys programming systems.
· I3010h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
0
{1h}
255 Configuration of analog module,
2/4xcounter module, SSI interface module
or 1xcounter/16xdigital input module
· I3401h can only be accessed via
CoDeSys programming systems. The
index is not available in Global Drive
Control (GDC).
· I3401h is only available for the modular
system.
12.3−1
12.4−1
12.5−1
12.6−1
0
{1}
255 Display only
· Module 1×counter/ 16×digital input
· Count display
12.6−1
0
{1}
255 Display only
· Module 1×counter/ 16×digital input
· Display of digital input states
12.6−1
0
{1}
255 Module 1×counter/ 16×digital input
· Setting of digital input polarity:
– Bit x = 0: Input HIGH active
– Bit x = 1: Input LOW active
12.6−1
0h
Config analog /
counter module
I4000h
Important
Module 1
Module 2
...
Module 8
Digital input
16DI/1C
1 Module 1
Bits 0 ... 7
2 Module 1
Bits 8 ... 15 %
3 Module 2
Bits 0 ... 7
4 Module 2
Bits 8 ... 15 %
... ...
15 Module 8
Bits 0 ... 7
16 Module 8
Bits 8 ... 15 %
I4002h * Change polarity
input 16DI/1C
1 Module 1
Bits 0 ... 7
2 Module 1
Bits 8 ... 15 %
3 Module 2
Bits 0 ... 7
4 Module 2
Bits 8 ... 15 %
... ...
15 Module 8
Bits 0 ... 7
16 Module 8
Bits 8 ... 15 %
L
EDSPM−TXXX−9.0−11/2009
15.1−13
15
Appendix
15.1
Index table
Index
Name
Possible settings
Lenze
I4003h * Set counter value
16DI/1C
Module 1
Module 2
Module 3
...
Module 8
I4004h * Control byte
16DI/1C
Important
Selection
0
{1}
4294967295 Module 1×counter/ 16×digital input
· Selection of the counter value
12.6−1
{1}
255 Module 1×counter/ 16×digital input
12.6−1
1
2
3
...
8
1
2
3
...
8
I4005h *
1
2
3
...
8
I4100h
Module 1
Module 2
Module 3
...
Module 8
Fref 16DI/1C
Module 1
Module 2
Module 3
...
Module 8
SSI counter value
0
0
0
...
0
Start counter
Stop counter
Load set counter value
Reset counter
Reserved
{1}
12.6−1
255 Module 1×counter/ 16×digital input
· Selection of the reference frequency for
"Period measuring"mode
1 Module 1
0h
00000000h
FFFFFFFFh
Bit
0
Control status I/O0 (LSB)
1
Control status I/O1
2 ... 7
Reserved
8 ... 15
SSI value HB
16 ... 23 SSI value MB
24 ... 31 SSI value LB
00000000h
{1h}
FFFFFFFFh
Bit
0
SSI control setpoint selection I/O0 (LSB)
2 Module 2
0h
1
SSI control setpoint selection I/O1
3 Module 3
4 Module 4
0h
0h
2
3
Reserved
SSI control output condition 0 SSI > setpoint
5
6
7
8
0h
0h
0h
0h
4 ... 7
8 ... 15
16 ... 23
24 ... 31
Bit
Reserved
SSI value HB
SSI value MB
SSI value LB
1 Module 1
0
Control status I/O0
... ...
1
Control status I/O1
9 Module 9
2 ... 7
Reserved
1
2
3
4
...
9
Module 1
Module 2
Module 3
Module 4
...
Module 9
I4101h * SSI set counter
value
I4102h
0
Bit
0
1
2
3
4 ... 7
0
Module 5
Module 6
Module 7
Module 8
SSI status
15.1−14
Display only
12.5−1
Status display only for SSI mapping PLC
(I4104h = 0)
Display of current counter value of SSI
encoder
12.5−1
Bit value 0: No selection via I/O.x
Bit value 1: Selection via I/O.x
· Settings only apply to SSI mapping PLC
mode (I4104h = 0)
Bit value 0: I/O.x is set 1, if counter value >
setpoint
Bit value 1: I/O.x is set 1, if counter value <
setpoint
· Settings only apply to SSI mapping PLC
mode (I4104h = 0)
Setting of counter value
Display only
· Status display only for SSI mapping
standard 1 and 2 (I4104h = 1 and 2)
· Current counter value of SSI encoder is
indicated under I4100h
EDSPM−TXXX−9.0−11/2009
12.5−1
L
15
Appendix
Index table
Index
Name
15.1
Possible settings
Lenze
I4103h * SSI control
Important
Selection
0
{1}
Bit
1
2
3
...
Module 1
Module 2
Module 3
...
8 Module 8
I4104h * SSI mapping
I6000h
1
2
...
64
I6002h
¿
1
2
...
64
I6200h *
1
2
...
64
I6202h
¿
1
2
...
64
I6206h
¿
0
0
0
...
0
1
2
3
SSI control setpoint selection I/O0 (LSB)
SSI control setpoint selection I/O1
Reserved
SSI control output condition 0 SSI > setpoint
0
0
4 ... 7
Reserved
Digital input
Module 1
Module 2
...
Module 64
Change polarity
digital input
Module 1
Module 2
...
Module 64
Digital output
Module 1
Module 2
...
Module 64
Change polarity
digital output
0
0
...
0
Module 1
Module 2
...
