Ä!Qz&ä System Manual

LSystem Manual

EDSPM-TXXX!Qz&

Global DriveI/O system IP20EPM-T110, EPM-T2xx, EPM-T3xx,EPM-T4xx, EPM-T83x, EPM-T9xx

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Contents

1Preface

1.1

l 1.1-1EDSPM-TXXX-3.0-04/2004

1 Preface

1.1 Contents

1.2 The I/O system IP20 1.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 How to use this System Manual 1.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Information provided by the System Manual 1.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Products to which the System Manual applies 1.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Legal regulations 1.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The I/O system IP20

1Preface

1.2

l 1.2-1EDSPM-TXXX-3.0-04/2004

1.2 The I/O system IP20

Automation is playing an ever more important part in the operation of machinesand systems. The increasing number of peripherals has increased the amount ofwiring required. This is where distributed I/O systems bring order to the chaos.Lenze has developed two new product concepts with IP20 protection which aresuitable for both basic digital applications and more complex automation tasks.

The modular system

Lenze can now provide you with a modular system for complex automationapplications, consisting of three components: a gateway, electronic modules andabackplanebus. Thekey element is the gateway which processes all process datatraffic via the system bus (CAN) or CANopen. An internal backplane bus is alsoused for the in-station communication between process and parameter data, aswell as diagnostics data.

The compact system

This system comprises a range of compact products with a fixed number of digitalinputs and outputs. The integrated gateway serves as a communication interfacewhich processes the complete process data traffic via system bus (CAN) orCANopen.

Application as of version NoteGlobal Drive Control 4.4 Device data are only available after a software update.

4.5 Device data are available, except for the following modules of themodular system:• ”16×digital input”, ”16×digital output”, ”4×analog

input/output”, ”SSI interface”, ”1×counter/16×digital input”After a software update, device data are available for all modules.

Drive Developer Studio 1.4 Libraries are only available after a software update.p

2.1 Libraries are available, except for the following modules of themodular system:• ”16×digital input”, ”16×digital output”, ”4×analog

input/output”, ”SSI interface”, ”1×counter/16×digital input”After a software update, libraries are available for all modules.

The system

The I/O system IP20 issupported by

How to use this System ManualInformation provided by the System Manual

1Preface

1.31.3.1

l 1.3-1EDSPM-TXXX-3.0-04/2004

1.3 How to use this System Manual

1.3.1 Information provided by the System Manual

This System Manual is intended for all persons who design, install, set up, andadjust the I/O system IP20.

Together with the catalog it provides the basis of project planning for themanufacturers of plants and machinery.

The System Manual complements the Mounting Instructions included in thescopeof supply:

The features and functions are described in detail.

It provides detailed information on further possible fields of application.

The parameter setting for typical applications is explained by means ofexamples.

Each main chapter is a unit in itself and covers all information on the correspondingsubject:

Therefore, you only need to read the chapter that is relevant to you.

The contents and table of keywords allow you to easily find informationabout specific topics.

Descriptions and data of other Lenze products (drive PLC, Lenze operatorterminals, ...) are included in the corresponding Catalogues, OperatingInstructions, and Manuals. The required documentation can be ordered atyour Lenze sales partner or downloaded as PDF file from the internet.

The System Manual is designed as a loose-leaf collection so that we are able toinform you quickly and specifically about news and changes. Each page is markedby publication date and version.

We also make the System Manual available as PDF file in the internet.

Note!Current documentation and software updates for Lenze productscan be found in the internet in the area ”Downloads” underhttp:/ /www.Lenze.com

Target group

Contents

How to find information

Paper or PDF

How to use this System ManualProducts to which the System Manual applies

1 Preface

1.31.3.2

l1.3-2 EDSPM-TXXX-3.0-04/2004

1.3.2 Products to which the System Manual applies

EPM-T XXX 1A. 10 LXX XxDC24V

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Legal regulations

1Preface

1.4

l 1.4-1EDSPM-TXXX-3.0-04/2004

1.4 Legal regulations

All components of the Lenze I/O system IP20 are unequivocally identified throughthe contents of the nameplate.

Lenze Drive Systems GmbH, Postfach 101352, D-31763 Hameln

Conforms to the EC Low-Voltage Directive

Components of the Lenze I/O system IP20

must only be operated under the conditions prescribed in this Manual.

are not approved for use in potentially explosive environments.

are electric units for the installation into control cabinets or similar enclosedoperating housing.

comply with the requirements of the Low-Voltage Directive.

are not machines for the purpose of the Machinery Directive.

are not to be used as domestic appliances, but for industrial purposes only.

The user is responsible for the compliance of his application with the EC directives.

Any other use shall be deemed inappropriate!

The information, data, and notes in this Manual met the state of the art at the timeof printing. Claims on modifications referring to components of the I/O systemIP20 which have already been supplied cannot be derived from the information,illustrations, and descriptions given in this Manual.

The specifications, processes, and circuitry described in this System Manual arefor guidance only and must be adapted to your own specific application. Lenzedoes not take responsibility for the suitability of the process and circuit proposals.

The specifications in this System Manual describe the product features withoutguaranteeing them.

Lenze does not accept any liability for damage and operating interference causedby:

Non-compliance with the System Manual

Unauthorised modifications to components of the I/O system IP20

Operating errors

Improper working on and with the I/O system IP20

See terms of sales and delivery of Lenze Drive Systems GmbH

Warranty claims must bemade to Lenze immediately after detecting thedeficiencyor fault.

The warranty is void in all cases where liability claims cannot be made.

Labelling

Manufacturer

CE conformity

Application as directed

Liability

Warranty

Contents

2Guide

2.1

l 2.1-1EDSPM-TXXX-3.0-04/2004

2 Guide

2.1 Contents

2.2 Glossary 2.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Terminology and abbreviations used 2.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.3 Total index 2.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.4 List of illustrations 2.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

GlossaryTerminology and abbreviations used

2Guide

2.22.2.1

l 2.2-1EDSPM-TXXX-3.0-04/2004

2.2 Glossary

2.2.1 Terminology and abbreviations used

AI Analog input data

AIO Analog input and output data

Controller Any frequency inverter, servo inverter or DC speed controller

AO Analog output data

CAN Control Area Network

CANopen Communication profile to DS 301, published by CiA (CAN inAutomation)

CE Communauté Européene

DI Digital input data

DO Digital output data

DIO Digital input and output data

DC DC current or DC voltage

DIN Deutsches Institut für Normung

EMC Electromagnetic compatibility

EN European standard

fref [Hz] Reference frequency

IEC International Electrotechnical Commission

IP International Protection Code

Ixxxx/yhex Subindex y of index Ixxxx(e. g. I1004/2 = Subindex 2 of index I1004)

Node ID Node address which serves to clearly assign each node in thenetwork

NMT Network management

PDO Process Data Object

PDO-Rx Process data input object

PDO-Tx Process data output object

PES HF shield termination through large-surface connection to PE

R [Ω] Resistor

SDO Service Data Object (parameter data object)

SDO-Rx Parameter data input object

GlossaryTerminology and abbreviations used

2 Guide

2.22.2.1

l2.2-2 EDSPM-TXXX-3.0-04/2004

SDO-Tx Parameter data output object

SSI Synchronous serial interface

System bus (CAN) Lenze system bus

T Period

UL Underwriters Laboratories

VDE Verband deutscher Elektrotechniker

Cross-reference to a chapter with the corresponding pagenumber

Total index

2Guide

2.3

l 2.3-1EDSPM-TXXX-3.0-04/2004

2.3 Total index

16xdig. I/O compact (single-wire conductor)

- Description, 6.3-1

- Features, 6.3-1

- Overview, 6.3-1

- Status display, 6.3-5

- Technical data, 6.3-7

- Terminal assignment, 6.3-5

- Wiring diagram, 6.3-6

16xdig. I/O compact (three-wire conductor)


- Features, 6.4-1

- Overview, 6.4-1





16xdigital input

- Connection, 5.4-2


- Features, 5.4-1

- Overview, 5.4-1




16xdigital output 1A


- Features, 5.6-1

- Overview, 5.6-1





1xcounter/16xdigital input

- Connection, 5.15-2

- Counter mode2 x 32-bit counter, 12.6-7Clock-up/clock-down evaluation, 12.6-9Encoder, 12.6-5Measuring the frequency, 12.6-12Measuring the period, 12.6-14

- Counter modes, overview, 5.15-2, 12.6-1


- Features, 5.15-1

- Input data transfer, 12.6-2

- Output data transfer, 12.6-2

- Overview, 5.15-1

- Parameter setting, 12.6-1




2/4xcounter


- Counter mode2 × 32 bit-counter with GATE and set/reset, 12.4-352 × 32-bit counter with GATE and RES edge-triggered,12.4-452 × 32-bit counter with GATE and RES level-triggered,12.4-162 × 32-bit counter with GATE, RES edge-triggered andAuto Reload, 12.4-482 × 32-bit counter with GATE, RES level-triggered andAuto Reload, 12.4-192 x 32 bit counter with G/RES, 12.4-392 x 32-bit counter, 12.4-62 x 32-bit counter with GATE, 12.4-514 × 16-bit counter, 12.4-14Encoder, 12.4-8Encoder with G/RES, 12.4-41Encoder with GATE, 12.4-53Measuring the frequency, 12.4-22Measuring the period, 12.4-26Measuring the pulse depth, freely programmable,12.4-29Measuring the pulse width with GATE, freelyprogrammable, 12.4-32Measuring the pulse width, fref 50 kHz, 12.4-12

- Counter mode, overview, 5.13-2, 12.4-1- Description, 5.13-1

- Overview, 5.13-1- Parameter setting, 12.4-1- Status display, 5.13-2

- Technical data, 5.13-5- Terminal assignment, 5.13-2

- Transmitting input data, 12.4-4- Transmitting output data, 12.4-4

2/4xcounters, Features, 5.13-1

32xdig. I/O compact

- Description, 6.5-1- Features, 6.5-1

- Overview, 6.5-1- Status display, 6.5-5- Technical data, 6.5-7

- Terminal assignment, 6.5-5- Wiring diagram, 6.5-6

4xanalog input

- ConnectionFour-wire connection, 5.10-3Two-wire connection, 5.10-3

- Description, 5.10-1- Features, 5.10-1- Overview, 5.10-1

- Status display, 5.10-2- Technical data, 5.10-4


4xanalog input / output


- Features, 5.12-1- Overview, 5.12-1

Total index

2 Guide

2.3

l2.3-2 EDSPM-TXXX-3.0-04/2004

4xanalog input /output





4xanalog output



- Features, 5.11-1

- Overview, 5.11-1




4xrelay


- Features, 5.8-1

- Overview, 5.8-1





8xdig. I/O compact


- Fault indications, 6.2-4, 6.3-4, 6.4-4, 6.5-4

- Features, 6.2-1

- Overview, 6.2-1

- Status display, 6.2-4, 6.2-5, 6.3-4, 6.4-4, 6.5-4




8xdigital input

- Connection, 5.3-2


- Features, 5.3-1

- Overview, 5.3-1




8xdigital input / output

- Connection, 5.9-2

- Features, 5.9-1




8xdigital input /output


- Overview, 5.9-1

8xdigital output 1A

- Connection, 5.5-2


- Features, 5.5-1

- Overview, 5.5-1

- Status display, 5.5-2- Technical data, 5.5-2


8xdigital output 2A

- Connection, 5.7-2- Description, 5.7-1

- Features, 5.7-1

- Overview, 5.7-1




AAnalog inputs, Status request, 9.11-5, 10.11-5

Analog modules

- 4xanalog input, Parameter setting, 12.3-1

- 4xanalog input / output, Parameter setting, 12.3-4

- 4xanalog output, Parameter setting, 12.3-3- Converting measured values, 12.3-16

- Transmitting input data, 12.3-7

- Transmitting output data, 12.3-7

Analog outputs, #Status request, 9.11-5, 10.11-5

Application, as directed, 1.4-1

Application as directed, 1.4-1

Application examples, I/O system IP20 on thecontroller 93xx, 11.3-1

BBaud rate

- Setting, 9.6-1, 10.6-1

- Setting at the CAN Gateway, 5.2-3, 6.2-3, 6.3-3,6.4-3, 6.5-3

CCable resistance, 8.5-1

Cable type, 8.5-1

CAN Gateway

- Baud rate setting, 5.2-3, 6.2-3, 6.3-3, 6.4-3, 6.5-3

- Setting the node address, 5.2-3, 6.2-3, 6.3-3, 6.4-3,6.5-3

CAN gateway


- Fault indications, 5.2-4

- Features, 5.2-1

- Overview, 5.2-1



Total index

2Guide

2.3

l 2.3-3EDSPM-TXXX-3.0-04/2004

CANopen

- Connecting, 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2

- Connection to the module, Pin assignment, 5.2-2,6.2-2, 6.3-2, 6.4-2, 6.5-2

- Networking via, 10.1-1

- Wiring, 8.5-1

Capacitance per unit length, 8.5-1

CE conformity, 1.4-1

COB-ID, 9.2-2, 10.2-2

Commissioning, 11.1-1

- I/O system IP20 on the controller 93xx, 11.3-1

Communication Object Identifier, 9.2-2, 10.2-2

Compact modules, Compatibility, with drive andautomation components, 9.4-9, 10.4-9