Module 64
Error mode digital
output
0
0
...
0
Module 1
Module 2
...
Module 64
L
Bit value 0: No selection via I/O.x
Bit value 1: Selection via I/O.x
Bit value 0: I/O.x is set 1, if counter value >
setpoint
Bit value 1: I/O.x is set 1, if counter value <
setpoint
Mapping for communication with Lenze
devices
0
SSI mapping PLC
1
2
0
SSI mapping standard 1
SSI mapping standard 2
{1}
12.5−1
Data exchange with PLC units using the
function blocks "L_IOSSIDataToIO" and
"L_IOSSIDataFromIO".
Data exchange with 9300 controllers using
the function blocks CAN−IN/CAN−OUT
255 Display only
Digital input status
8.10−3
0
{1}
255 Inverts digital input signals
12.2−1
0
{1}
255 · Digital output status
· The outputs can be set manually
(forcing):
– Depends on CAN status and I2360h
8.10−4
0
{1}
255 Inverts digital output signals
12.2−1
0
{1}
8.9−2
255 Configures digital output monitoring
For the compact system, only index I6206h,
subindex 1 is available
0
255
1
2
...
64
12.5−1
255 SSI interface module
· Settings only apply to SSI mapping
standard 1 and 2 mode (I4104h = 1 and
2)
· Counter value is set under I4101h
All digital outputs retain the last status output.
Response from I6207h
In I6207h, the response can be configured
individually for each digital output
0
0
...
0
EDSPM−TXXX−9.0−11/2009
15.1−15
15
Appendix
15.1
Index table
Index
Name
I6207h
¿
Error value digital
output
Possible settings
Lenze
0
Selection
0
{1}
8 bits of information
Bit value Output switches to LOW
0
Bit value
1
1
2
...
64
I6401h
1
2
...
36
I6411h *
1
2
...
36
I6421h
¿
1
2
...
36
I6423h
¿
I6424h
¿
1
2
...
36
I6425h
¿
1
2
...
36
I6426h
¿
1
2
...
36
Module 1
Module 2
...
Module 64
Analog input
Channel 1
Channel 2
...
Channel 36
Analog output
Channel 1
Channel 2
...
Channel 36
Trigger selection
0
0
...
0
Channel 1
Channel 2
...
Channel 36
Global interrupt
enable
0
0
...
0
8.9−2
255 Configures the individual digital output
responses
For the compact system, only index I6207h,
subindex 1 is available
Output retains last status output
−32768
{1}
32767 Display only
Analog input status
Index is only available in the modular
system
8.10−5
−32768
{1}
8.10−5
0
{1}
32767 · Analog output status
· The outputs can be set manually
(forcing):
– Depends on CAN status and I2360h
· Index is only available in the modular
system
255 Enables interrupt for analog inputs/outputs
Index is only available in the modular
system
255 Global activation/deactivation of the
event−controlled process data transfer of
the analog input signals.
The setting in I6423h has a higher priority
0
Event−controlled process data transfer
than the settings in the TxPDOs.
deactivated
· Lenze setting:
– System bus (CAN): I6423h = 255
– CANopen: I6423h = 0
255
Event−controlled process data transfer activated
· I6423h is only available for the modular
system.
00000000h
{1}
FFFFFFFFh Index is only available in the modular
system
Upper limit analog
input
Channel 1
Channel 2
...
Channel 36
Lower limit analog
input
0
0
...
0
Channel 1
Channel 2
...
Channel 36
Delta limit analog
input
0
0
...
0
Channel 1
Channel 2
...
Channel 36
0
0
...
0
15.1−16
Important
0
{1}
00000000h
{1}
FFFFFFFFh Index is only available in the modular
system
00000000h
{1}
FFFFFFFFh Index is only available in the modular
system
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Index table
Index
Name
I6443h
¿
Error mode analog
output
15.1
Possible settings
Lenze
Selection
0
0
255
1
2
...
36
I6444h
¿
1
2
...
36
Channel 1
Channel 2
...
Channel 36
Error value analog
output
0
0
...
0
Channel 1
Channel 2
...
Channel 36
0
0
...