Compact system

- Dimensions, 7.3-1

- Mounting dimensions, 7.3-1

Compatibility

- Compact modules, with drive and automationcomponents, 9.4-9, 10.4-9

- Modular system, with drive and automationcomponents, 9.4-9, 10.4-9

Conformity, 1.4-1, 4.2-1

Connecting the supply voltage, 8.4-1

Connection

- CANopen, 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2Pin assignment at the module, 5.2-2, 6.2-2, 6.3-2,6.4-2, 6.5-2

- System bus (CAN), 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2Pin assignment at the module, 5.2-2, 6.2-2, 6.3-2,6.4-2, 6.5-2

D

Definitions, Terms, 2.2-1

Degree of pollution, 4.2-1

Description

- 16xdig. I/O compact (single-wire conductor), 6.3-1

- 16xdig. I/O compact (three-wire conductor), 6.4-1

- 16xdigital input, 5.4-1

- 16xdigital output 1A, 5.6-1

- 1xcounter/16xdigital input, 5.15-1

- 2/4xcounter, 5.13-1

- 32xdig. I/O compact, 6.5-1

- 4xanalog input, 5.10-1

- 4xanalog input / output, 5.12-1

- 4xanalog output, 5.11-1

- 4xrelay, 5.8-1



- 8xdigital input / output, 5.9-1



- CAN gateway, 5.2-1

- SSI interface, 5.14-1

- Terminal module, 5.16-1

Device status

- of the heartbeat producer, 9.8-2, 10.8-2

- of the I/O system IP20, 9.7-2, 10.7-2

- of the slave, 9.7-2, 10.7-2

Diagnostic data, Transmission with analog modules,12.3-6

Digital inputs, Status request, 9.11-3, 10.11-3

Digital modules

- 16xdigital input, Parameter setting, 12.2-1

- 16xdigital output, Parameter setting, 12.2-1

- 8xdigital input, Parameter setting, 12.2-1

- 8xdigital input / output, Parameter setting, 12.2-1

- 8xdigital output, Parameter setting, 12.2-1

Digital outputs, Status request, 9.11-4, 10.11-4

Dimensions

- Compact system, 7.3-1

- Modular system, 7.2-1

Disassembly, Module, 7.2-3

disassembly, Module, 7.3-2

EEMC

- Assembly, 8.2-1

- Earthing, 8.2-1

- Shielding, 8.2-1

Emergency telegram, 9.11-2, 10.11-2

Total index

2 Guide

2.3

l2.3-4 EDSPM-TXXX-3.0-04/2004

Enclosure, 4.2-1

Error Response, 9.5-2, 10.5-2

FFault indications

- at 8xdig. I/O compact, 6.2-4, 6.3-4, 6.4-4, 6.5-4

- at CAN gateway, 5.2-4

Fault messages, 13.2-1

Features, 5.2-1, 5.3-1, 5.4-1, 5.5-1, 5.6-1, 5.7-1,5.8-1, 5.9-1, 5.10-1, 5.11-1, 5.12-1, 5.13-1, 5.14-1,5.15-1, 5.16-1, 6.2-1, 6.3-1, 6.4-1, 6.5-1, 8.5-1






- 2/4xcounters, 5.13-1



- 4xanalog input / output, 5.12-1


- 4xrelay, 5.8-1









GGeneral data, 4.2-1

Guide, 2.1-1

HHeartbeat, 9.8-1, 10.8-1

Heartbeat Consumer, 9.8-1, 10.8-1

Heartbeat Producer, 9.8-1, 10.8-1

Humidity class, 4.2-1

II/O system IP20, components

- Application as directed, 1.4-1

- Labelling, 1.4-1

Identifier, 9.2-2, 10.2-2

Index, 9.5-3, 10.5-3

Input data

- Transfer at 1xcounter/16xdigital input, 12.6-2- Transmitting - SSI interface, 12.5-3

- transmitting with 2/4xcounter, 12.4-4- Transmitting with analog modules, 12.3-7

Installation

- CANopen, 8.5-1

- CE-typical drive systemAssembly, 8.2-1Earthing, 8.2-1Shielding, 8.2-1

- Connecting the supply voltage, 8.4-1- System bus (CAN), 8.5-1

Instruction code, 9.5-2, 10.5-2

Insulation resistance, 4.2-1

LLabelling, Components of the I/O system IP20, 1.4-1

Layout of the safety instructions, 3.2-1

Legal regulations, 1.4-1

Liability, 1.4-1

List of illustrations, 2.4-1

Loading default setting, 12.8-1

MManufacturer, 1.4-1

Measured values, Conversion with analog modules,12.3-16

Modular system

- Compatibility, with drive and automation components,9.4-9, 10.4-9

- Dimensions, 7.2-1

- Mounting dimensions, 7.2-1

Module

- Mounting on DIN rail, 7.2-2, 7.3-2- Remove from the backplane bus, 7.2-3

- Remove from the DIN rail, 7.3-2

Module identifiers, reading out, 9.11-3, 10.11-3

Monitoring, 9.10-1, 10.10-1

- Analog outputs, 9.10-3, 10.10-3

Mounting, Module on the DIN rail, Mounting on DINrail, 7.2-2, 7.3-2

Mounting dimensions

- Compact system, 7.3-1

- Modular system, 7.2-1

Mounting positions, 4.2-1

NNetwork management (NMT), 9.3-1, 10.3-1

- Command, 9.3-1, 10.3-1

- Device address, 9.3-1, 10.3-1

Total index

2Guide

2.3

l 2.3-5EDSPM-TXXX-3.0-04/2004

Network status, 9.3-1, 10.3-1

Networking

- CANopen, 10.1-1

- via system bus (CAN), 9.1-1

Node address

- Setting, 9.6-2, 10.6-2

- Setting at the CAN Gateway, 5.2-3, 6.2-3, 6.3-3,6.4-3, 6.5-3

Node Guarding, 9.7-1, 10.7-1

Noise emission, 4.2-1

Noise immunity, 4.2-1

O

Operating conditions, 4.2-1

Operating state, System bus (CAN), 9.11-3, 10.11-3

Output data

- Transfer at 1xcounter/16xdigital input, 12.6-2

- Transmitting - SSI interface, 12.5-3

- transmitting with 2/4xcounter, 12.4-4

- Transmitting with analog modules, 12.3-7

P

Packaging, 4.2-1

Parameter data, 9.5-3, 10.5-3

- Assigning to analog modules, 12.3-1, 12.3-3, 12.3-4

- assigning with digital modules, 12.2-1

- Meaning for 1xcounter/16xdigital input, 12.6-1

- Meaning for 2/4xcounter, 12.4-1, 12.4-4

- Meaning for analog modules, 12.3-2, 12.3-3, 12.3-4

- Meaning for digital modules, 12.2-1

- Meaning for the SSI interface, 12.5-2

- storing in the 2/4xcounter, 12.4-1

- Storing with 1xcounter/16xdigital input, 12.6-1

- storing with SSI interface, 12.5-1

- Telegram structure, 9.5-1, 10.5-1

Parameter setting, 12.1-1

- 1xcounter/16xdigital inputDisplay of the parameter data, 12.6-1Input data transfer, 12.6-2Meaning of the parameter data, 12.6-1Output data transfer, 12.6-2