0
L
−32768
Important
{1}
255 Configures analog output monitoring
Index is only available in the modular
system
All analog outputs retain the last value output
Response from I6444h
{1}
EDSPM−TXXX−9.0−11/2009
8.9−3
In I6444h the response can be configured
individually for each analog output
32767 Configures the individual analog output
responses
The analog outputs provide the set value
Index is only available in the modular
system
8.9−3
15.1−17
15
Appendix
Glossary
Terminology and abbreviations used
15.2
15.2.1
15.2
Glossary
15.2.1
Terminology and abbreviations used
L
AI
Analog input data
AIO
Analog input and output data
AO
Analog output data
CAN
Control Area Network
CANopen
Communication profile to DS 301, published by CiA (CAN in
Automation)
CE
Communauté Européene
Controller
Any frequency inverter, servo inverter or DC speed controller
DC
DC current or DC voltage
DI
Digital input data
DIN
Deutsches Institut für Normung
DIO
Digital input and output data
DO
Digital output data
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)
NMT
Network management
Node ID
Node address which serves to clearly assign each node in the
network
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 [W]
Resistor
SDO
Service Data Object (parameter data object)
SDO−Rx
Parameter data input object
EDSPM−TXXX−9.0−11/2009
15.2−1
15
Appendix
15.2
15.2.1
15.2−2
Glossary
Terminology and abbreviations used
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 page
number
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Total index
15.3
15.3
Total index
Zahlen
1xcounter/16xdigital input
− Connection, 4.23−2
− Overview, 5.2−1
− Counter mode
2 x 32−bit counter, 12.6−7 , 13.4−6
Clock−up/clock−down evaluation, 12.6−9 , 13.4−8
Encoder, 12.6−5 , 13.4−4
Measuring the frequency, 12.6−12 , 13.4−11
Measuring the period, 12.6−14 , 13.4−13
− Status display, 5.2−5
− Counter modes, overview, 4.23−2 , 12.6−1 , 13.4−1
− Technical data, 5.2−7
− Description, 4.23−1
16xdig. I/O compact (single−wire conductor)
− Description, 5.2−1
− Features, 5.2−1
− Terminal assignment, 5.2−5
− Wiring diagram, 5.2−6
− Features, 4.23−1
− Input data transfer, 12.6−2 , 13.4−2
− Output data transfer, 12.6−2 , 13.4−2
16xdig. I/O compact (three−wire conductor)
− Overview, 4.23−1
− Description, 5.3−1
− Parameter setting, 12.6−1
− Features, 5.3−1
− Status display, 4.23−2
− Overview, 5.3−1
− Technical data, 4.23−3
− Status display, 5.3−5
− Terminal assignment, 4.23−2
− Technical data, 5.3−7
2/4xcounter
− Terminal assignment, 5.3−5
− Connection, 4.21−2
− Wiring diagram, 5.3−6
− Terminal assignment, 4.8−2
− Counter mode
2 × 32 bit−counter with GATE and set/reset, 12.4−35 ,
13.2−34
2 × 32−bit counter with GATE and RES edge−triggered,
12.4−45 , 13.2−44
2 × 32−bit counter with GATE and RES level−triggered,
12.4−16 , 13.2−15
2 × 32−bit counter with GATE, RES edge−triggered and
Auto Reload, 12.4−48 , 13.2−47
2 × 32−bit counter with GATE, RES level−triggered and
Auto Reload, 12.4−19 , 13.2−18
2 x 32 bit counter with G/RES, 12.4−39 , 13.2−38
2 x 32−bit counter, 12.4−6 , 13.2−5
2 x 32−bit counter with GATE, 12.4−51 , 13.2−50
4 × 16−bit counter, 12.4−14 , 13.2−13
Encoder, 12.4−8 , 13.2−7
Encoder with G/RES, 12.4−41 , 13.2−40
Encoder with GATE, 12.4−53 , 13.2−52
Measuring the frequency, 12.4−22 , 13.2−21
Measuring the period, 12.4−26 , 13.2−25
Measuring the pulse depth, freely programmable,
12.4−29 , 13.2−28
Measuring the pulse width with GATE, freely
programmable, 12.4−32 , 13.2−31
Measuring the pulse width, fref 50 kHz, 12.4−12 ,
13.2−11
− Wiring diagram, 4.8−2
− Counter mode, overview, 4.21−2 , 12.4−1 , 13.2−1
16xdigital input
− Connection, 4.6−2
− Description, 4.6−1
− Features, 4.6−1
− Overview, 4.6−1
− Status display, 4.6−2
− Technical data, 4.6−2
− Terminal assignment, 4.6−2
16xdigital output 0.5A
− Description, 4.8−1
− Overview, 4.8−1
− Properties, 4.8−1
− Status displays, 4.8−2
− Technical data, 4.8−2