- 2/4xcounterDisplay of the parameter data, 12.4-1Meaning of the parameter data, 12.4-1, 12.4-4Transmitting input data, 12.4-4Transmitting output data, 12.4-4

- Analog mdoules, 12.3-4

- Analog modules, 12.3-1, 12.3-3Display of the parameter data, 12.3-1, 12.3-4Meaning of the parameter data, 12.3-2, 12.3-3,12.3-4Signal functions 4xanalog input, 12.3-7Signal functions 4xanalog output, 12.3-11Transmitting input data, 12.3-7Transmitting output data, 12.3-7

- Digital modulesDisplay of the parameter data, 12.2-1Meaning of the parameter data, 12.2-1

- SSI interfaceDisplay of the parameter data, 12.5-1Meaning of the parameter data, 12.5-2Transmitting input data, 12.5-3Transmitting output data, 12.5-3

parameter setting, Analog modules, Display of theparameter data, 12.3-3

Parameter settingR, Digital modules, 12.2-1

Preface, 1.1-1

Process data, Transmission mode, 9.4-3, 10.4-3

Process data objects, Identifier, 9.4-2, 10.4-2

- Assigning individually, 9.4-3, 10.4-3

Process data telegram, 9.4-1, 10.4-1

Process image

- compact system, 9.4-8, 10.4-8

- Modular system, 9.4-5, 10.4-5

Protective measures, 4.2-1

RRead Request, 9.5-2, 10.5-2

Read Response, 9.5-2, 10.5-2

Reading a parameter, 9.5-5, 10.5-5

Reset node, 9.9-1, 10.9-1

SSafety instructions, 3.1-1

Shielding, EMC, 8.2-1

Signal functions



Total index

2 Guide

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l2.3-6 EDSPM-TXXX-3.0-04/2004

SSI interface



- Features, 5.14-1

- Overview, 5.14-1

- Parameter setting, 12.5-1




- Transmitting input data, 12.5-3

- Transmitting output data, 12.5-3

Status display






- 2/4xcounter, 5.13-2



- 4xanalog input /output, 5.12-2


- 4xrelay, 5.8-2






- at 8xdig. I/O compact, 6.2-4, 6.3-4, 6.4-4, 6.5-4

- at CAN gateway, 5.2-4


Subindex, 9.5-3, 10.5-3

Sync telegram, for cyclic process data, 9.4-4, 10.4-4

System bus (CAN)

- Connecting, 5.2-2, 6.2-2, 6.3-2, 6.4-2, 6.5-2

- Connection to the module, Pin assignment, 5.2-2,6.2-2, 6.3-2, 6.4-2, 6.5-2

- Networking via, 9.1-1

- Operating state, 9.11-3, 10.11-3

- Wiring, 8.5-1

TTechnical data, 4.1-1






- 2/4xcounter, 5.13-5





- 4xrelay, 5.8-3







- General data/operating conditions, 4.2-1



Temperature ranges, 4.2-1

Terminal assignment






- 2/4xcounter, 5.13-2





- 4xrelay, 5.8-2



- 8xdigital input /output, 5.9-2




Terminal module


- Features, 5.16-1

- Internal wiring, 5.16-1

- Overview, 5.16-1


Terms

- Controller, 2.2-1

- Definitions, 2.2-1

Time monitoring, 9.10-1, 10.10-1

Total index, 2.3-1

Troubleshooting, Fault messages, 13.2-1

Total index

2Guide

2.3

l 2.3-7EDSPM-TXXX-3.0-04/2004

Troubleshooting and fault elimination, 13.1-1

UUser data, 9.4-1, 10.4-1

VVibration resistance, 4.2-1

W

Warranty, 1.4-1

Write Request, 9.5-2, 10.5-2

Write Response, 9.5-2, 10.5-2

Writing parameters, 9.5-4, 10.5-4

List of illustrations

2Guide

2.4

l 2.4-1EDSPM-TXXX-3.0-04/2004

2.4 List of illustrations

Fig. 5.2-1 Overview of CAN gateway 5.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.2-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug 5.2-2. . . . . . . . . . . . .

Fig. 5.2-3 Coding switch a CAN gateway 5.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.3-1 Overview of 8×digital input 5.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.3-2 Front view and connection of 8×digital input 5.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.4-1 Overview of 16×digital input 5.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.4-2 Front view and connection of 16×digital input 5.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.5-1 Overview of 8×Digital output 1A 5.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.5-2 Front view and connection of 8×digital output 1A 5.5-2. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.6-1 Overview of 16×digital output 1A 5.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.6-2 Front view and connection of 16×digital output 1A 5.6-2. . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.7-1 Overview of 8×digital output 2A 5.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.7-2 Front view and connection of 8×digital output 2A 5.7-2. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.8-1 Overview of 4×relay 5.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.8-2 Front view and connection of 4×relay 5.8-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.8-3 Diagrams for the module 4×relay 5.8-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.9-1 Overview of 8×digital input / output 5.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.9-2 Front view and connection of 8×digital input / output 5.9-2. . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.10-1 Overview of 4×analog input 5.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.10-2 Front view 4×analog input 5.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.10-3 Sensor connection 5.10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.11-1 Overview of 4×analog output 5.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.11-2 Front view and connection of 4×analog output 5.11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.12-1 Overview of 4×analog input / output 5.12-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.12-2 Front view and connection of 4×analog input / output 5.12-2. . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.13-1 Overview of 2/4×counter 5.13-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.13-2 Front view and connection of 2/4×counter 5.13-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.14-1 Overview of SSI interface 5.14-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.14-2 Front view and connection of SSI interface 5.14-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.15-1 Overview of 1×counter/16×digital input 5.15-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.15-2 Front view and connection 1×counter/16×digital input 5.15-2. . . . . . . . . . . . . . . . . . . . . . . .