− Description, 4.21−1
16xdigital output 1A
− Overview, 4.21−1
− Description, 4.10−1
− Parameter setting, 12.4−1
− Features, 4.10−1
− Status display, 4.21−2
− Overview, 4.10−1
− Technical data, 4.21−5
− Status display, 4.10−2
− Terminal assignment, 4.21−2
− Technical data, 4.10−2
− Transmitting input data, 12.4−4 , 13.2−4
− Terminal assignment, 4.10−2
− Transmitting output data, 12.4−4 , 13.2−4
− Wiring diagram, 4.10−2
2/4xcounters, Features, 4.21−1
L
EDSPM−TXXX−9.0−11/2009
15.3−3
15
Appendix
15.3
Total index
32xdig. I/O compact
4xanalog output ±10V
− Description, 5.4−1
− Terminal assignment, 5.4−5
−
−
−
−
−
−
−
− Wiring diagram, 5.4−6
4xanalog output 0...20mA
4xanalog input
− Description, 4.14−1
−
−
−
−
−
− Features, 4.14−1
4xrelay
− Overview, 4.14−1
− Description, 4.20−1
−
−
−
−
−
−
−
− Features, 4.20−1
8xdig. I/O compact
− Overview, 4.20−1
−
−
−
−
−
−
−
−
− Features, 5.4−1
− Overview, 5.4−1
− Status display, 5.4−5
− Technical data, 5.4−7
− Connection
Four−wire connection, 4.14−3
Two−wire connection, 4.14−3
− Status display, 4.14−2
− Technical data, 4.14−4
− Terminal assignment, 4.14−2
4xanalog input / output
4xanalog input /output
− Connection, 4.20−2
− Status display, 4.20−2
− Technical data, 4.20−3
− Terminal assignment, 4.20−2
4xanalog input ±10V
− Description, 4.15−1
− Overview, 4.15−1
− Properties, 4.15−1
− Status displays, 4.15−2
− Technical data, 4.15−3
− Terminal assignment, 4.15−2
4xanalog input ±20mA
− Description, 4.16−1
Connection, 4.19−2
Overview, 4.19−1
Status displays, 4.19−2
Technical data, 4.19−3
Terminal assignment, 4.19−2
Description, 4.12−1
Features, 4.12−1
Overview, 4.12−1
Status display, 4.12−2
Technical data, 4.12−3
Terminal assignment, 4.12−2
Wiring diagram, 4.12−2
Description, 5.1−1
Fault indications, 5.1−4 , 5.2−4 , 5.3−4 , 5.4−4
Features, 5.1−1
Overview, 5.1−1
Status display, 5.1−4 , 5.1−5 , 5.2−4 , 5.3−4 , 5.4−4
Technical data, 5.1−7
Terminal assignment, 5.1−5
Wiring diagram, 5.1−6
8xdigital input
−
−
−
−
−
−
−
Connection, 4.5−2
Description, 4.5−1
Features, 4.5−1
Overview, 4.5−1
Status display, 4.5−2
Technical data, 4.5−2
Terminal assignment, 4.5−2
8xdigital input / output
− Technical data, 4.16−3
−
−
−
−
−
− Terminal assignment, 4.16−2
8xdigital input /output
4xanalog output
− Description, 4.13−1
− Overview, 4.13−1
− Overview, 4.16−1
− Properties, 4.16−1
− Status displays, 4.16−2
− Connection, 4.17−2
− Description, 4.17−1
− Features, 4.17−1
− Overview, 4.17−1
− Status display, 4.17−2
− Technical data, 4.17−3
− Terminal assignment, 4.17−2
15.3−4
Connection, 4.18−2
Description, 4.18−1 , 4.19−1
Overview, 4.18−1
Properties, 4.18−1 , 4.19−1
Status displays, 4.18−2
Technical data, 4.18−3
Terminal assignment, 4.18−2
Connection, 4.13−2
Features, 4.13−1
Status display, 4.13−2
Technical data, 4.13−3
Terminal assignment, 4.13−2
8xdigital output 0.5A
−
−
−
−
−
−
Connection, 4.7−2
Description, 4.7−1
Overview, 4.7−1
Status displays, 4.7−2
Technical data, 4.7−2
Terminal assignment, 4.7−2
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Total index
15.3
8xdigital output 1A
C
− Connection, 4.9−2
− Description, 4.9−1
Cable specification, 7.4−1 , 7.5−2
− Features, 4.9−1
CAN Gateway
− Overview, 4.9−1
− Baud rate setting, 4.1−2 , 5.1−3 , 5.2−3 , 5.3−3 , 5.4−3
− Status display, 4.9−2
− Technical data, 4.9−2
− Setting the node address, 4.1−3 , 5.1−3 , 5.2−3 , 5.3−3
, 5.4−3
− Terminal assignment, 4.9−2
CAN gateway
8xdigital output 2A
− Description, 4.1−1
− Connection, 4.11−2
− Fault indications, 4.1−3 , 4.2−3
− Description, 4.11−1
− Overview, 4.1−1
− Features, 4.11−1
− Properties, 4.1−1
− Overview, 4.11−1
− Status display, 4.1−3 , 4.2−3
− Status display, 4.11−2
− Technical data, 4.1−4
− Technical data, 4.11−2
CAN GatewayECO
− Terminal assignment, 4.11−2
− Description, 4.2−1
8xdigital outputs 0.5A, Properties, 4.7−1
− Overview, 4.2−1
− Properties, 4.2−1
− Technical data, 4.2−4
A
CANopen
Address setting, 4.2−2
− Connecting, 4.1−1 , 4.2−1 , 5.1−2 , 5.2−2 , 5.3−2 ,
5.4−2
Air humidity, 3.1−1
− Connection to the module, Pin assignment, 5.1−2 ,
5.2−2 , 5.3−2 , 5.4−2
Ambient conditions
− Networking via, 9.1
− Climatic, 3.1−1
CE conformity, 1.3−1
− Mechanical, 3.1−1
COB−ID, 8.1−2 , 9.1−2
Analog inputs, Status request, 8.10−5 , 9.10−5
CoDeSys, 10.4−1
Analog modules
Commissioning, 11.1
− 4xanalog input, Parameter setting, 12.3−1
− 4xanalog input / output, Parameter setting, 12.3−4
− I/O system IP20 on the controller 93xx, 11.1−2
− 4xanalog output, Parameter setting, 12.3−3
Communication connection, 7.4−1 , 7.5−3
− Conversion of measured values, 12.3−7 , 13.1−6
Communication Object Identifier, 8.1−2 , 9.1−2
− transmitting input data, 12.3−7 , 13.1−6
Communication phases, 8.2−1 , 9.2−1
− transmitting output data, 12.3−7 , 13.1−6
Analog outputs, #Status request, 8.10−5 , 9.10−5
Communication, connection, 7.4−1 , 7.5−3
Application, as directed, 1.3−1
Compact modules, Compatibility, with drive and
automation components, 8.3−9 , 9.3−9
Application as directed, 1.3−1
Compact system
Application examples, I/O system IP20 on the
controller 93xx, 11.1−2
− Dimensions, 6.2−1
Approval, UL, 3.1−1
Compatibility
− Mounting dimensions, 6.2−1
− Compact modules, with drive and automation
components, 8.3−9 , 9.3−9
B
− Modular system, with drive and automation
components, 8.3−9 , 9.3−9
Baud rate
Configuration, Diagnostics, 10.6−1
− Setting, 8.5−1 , 9.5−1
− Setting at the CAN Gateway, 4.1−2 , 5.1−3 , 5.2−3 ,
5.3−3 , 5.4−3
L
Conformity, 1.3−1
− CE, 3.1−1
EDSPM−TXXX−9.0−11/2009
15.3−5
15
Appendix
15.3
Total index
Connection
Device protection, 3.1−1
− CANopen, 4.1−1 , 4.2−1 , 5.1−2 , 5.2−2 , 5.3−2 , 5.4−2
Device status
−
−
−
−
Pin assignment at the module, 5.1−2 , 5.2−2 , 5.3−2 ,
5.4−2
Sub−D socket at the PROFIBUS gateway, 4.3−1
Sub−D socket on PROFIBUS Gateway, 4.1−1 , 4.2−1 ,
7.4−1
Sub−D socket on the PROFIBUS Gateway, 4.4−2 ,
7.5−3
System bus (CAN), 4.1−1 , 4.2−1 , 5.1−2 , 5.2−2 ,
5.3−2 , 5.4−2
Pin assignment at the module, 5.1−2 , 5.2−2 , 5.3−2 ,
5.4−2
Consistent parameter data, 10.5−7
− of the heartbeat producer, 8.7−2 , 9.7−2
− of the I/O system IP20, 8.6−2 , 9.6−2
− of the slave, 8.6−2 , 9.6−2
Diagnostic data, Transmission with analog modules,
12.3−6
Diagnostics, Elapsed time and running time meter,
10.6−1
Digital inputs, Status request, 8.10−3 , 9.10−3
Digital modules
− 16xdigital input, Parameter setting, 12.2−1
− 16xdigital output, Parameter setting, 12.2−1
D
− 8xdigital input, Parameter setting, 12.2−1
Definition of notes used, 2.1−1
− 8xdigital output, Parameter setting, 12.2−1
Definitions, Terms, 15.2−1
Digital outputs, Status request, 8.10−4 , 9.10−4
Description
Dimensions
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
− Compact system, 6.2−1
16xdig. I/O compact (single−wire conductor), 5.2−1
16xdig. I/O compact (three−wire conductor), 5.3−1
16xdigital input, 4.6−1
16xdigital output 0.5A, 4.8−1
16xdigital output 1A, 4.10−1
1xcounter/16xdigital input, 4.23−1
2/4xcounter, 4.21−1
32xdig. I/O compact, 5.4−1
4xanalog input, 4.14−1
4xanalog input / output, 4.20−1
4xanalog input ±10V, 4.15−1
4xanalog input ±20mA, 4.16−1
4xanalog output, 4.17−1
4xanalog output ±10V, 4.18−1 , 4.19−1
4xrelay, 4.12−1
8xdig. I/O compact, 5.1−1
8xdigital input, 4.5−1
8xdigital input / output, 4.13−1
8xdigital output 0.5A, 4.7−1
8xdigital output 1A, 4.9−1
8xdigital output 2A, 4.11−1
CAN gateway, 4.1−1
CAN GatewayECO, 4.2−1
PROFIBUS Gateway, 4.3−1
PROFIBUS GatewayECO, 4.4−1
SSI interface, 4.22−1
Terminal module, 4.24−1
Device address setting, 4.2−2
15.3−6
− 8xdigital input / output, Parameter setting, 12.2−1
− Modular system, 6.1−1
Disassembly, Module, 6.1−3
disassembly, Module, 6.2−2
E
Elapsed time and running time meter, 10.6−1
Electrical installation, 7.1
− Communication connection, 7.4−1 , 7.5−3
Electrical isolation, 3.1−1
EMC, 3.1−1
− Assembly, 7.1−1
− Earthing, 7.1−1
− Shielding, 7.1−1