Fig. 5.16-1 Overview and internal wiring of the terminal module 5.16-1. . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 6.2-1 8×dig. I/O compact 6.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



2 Guide

2.4

l2.4-2 EDSPM-TXXX-3.0-04/2004


Fig. 6.2-4 Front view of 8×dig. I/O compact 6.2-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 6.2-5 Wiring diagram of 8×dig. I/O compact 6.2-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 6.3-1 16×dig. I/O compact (single-wire conductor) 6.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Fig. 6.3-4 Front view of 16×dig. I/O compact (single-wire conductor) 6.3-5. . . . . . . . . . . . . . . . . . . . .

Fig. 6.3-5 Wiring diagram of 16×dig. I/O compact (single-wire conductor) 6.3-6. . . . . . . . . . . . . . . . . .

Fig. 6.4-1 16×dig. I/O compact (three-wire conductor) 6.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Fig. 6.4-4 Front view of 16×dig. I/O compact (three-wire conductor) 6.4-5. . . . . . . . . . . . . . . . . . . . . .

Fig. 6.4-5 Wiring diagram of 16×dig. I/O compact (three-wire conductor) 6.4-6. . . . . . . . . . . . . . . . . .

Fig. 6.5-1 32×dig. I/O compact 6.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



Fig. 6.5-4 Front view of 32×dig. I/O compact 6.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 6.5-5 Wiring diagram of 32×dig. I/O compact 6.5-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 7.2-1 Module dimensions of the modular system 7.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 7.2-2 Mounting the module on the DIN rail 7.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 7.2-3 Remove the module from the backplane bus 7.2-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 7.3-1 Module dimensions of the compact system 7.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 7.3-2 Mounting the module on the DIN rail 7.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 7.3-3 Remove the module from the DIN rails 7.3-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 8.3-1 Wiring of the terminal strips 8.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 8.4-1 Connecting the supply voltage 8.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 8.4-2 Connecting the supply voltage 8.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 8.5-1 Basic wiring of the system bus (CAN) / CANopen 8.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 9.2-1 Basic structure of the CAN telegram 9.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 9.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered) 9.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 9.4-2 Data transmission between I/O system IP20 and controller 9.4-10. . . . . . . . . . . . . . . . . . . . .

Fig. 9.5-1 Writing a parameter 9.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 9.5-2 Reading a parameter 9.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Fig. 9.7-1 Node Guarding Protocol 9.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


2Guide

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l 2.4-3EDSPM-TXXX-3.0-04/2004

Fig. 9.8-1 Heartbeat Protocol 9.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 10.2-1 Basic structure of the CAN telegram 10.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 10.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered) 10.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 10.4-2 Data transmission between I/O system IP20 and controller 10.4-11. . . . . . . . . . . . . . . . . . . . .

Fig. 10.5-1 Writing a parameter 10.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 10.5-2 Reading a parameter 10.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


Fig. 10.7-1 Node Guarding Protocol 10.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 10.8-1 Heartbeat Protocol 10.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 11.3-1 9300 drive controller and I/O system IP20 with 6 digital inputs and 2 digital outputs 11.3-1. . .

Fig. 12.2-1 Display of the parameter data ”digital module” 12.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.3-1 Display of the parameter data 4xanalog input 12.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.3-2 Display of the parameter data 4xanalog output 12.3-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.3-3 Display of the parameter data 4xanalog input /output 12.3-4. . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-1 Display of the parameter data of 2/4xcounter 12.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-2 Data input / output of 2/4xcounter 12.4-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-3 Setting the counter content for the 2/4xcounter 12.4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-4 Terminal assignment of the 2/4xcounter in the mode 0 12.4-6. . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-5 Counter access of the 2/4xcounter in the mode 0 12.4-7. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-6 Signal characteristic of 2/4xcounter in the mode 0 (upcounter) 12.4-7. . . . . . . . . . . . . . . . . .

Fig. 12.4-7 Signal characteristic of 2/4xcounter in the mode 0 (downcounter) 12.4-7. . . . . . . . . . . . . . . .

Fig. 12.4-8 Terminal assignment of the 2/4xcounter in the modes 1, 3 and 5 12.4-8. . . . . . . . . . . . . . . .

Fig. 12.4-9 Counter access of the 2/4xcounter in the modes 1, 3 and 5 12.4-9. . . . . . . . . . . . . . . . . . . .







Fig. 12.4-16 Terminal assignment of the 2/4xcounter in the mode 6 12.4-12. . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-17 Counter access of the 2/4xcounter in the mode 6 12.4-13. . . . . . . . . . . . . . . . . . . . . . . . . . . .



Fig. 12.4-20 Terminal assignment of the 2/4xcounter in the modes 8 ... 11 12.4-14. . . . . . . . . . . . . . . . . . .

Fig. 12.4-21 Counter access of the 2/4xcounter in the modes 8 ... 11 12.4-15. . . . . . . . . . . . . . . . . . . . . . .


2 Guide

2.4

l2.4-4 EDSPM-TXXX-3.0-04/2004

Fig. 12.4-22 Signal characteristic of 2/4xcounter in mode 8considering as example the counters 0.1 and 0.2 12.4-15. . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-23 Terminal assignment of the 2/4xcounter in the modes 12 and 13 12.4-16. . . . . . . . . . . . . . . .

Fig. 12.4-24 Counter access of the 2/4xcounter in the modes 12 and 13 12.4-17. . . . . . . . . . . . . . . . . . . .

Fig. 12.4-25 Signal characteristic of 2/4xcounter in the mode 12 12.4-18. . . . . . . . . . . . . . . . . . . . . . . . . .



Fig. 12.4-28 Signal characteristic of 2/4xcounter in the mode 14 (upcounter) 12.4-21. . . . . . . . . . . . . . . . .









Fig. 12.4-37 Terminal assignment of the 2/4xcounter in the mode 20 12.4-29. . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-38 Counter access of the 2/4xcounter in the mode 20 12.4-30. . . . . . . . . . . . . . . . . . . . . . . . . . .


Fig. 12.4-40 Signal characteristic of 2/4xcounter in the mode 20 (downcounter) 12.4-31. . . . . . . . . . . . . . .





Fig. 12.4-45 Terminal assignment of the 2/4xcounter in the modes 23 ... 26 12.4-35. . . . . . . . . . . . . . . . . .

Fig. 12.4-46 Counter access of the 2/4xcounter in the modes 23 ... 26 12.4-36. . . . . . . . . . . . . . . . . . . . . .

Fig. 12.4-47 Signal characteristic of 2/4xcounter in the mode 23 (upcounter, set function) 12.4-37. . . . . . . .

Fig. 12.4-48 Signal characteristic of 2/4xcounter in the mode 24 (downcounter, set function) 12.4-37. . . . . .

Fig. 12.4-49 Signal characteristic of 2/4xcounter in the mode 25 (upcounter, reset function) 12.4-37. . . . . .