Emergency telegram, 8.10−2 , 9.10−2
Error Response, 8.4−2 , 9.4−2
F
Fault indications
− at 8xdig. I/O compact, 5.1−4 , 5.2−4 , 5.3−4 , 5.4−4
− at CAN gateway, 4.1−3 , 4.2−3
Fault messages, 14.1−1
− on the CAN Gateway, 4.3−2 , 4.4−2
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Total index
15.3
Features, 4.1−1 , 4.2−1 , 4.3−1 , 4.4−1 , 4.5−1 , 4.6−1 ,
4.7−1 , 4.8−1 , 4.9−1 , 4.10−1 , 4.11−1 , 4.12−1 , 4.13−1
, 4.14−1 , 4.15−1 , 4.16−1 , 4.17−1 , 4.18−1 , 4.19−1 ,
4.20−1 , 4.21−1 , 4.22−1 , 4.23−1 , 4.24−1 , 5.1−1 ,
5.2−1 , 5.3−1 , 5.4−1
Instruction code, 8.4−2 , 9.4−2
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
L
16xdig. I/O compact (single−wire conductor), 5.2−1
16xdig. I/O compact (three−wire conductor), 5.3−1
16xdigital input, 4.6−1
16xdigital output 1A, 4.10−1
1xcounter/16xdigital input, 4.23−1
2/4xcounters, 4.21−1
32xdig. I/O compact, 5.4−1
4xanalog input, 4.14−1
4xanalog input / output, 4.20−1
4xanalog output, 4.17−1
4xrelay, 4.12−1
8xdig. I/O compact, 5.1−1
8xdigital input, 4.5−1
8xdigital input / output, 4.13−1
8xdigital output 1A, 4.9−1
8xdigital output 2A, 4.11−1
SSI interface, 4.22−1
Terminal module, 4.24−1
Insulation resistance, 3.1−1
Insulation voltage, 3.1−1
Labelling, Components of the I/O system IP20, 1.3−1
Legal regulations, 1.3−1
Liability, 1.3−2
Loading default setting, 12.8−1
M
Manufacturer, 1.3−1
Measured values, conversion for analog modules,
12.3−7 , 13.1−6
Mechanical installation, 6.1
Modular system
− Compatibility, with drive and automation components,
8.3−9 , 9.3−9
− Dimensions, 6.1−1
− Mounting dimensions, 6.1−1
G
Module
General data, 3.1−1
− Mounting on DIN rail, 6.1−2 , 6.2−2
− Remove from the backplane bus, 6.1−3
− Remove from the DIN rail, 6.2−2
GSE file, 10.4−1
Module identifiers, reading out, 8.10−3 , 9.10−3
H
Monitoring, 8.9−1 , 9.9−1
− Analog outputs, 8.9−3 , 9.9−3
Heartbeat, 8.7−1 , 9.7−1
Heartbeat Consumer, 8.7−1 , 9.7−1
Mounting, Module on the DIN rail, Mounting on DIN
rail, 6.1−2 , 6.2−2
Heartbeat Producer, 8.7−1 , 9.7−1
Mounting conditions, 3.1−1
Mounting dimensions
I
− Compact system, 6.2−1
− Modular system, 6.1−1
I/O system IP20, components
Mounting place, 3.1−1
− Application as directed, 1.3−1
− Labelling, 1.3−1
Mounting position, 3.1−1
Identifier, 8.1−2 , 9.1−2
Index, 8.4−3 , 9.4−3
N
Input data
Network management (NMT), 8.2−1 , 9.2−1
− Transfer at 1xcounter/16xdigital input, 12.6−2 , 13.4−2
− Transmitting − SSI interface, 12.5−6 , 12.5−8 , 12.5−11
, 13.3−3
− transmitting with 2/4xcounter, 12.4−4 , 13.2−4
− transmitting with analog modules, 12.3−7 , 13.1−6
Network, CAN, Communication phases, 8.2−1 , 9.2−1
Installation, CE−typical drive system
Networking
− CANopen, 9.1
− via system bus (CAN), 8.1
Node address
− Assembly, 7.1−1
− Earthing, 7.1−1
− Shielding, 7.1−1
− Setting, 8.5−2 , 9.5−2
− Setting at the CAN Gateway, 4.1−3 , 5.1−3 , 5.2−3 ,
5.3−3 , 5.4−3
Installation, electrical, 7.1
Node address setting, 4.2−2
Installation, mechanical, 6.1
Node Guarding, 8.6−1 , 9.6−1
L
EDSPM−TXXX−9.0−11/2009
15.3−7
15
Appendix
15.3
Total index
Parameter setting
Noise emission, 3.1−1
Noise immunity, 3.1−1
Notes, definition, 2.1−1
Number of bus stations, 7.5−2
O
Operating conditions, 3.1−1
Operating state, System bus (CAN), 8.10−3 , 9.10−3
Operating temperature, 3.1−1
Output data
− Transfer at 1xcounter/16xdigital input, 12.6−2 , 13.4−2
− Transmitting − SSI interface, 12.5−6 , 12.5−8 , 12.5−11
, 13.3−3
− transmitting with 2/4xcounter, 12.4−4 , 13.2−4
− transmitting with analog modules, 12.3−7 , 13.1−6
P
Parameter data, 8.4−3 , 9.4−3
− Assigning to analog modules, 12.3−1 , 12.3−3 , 12.3−4
− 1xcounter/16xdigital input
Display of the parameter data, 12.6−1
Input data transfer, 12.6−2 , 13.4−2
Meaning of the parameter data, 12.6−1 , 13.4−1
Output data transfer, 12.6−2 , 13.4−2
− 2/4xcounter
Display of the parameter data, 12.4−1
Meaning of the parameter data, 12.4−1 , 12.4−4 ,
13.2−1 , 13.2−4