Fig. 12.4-50 Signal characteristic of 2/4xcounter in the mode 26 (downcounter, reset function) 12.4-38. . . .





Fig. 12.4-55 Terminal assignment of the 2/4xcounter in the modes 28 ...30 12.4-41. . . . . . . . . . . . . . . . . .

Fig. 12.4-56 Counter access of the 2/4xcounter in the modes 28 ... 30 12.4-42. . . . . . . . . . . . . . . . . . . . . .


2Guide

2.4

l 2.4-5EDSPM-TXXX-3.0-04/2004
















Fig. 12.4-72 Terminal assignment of the 2/4xcounter in the modes 36 ... 38 12.4-53. . . . . . . . . . . . . . . . . .

Fig. 12.4-73 Counter access of the 2/4xcounter in the modes 36, 37 and 38 12.4-54. . . . . . . . . . . . . . . . .







Fig. 12.5-1 Display of the parameter data of the SSI interface 12.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.5-2 Data input /output of SSI interface 12.5-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.5-3 Counter access SSI interface, Hold function deactivated 12.5-4. . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.5-4 Counter access SSI interface, Hold function activated 12.5-4. . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.5-5 Example - How to assign parameter data when using SSI interface 12.5-5. . . . . . . . . . . . . . .

Fig. 12.5-6 Example - How to assign a comparison value to channel 0 when using SSI interface 12.5-5. .

Fig. 12.5-7 Example - How to assign a comparison value to channel 1 when using SSI interface 12.5-5. .

Fig. 12.6-1 Display of the parameter data of 1xcounter/16xdigital input 12.6-1. . . . . . . . . . . . . . . . . . . .

Fig. 12.6-2 Data input / data output 1xcounter/16xdigital input 12.6-2. . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.6-3 Counter access - 1xcounter/16xdigital input 12.6-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fig. 12.6-4 Counter access of 1xcounter/16xdigital input in the mode 0 12.6-5. . . . . . . . . . . . . . . . . . . .

Fig. 12.6-5 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (upcounter) 12.6-6. . . . . . . .

Fig. 12.6-6 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (downcounter) 12.6-6. . . . . .


2 Guide

2.4

l2.4-6 EDSPM-TXXX-3.0-04/2004


Fig. 12.6-8 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (upcounter) 12.6-8. . . . . . . .

Fig. 12.6-9 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (downcounter) 12.6-8. . . . . .


Fig. 12.6-11 Signal characteristic of 1xcounter/16xdigital input in the mode 2 12.6-10. . . . . . . . . . . . . . . . .





Contents

3Safety instructions

3.1

l 3.1-1EDSPM-TXXX-3.0-04/2004

3 Safety instructions

3.1 Contents

3.2 Layout of the safety instructions 3.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Layout of the safety instructions

3Safety instructions

3.2

l 3.2-1EDSPM-TXXX-3.0-04/2004

3.2 Layout of the safety instructions

All safety information given in these Instructions have the same structure:

Pictograph (indicates the type of danger)

Signal word! (indicates the severity of danger)

Note (describes the danger and informs the reader how to avoiddanger)

Pictograph Signal word Consequences if the safetyinstructions are

Signal word Meaninginstructions aredisregarded

Stop! Possible damage to material Damage to the I/O systemIP20 or its environment

Note! Useful note or tipwhich, if observed, will simplifyhandling of the I/O system IP20.

Contents

4Technical data

4.1

l 4.1-1EDSPM-TXXX-3.0-04/2004

4 Technical data

4.1 Contents

4.2 General data/operating conditions 4.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

General data/operating conditions

4Technical data

4.2

l 4.2-1EDSPM-TXXX-3.0-04/2004

4.2 General data/operating conditions

Conformity CE Low-Voltage Directive (73/23/EWG)

Approvals UL508 Industrial Control Equipment

Vibration resistance 1G/12G, in accordance with IEC 60068-2-6 / 60068-2-27

Climatic conditions RH1 in accordance with EN 61131-2 (without moisture condensation, relativehumidity 50 % ... 95 %)

Degree of pollution Degree of pollution 2 in accordance with EN 61131-2

Packaging (DIN 4180) Transport packaging

Permissible temperatureranges

Transport -25 °C... +70 °C

Storage -45 °C ... +85 °COperation Horizontal installation 0 °C ... +55 °Cp

Vertical installation 0 °C ... +45 °C

Mounting positions Horizontal and vertical

Noise emission Compliance with the limit value class A to EN 6100-6-4

Noise immunity Requirements Standard Degrees of severityo yESD EN 61000-4-2 3, i. e. 8 kV for air discharge,

6 kV on contact discharge

Conducted highfrequency

EN 61000-4-6 150 kHz ... 80 MHz, 10 V/m 80 % AM(1 kHz)

HF interference(enclosure)

EN 61000-4-3 80 MHz ... 1000 MHz, 10 V/m 80 % AM(1 kHz)895 MHz ... 905 MHz, 10 V/m 50 % dutytime PM (200 Hz)

Burst EN 61000-4-4 3

Insulation resistance In accordance with IEC 61131-2

Insulation voltage toreference earth

Inputs and outputs: 50 VAC/DC, test voltage 500 VAC

Electrical isolation fromb (CAN)

Modular systemYes via optocouplers

o o osystem bus (CAN) Compact modules

Yes, via optocouplers

Electrical isolation fromprocess level

Modular system Yes, via optocouplers

Enclosure IP20

Protective measures against Short circuit

Max. number of modules 33 (1 CAN gateway module + 32 modules)

Physical construction 1 CAN gateway module; up to 32 modules are attached to it on the right withoutany free space

Note!The technical data of the modules of the modular system isincluded in the chapter ”The modular system” in thecorresponding module description.The technical data of the modules of the compact system isincluded in the chapter ”The compact system” in thecorresponding module description.

Standards and applicationconditions

General electrical data

Modular system components

Contents

5The modular system

5.1

l 5.1-1EDSPM-TXXX-3.0-04/2004

5 The modular system

5.1 Contents

5.2 CAN gateway 5.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 8×digital input 5.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 16×digital input 5.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.5 8×digital output 1A 5.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.6 16×digital output 1A 5.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.7 8×digital output 2A 5.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.8 4×relay 5.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.9 8×digital input / output 5.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.10 4×analog input 5.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.11 4×analog output 5.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.12 4×analog input / output 5.12-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.13 2/4×counter 5.13-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.14 SSI interface 5.14-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.15 1×counter/16×digital input 5.15-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.16 Terminal module 5.16-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

CAN gateway

5The modular system

5.2

l 5.2-1EDSPM-TXXX-3.0-04/2004

5.2 CAN gateway

The CAN gateway is the interface between the process level and the master bussystem. The control signals at the process level are transmitted by the electronicmodules. These modules are connected with the CAN gateway via the backplanebus (EPM-T9XX). CAN gateway and the connected electronic modulescommunicate via the backplane bus. A configuration is not required.

Up to 32 modules can be connected to a CAN gateway

Integrated power supply unit for the own voltage supply and the voltagesupply of the connected electronic modules

Load capacity of the integrated power supply unit up to 3 A

Power supply unit fed via an external DC voltage source

Connection to the system bus (CAN) / CANopen via a 9-pole Sub-D plug

Address and baud rate setting via coding switch

The baud rate is stored permanently in an EEPROM in the module

LED shows the status

PW

ER

RD

BA

ADR.

DC24V

+

-1

2

X1

EPM– T110 xx.xx

01

epm-t009

Fig. 5.2-1 Overview of CAN gateway

LED for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connection

Description

Features

Overview

CAN gateway


5.2

l5.2-2 EDSPM-TXXX-3.0-04/2004

1

2

3

45

6

7

8

9

epm-t023

Fig. 5.2-2 Connection to the system bus (CAN)/CANopen with 9-pole Sub-D plug

Pin Assignment1 Not assigned2 CAN-LOW3 CAN-GND4 Not assigned5 Not assigned6 Not assigned7 CAN-HIGH8 Not assigned9 Not assigned

Use the coding switch to set the baud rate.

The node address must be set via the coding switch.

0 1

+ +

– –

epm-t024

Fig. 5.2-3 Coding switch a CAN gateway

– Decrease numerical value

+ Increase numerical value

Connecting systembus (CAN)/CANopen

Baud rate and node address

CAN gateway

5The modular system

5.2

l 5.2-3EDSPM-TXXX-3.0-04/2004

System bus (CAN) CANopen Baud rate

Coding switch value Coding switch value [kbit/s]

90 80 1000

91 81 500

92 82 250

93 83 125

94 84 100

95 85 50

96 86 20

97 87 10

98 88 800

Bold print = Lenze setting

1. Switch off the voltage supply of the module.

2. Use the coding switch to set the required baud rate.– Select ”9x”, when using the ”system bus (CAN)” protocol (x = value for the

required baud rate)– Select ”8x” when using the ”CANopen” protocol (x = value of required

baud rate)

3. Switch on the voltage supply of the module.– The LEDs ER, RD and BA are blinking with a frequency of 1 Hz.

4. LEDs ER and BA go off after 5 seconds, and the set baud rate is stored.

5. Now set the node address with the coding switch for the module. You havefive seconds for this.– Each node address must be assigned only once.

6. The set node address will be accepted after 5 seconds.– LED RD goes off.– The module changes to the pre-operational mode.

Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the modular systemneeds approx. 10 ms for initialisation. During this time, themodules cannot be parameterised.

Baud rate setting

Setting the node address

CAN gateway


5.2

l5.2-4 EDSPM-TXXX-3.0-04/2004

LED Status Meaning

PW (yellow) on Module supply voltage on

ER (red) on Incorrect data transmission on the backplane bus.

RD (green)on Signals error-free data transmission on the backplane bus.

RD (green)See table below

BA (yellow) See table below

PW (yellow) ER (red) RD (green) BA (yellow) Meaning

on off blinking (1 Hz) off Self test and initialisation in progress

on off on onSystem bus (CAN)/CANopen in the”Operational”state

on off on blinking (1 Hz)System bus (CAN)/CANopen in the”Pre-Operational”state

on off on blinking (10 Hz)System bus (CAN)/CANopen in the”Stopped”state

on blinking (10 Hz) on onblinking (1 Hz)

System bus (CAN)/CANopen ”Offline”state

on blinking (1 Hz) onblinking (1 Hz)blinking (10 Hz) System bus (CAN)/CANopen ”Warning”state

on on on on Error during RAM or EEPROM initialisation

on blinking (1 Hz) blinking (1 Hz) blinking (1 Hz) Baud rate setting mode active

on blinking (10 Hz) blinking (10 Hz) blinking (10 Hz) Error during baud rate setting

on off blinking (1 Hz) off Address setting mode active

Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen”.

Status display

CAN gateway

5The modular system

5.2

l 5.2-5EDSPM-TXXX-3.0-04/2004

Type CAN gateway

Voltage supply DC 24 V / max. 700 mA (DC 20.4 ... 28.8 V)

Max. current consumption of electronicmodules

3A

Connectable cable cross-section ≤ 2.5 mm2 (≥ AWG 14)

Communication

Communication protocol • System bus (CAN)• CANopen (CAL-based communication profile DS301/DS401)

Communication medium DIN ISO 11898

Network topology Line (terminated at both ends)

Cable length

Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000

Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25

Max. number of nodes 63

Electrical isolation from system bus Yes, via optocouplers

Connectable electronic modules

Max. number of elements 32

Max. number of digital input/outputmodules

32

Max. number of digital input/outputmodules

9

Max. number 2/4×counter 4

Max. number SSI interface 9

Max. number 1×counter/16×digital input 9

Max. digital input data 72 bytes

Max. digital output data 72 bytes

Max. analog input data 72 bytes

Max. analog output data 72 bytes

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 80 g

Order designation EPM-T110

Technical data

8×digital input

5The modular system

5.3

l 5.3-1EDSPM-TXXX-3.0-04/2004

5.3 8×digital input

The module 8×digital input detects the binary control signals of the process leveland transfers them to the master bus system.

8 digital inputs

Suitable for switches and proximity switches

LED displays the states of the digital inputs

epm-t015

Fig. 5.3-1 Overview of 8×digital input

LED for status displayBit address label cardPlug-in terminal strip

Description

Features

Overview

8×digital input


5.3

l5.3-2 EDSPM-TXXX-3.0-04/2004

DI 8xDC24V

.0

.1

.2

.3

.4

.5

.6

.7

1

2

3

4

5

6

7

8

9

L

10

EPM – T210 1A

+–

1

2

3

4

5

6

7

8

9

10

DC 24 V (DC 18 … 28.8 V)

epm-t025 epm-t026

Fig. 5.3-2 Front view and connection of 8×digital input

Status display .0 ... .7; LED (green) islit h HIGH l l i i d

Terminal strip assignment detailsy (g )lit when a HIGH level is recognised 1 Not assigned

2 Digital input E.03 Digital input E.14 Digital input E.25 Digital input E.36 Digital input E.47 Digital input E.58 Digital input E.69 Digital input E.710 GND (reference potential)

Connection to backplane bus

Type 8×digital input

Voltage supply DC 5 V / 20 mA (via backplane bus)


Digital inputs

Rated input voltage DC 24 V (DC 18 ... 28.8 V)

Number of inputs 8

Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 30 V

Input resistance 3.3 kΩDelay time 3 ms

Electrical isolation from backplane bus Yes, via optocouplers

Communication

Input data 1 byte

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g


Status display and terminalassignment

Technical data

16×digital input

5The modular system

5.4

l 5.4-1EDSPM-TXXX-3.0-04/2004

5.4 16×digital input

The module 16×digital input detects the binary control signals of the process leveland transfers them to the master bus system.