Transmitting input data, 12.4−4 , 13.2−4
Transmitting output data, 12.4−4 , 13.2−4
− Analog mdoules, 12.3−4
− Analog modules, 12.3−1 , 12.3−3
Display of the parameter data, 12.3−1 , 12.3−4
Meaning of the parameter data, 12.3−2 , 12.3−3 ,
12.3−5
transmitting input data, 13.1−6
− analog modules
meaning of the parameter data, 13.1−2 , 13.1−3 ,
13.1−5
signal functions 4xanalog input, 12.3−8 , 12.3−11 ,
12.3−12 , 12.3−16 , 13.1−7 , 13.1−11 , 13.1−12 ,
13.1−16
signal functions 4xanalog input/output, 12.3−18 ,
12.3−20 , 13.1−18 , 13.1−21
signal functions 4xanalog output, 12.3−13 , 13.1−14
signal functions 4xanalog output 0...20mA, 12.3−17 ,
13.1−17
Transmitting input data, 12.3−7
transmitting output data, 12.3−7 , 13.1−6
− Digital modules
Display of the parameter data, 12.2−1
Meaning of the parameter data, 12.2−1
− SSI interface
Display of the parameter data, 12.5−1
Meaning of the parameter data, 12.5−2 , 13.3−2
Process data for Lenze PLC units, 12.5−6
Process data for Lenze standard 9300 controllers,
12.5−8 , 12.5−11
Transmitting input data, 12.5−6 , 12.5−8 , 12.5−11 ,
13.3−3
Transmitting output data, 12.5−6 , 12.5−8 , 12.5−11 ,
13.3−3
parameter setting, Analog modules, Display of the
parameter data, 12.3−3
− assigning with digital modules, 12.2−1
Parameter settingR, Digital modules, 12.2−1
− Consistent, 10.5−7
Pollution, 3.1−1
− Meaning for 1xcounter/16xdigital input, 12.6−1 ,
13.4−1
Process data, Transmission mode, 8.3−3 , 9.3−3
− Meaning for 2/4xcounter, 12.4−1 , 12.4−4 , 13.2−1 ,
13.2−4
− Assigning individually, 8.3−3 , 9.3−3
Process data objects, Identifier, 8.3−2 , 9.3−2
Process data telegram, 8.3−1 , 9.3−1
− Meaning for analog modules, 12.3−2 , 12.3−3 , 12.3−5
− meaning for analog modules, 13.1−2 , 13.1−3 , 13.1−5
− Meaning for digital modules, 12.2−1
− Meaning for the SSI interface, 12.5−2 , 13.3−2
− 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, 8.4−1 , 9.4−1
15.3−8
Process image
− compact system, 8.3−8 , 9.3−8
− Modular system, 8.3−5 , 9.3−5
PROFIBUS Gateway
−
−
−
−
−
−
Description, 4.3−1
Fault messages, 4.3−2 , 4.4−2
Overview, 4.3−1
Properties, 4.3−1
Status displays, 4.3−2 , 4.4−2
Technical data, 4.3−3
EDSPM−TXXX−9.0−11/2009
L
15
Appendix
Total index
15.3
PROFIBUS GatewayECO
SSI interface
− Description, 4.4−1
−
−
−
−
−
−
− Overview, 4.4−1
− Properties, 4.4−1
− Technical data, 4.4−3
PROFIBUS−DP−V0, 10.1
PROFIBUS−DP−V1, 10.1
−
−
−
−
Properties
− 16xdigital output 0.5A, 4.8−1
− 4xanalog input ±10V, 4.15−1
− 4xanalog input ±20mA, 4.16−1
−
− 4xanalog output ±10V, 4.18−1 , 4.19−1
Connection, 4.22−2
Description, 4.22−1
Features, 4.22−1
Overview, 4.22−1
Parameter setting, 12.5−1
Process data
for Lenze PLC units, 12.5−6
for Lenze standard 9300 controllers, 12.5−8 , 12.5−11
Status display, 4.22−2
Technical data, 4.22−3
Terminal assignment, 4.22−2
Transmitting input data, 12.5−6 , 12.5−8 , 12.5−11 ,
13.3−3
Transmitting output data, 12.5−6 , 12.5−8 , 12.5−11 ,
13.3−3
− 8xdigital output 0.5A, 4.7−1
Station address, 10.4−1
− CAN gateway, 4.1−1
Station design, 3.1−1
− CAN GatewayECO, 4.2−1
Status display
− PROFIBUS Gateway, 4.3−1
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
−
− PROFIBUS GatewayECO, 4.4−1
Protection of persons, 3.1−1
Protective measures, 3.1−1
R
Read Request, 8.4−2 , 9.4−2
Read Response, 8.4−2 , 9.4−2
Reading a parameter, 8.4−5 , 9.4−5
Reset node, 8.8−1 , 9.8−1
S
16xdig. I/O compact (single−wire conductor), 5.2−5
16xdig. I/O compact (three−wire conductor), 5.3−5
16xdigital input, 4.6−2
16xdigital output 1A, 4.10−2
1xcounter/16xdigital input, 4.23−2
2/4xcounter, 4.21−2
32xdig. I/O compact, 5.4−5
4xanalog input, 4.14−2
4xanalog input /output, 4.20−2
4xanalog output, 4.17−2
4xrelay, 4.12−2
8xdig. I/O compact, 5.1−5
8xdigital input, 4.5−2
8xdigital input / output, 4.13−2
8xdigital output 1A, 4.9−2
8xdigital output 2A, 4.11−2
at 8xdig. I/O compact, 5.1−4 , 5.2−4 , 5.3−4 , 5.4−4
at CAN gateway, 4.1−3 , 4.2−3
SSI interface, 4.22−2
Safety instructions, 2.1
Status displays
− Definition, 2.1−1
Shielding, EMC, 7.1−1
−
−
−
−
−
−
−
Signal functions
Storage temperature, 3.1−1
− 4xanalog input, 12.3−8 , 12.3−11 , 12.3−12 , 12.3−16 ,
13.1−7 , 13.1−11 , 13.1−12 , 13.1−16
Sub−D socket
− Structure, 2.1−1
Setting the, device address, 4.3−2 , 4.4−2
Setting the baud rate, 4.2−2
16xdigital output 0.5A, 4.8−2
4xanalog input ±10V, 4.15−2
4xanalog input ±20mA, 4.16−2
4xanalog output ±10V, 4.18−2
4xanalog output 0...20mA, 4.19−2
8xdigital output 0.5A, 4.7−2
on the CAN Gateway, 4.3−2 , 4.4−2
− 4xanalog output, 12.3−13 , 13.1−14
− connection at the PROFIBUS gateway, 4.3−1
− Connection on PROFIBUS Gateway, 4.1−1 , 4.2−1 ,
7.4−1
− Connection to the PROFIBUS Gateway, 4.4−2 , 7.5−3
− 4xanalog output 0...20mA, 12.3−17 , 13.1−17
Subindex, 8.4−3 , 9.4−3
− 4xanalog input/output, 12.3−18 , 12.3−20 , 13.1−18 ,
13.1−21
Specification of the transmission cable, 7.4−1 , 7.5−2
Switch, possible settings, 10.4−1
Sync telegram, for cyclic process data, 8.3−4 , 9.3−4
L
EDSPM−TXXX−9.0−11/2009
15.3−9
15
Appendix
15.3
Total index
System bus (CAN)
− Connecting, 4.1−1 , 4.2−1 , 5.1−2 , 5.2−2 , 5.3−2 ,
5.4−2
− Connection to the module, Pin assignment, 5.1−2 ,
5.2−2 , 5.3−2 , 5.4−2
− Networking via, 8.1
− Operating state, 8.10−3 , 9.10−3
T
Technical data, 3.1
− 16xdig. I/O compact (single−wire conductor), 5.2−7
− 16xdig. I/O compact (three−wire conductor), 5.3−7
− 16xdigital input, 4.6−2
− 16xdigital output 0.5A, 4.8−2
− 16xdigital output 1A, 4.10−2
− 1xcounter/16xdigital input, 4.23−3
− 2/4xcounter, 4.21−5
− 32xdig. I/O compact, 5.4−7
− 4xanalog input, 4.14−4
− 4xanalog input /output, 4.20−3
− 4xanalog input ±10V, 4.15−3
− 4xanalog input ±20mA, 4.16−3
− 4xanalog output, 4.17−3
Terminal assignment
− 16xdig. I/O compact (single−wire conductor), 5.2−5
− 16xdig. I/O compact (three−wire conductor), 5.3−5
− 16xdigital input, 4.6−2
− 16xdigital output 0.5A, 4.8−2
− 16xdigital output 1A, 4.10−2
− 1xcounter/16xdigital input, 4.23−2
− 2/4xcounter, 4.21−2
− 32xdig. I/O compact, 5.4−5
− 4xanalog input, 4.14−2
− 4xanalog input /output, 4.20−2
− 4xanalog input ±10V, 4.15−2
− 4xanalog input ±20mA, 4.16−2
− 4xanalog output, 4.17−2
− 4xanalog output ±10V, 4.18−2
− 4xanalog output 0...20mA, 4.19−2
− 4xrelay, 4.12−2
− 8xdig. I/O compact, 5.1−5
− 8xdigital input, 4.5−2
− 8xdigital input /output, 4.13−2
− 8xdigital output 0.5A, 4.7−2
− 8xdigital output 1A, 4.9−2
− 8xdigital output 2A, 4.11−2
− SSI interface, 4.22−2
Terminal module
− Description, 4.24−1
− Features, 4.24−1
− Internal wiring, 4.24−1
− Overview, 4.24−1
− Technical data, 4.24−2
Terms
− Controller, 15.2−1
− Definitions, 15.2−1
Time monitoring, 8.9−1 , 9.9−1
Total index, 15.3−3
− 4xanalog output ±10V, 4.18−3
Transmission cable, specification, 7.4−1 , 7.5−2
− 4xanalog output 0...20mA, 4.19−3
Troubleshooting, fault messages, 14.1−1
− 4xrelay, 4.12−3
Troubleshooting and fault elimination, 14.1
− 8xdig. I/O compact, 5.1−7
Type of protection, 3.1−1
− 8xdigital input, 4.5−2
U
− 8xdigital input / output, 4.13−3
User data, 8.3−1 , 9.3−1
− 8xdigital output 0.5A, 4.7−2
− 8xdigital output 1A, 4.9−2
V
− 8xdigital output 2A, 4.11−2
Vibration resistance, 3.1−1
− CAN gateway, 4.1−4
Preface, 1.1
− CAN GatewayECO, 4.2−4
W
− PROFIBUS Gateway, 4.3−3
Warranty, 1.3−2
− PROFIBUS GatewayECO, 4.4−3
15.3−10
Write Request, 8.4−2 , 9.4−2
− SSI interface, 4.22−3
Write Response, 8.4−2 , 9.4−2
− Terminal module, 4.24−2
Writing parameters, 8.4−4 , 9.4−4
EDSPM−TXXX−9.0−11/2009
L
© 11/2009
F
Lenze Automation GmbH
Grünstraße 36
D−40667 Meerbusch
Germany
Service
Lenze Service GmbH
Breslauer Straße 3
D−32699 Extertal
Germany
(
Ê
š
ü
+49(0)21 32 /99 04−0
(
Ê
š
008000/ 2446877 (24 h helpline)
+49(0)21 32 /7 21 90
Lenze@Lenze.de
+49(0)5154/ 82−11 12
Service@Lenze.de
www.Lenze.com
EDSPM−TXXX § .Aùð § EN § 9.0−11/2009 § TD23
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