Note!The chapter ”Parameter setting” describes how to parameterisethe module.

16 digital inputs



epm-t129

Fig. 5.4-1 Overview of 16×digital input

LED for status displayPlug-in terminal strip

Description

Features

Overview

16×digital input


5.4

l5.4-2 EDSPM-TXXX-3.0-04/2004

DI 16xDC24V

EPM – T211

1

2.0

3.1

4.2

5.3

6.4

7.5

8.6

9.7

10.0

11.1

12.2

13.3

14.4

15.5

16.6

17.7

18

+–

1

2

3

4

14

15

16

17

18

DC 24 V (DC 18 … 28.8 V)

epm-t125 epm-t121

Fig. 5.4-2 Front view and connection of 16×digital input

2 × status display .0 ... .7; LED( ) i lit h HIGH l l i

Terminal strip assignment detailsy(green) is lit when a HIGH level isrecognised

1 Not assignedrecognised

2 Digital input E.03 Digital input E.14 Digital input E.2... ...14 Digital input E.1215 Digital input E.1316 Digital input E.1417 Digital input E.1518 GND (reference potential)

Connection to backplane bus

Type 16×digital input



Digital inputs


Number of inputs 16




Communication

Input data 2 bytes

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g



Technical data

8×digital output 1A

5The modular system

5.5

l 5.5-1EDSPM-TXXX-3.0-04/2004

5.5 8×digital output 1A

The module 8×digital output 1A detects the binary control signals from the masterbus system and transports them to the process level via the outputs. The digitaloutputs are supplied via an external voltage supply (DC 24 V).


8 digital outputs

DC 24 V supply voltage

Each digital output has a capacity of up to 1 A

Suitable for solenoid valves and DC contactors

LED displays the states of the digital outputs

epm-t015

Fig. 5.5-1 Overview of 8×Digital output 1A


Description

Features

Overview



5.5

l5.5-2 EDSPM-TXXX-3.0-04/2004

DO 8xDC24V 1A

.0

L+

.1

.2

.3

.4

.5

.6

.7

F

1

2

3

4

5

6

7

8

9

L

10

EPM – T220 1A

1

2

3

4

5

6

7

8

9

10

– +

Z

Z

Z

Z

Z

Z

Z

Z

DC 24 V (DC 18 … 35 V)

epm-t017 epm-t016

Fig. 5.5-2 Front view and connection of 8×digital output 1A

Status display L+; LED (yellow) is litwhen a supply voltage is applied

Terminal strip assignmentdetailswhen a su ly voltage is a lied

1 DC 24 V supply voltage2 Digital output A.0

Status display .0 ... .7; LED (green) islit h th di t t i

3 Digital output A.1y (g )lit when the corresponding output istriggered

4 Digital output A.2triggered

5 Digital output A.3Status display F; LED (red) is lit in

f l d h ti6 Digital output A.4y ( )

case of overload, overheating orshort circuit

7 Digital output A.5short circuit

8 Digital output A.69 Digital output A.710 GND (reference potential)

Connection to backplane busZ Load

Type 8×digital output 1A



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


Communication

Output data 1 byte

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g



Technical data


5The modular system

5.6

l 5.6-1EDSPM-TXXX-3.0-04/2004


The module 16×digital output 1A detects the binary control signals from themaster bus system and transports them to the process level via the outputs. Thedigital outputs are supplied via an external voltage source (DC 24 V).


16 digital outputs





epm-t129

Fig. 5.6-1 Overview of 16×digital output 1A


Description

Features

Overview



5.6

l5.6-2 EDSPM-TXXX-3.0-04/2004

DO 16xDC24V 1A

EPM – T223 1A

1

2.0

3.1

4.2

L+

5.3

6.4

7.5

8.6

9.7

10.0

11.1

12.2

13.3

14.4

15.5

16.6

17.7

F 18

1

2

3

4

14

15

16

17

18

Z

Z

Z

Z

Z

Z

Z

– +DC 24 V (DC 18 … 35 V)

epm-t126 epm-t122





2 ×Status display .0 ... .7; LED( ) i lit h th di

3 Digital output A.1y(green) is lit when the correspondingoutput is triggered

4 Digital output A.2output is triggered


f l d h ti... ...y ( )








Digital output data


Number of outputs 16


Max. output summation current 10A

Delay time < 1 ms


Communication

Output data 2 bytes

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g



Technical data


5The modular system

5.7

l 5.7-1EDSPM-TXXX-3.0-04/2004


The module 8×digital output 2A detects the binary control signals from the masterbus system and transports them to the process level via the outputs. The digitaloutputs are supplied via an external voltage source (DC 24 V).


8 digital outputs





epm-t015

Fig. 5.7-1 Overview of 8×digital output 2A


Description

Features

Overview



5.7

l5.7-2 EDSPM-TXXX-3.0-04/2004

DO 8xDC24V 1A

.0

L+

.1

.2

.3

.4

.5

.6

.7

F

1

2

3

4

5

6

7

8

9

L

10

EPM – T220 1A

1

2

3

4

5

6

7

8

9

10

– +

Z

Z

Z

Z

Z

Z

Z

Z

DC 24 V (DC 18 … 35 V)

epm-t017 epm-t016






3 Digital output A.1y (g )lit when the corresponding output istriggered

4 Digital output A.2triggered


f l d h ti6 Digital output A.4y ( )








Digital output data


Number of outputs 8


Max. output summation current 10A

Delay time < 1 ms


Communication

Output data 1 byte

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g



Technical data

4×relay

5The modular system

5.8

l 5.8-1EDSPM-TXXX-3.0-04/2004

5.8 4×relay

The module 4×relay detects the binary control signals from the master bus systemand transports them to the process level via the outputs. The module has fourrelays with a switch each (NO contact).


Four isolated relay outputs

Up to 230 V AC or up to 30 V DC contact voltage

Max. 5 A contact current

Suitable for motors, lamps, solenoid valves and DC contactors

LED displays the switching states

epm-t015

Fig. 5.8-1 Overview of 4×relay


Description

Features

Overview

4×relay


5.8

l5.8-2 EDSPM-TXXX-3.0-04/2004

DO 4xRELAIS

.0

.1

.2

.3

1

2

3

4

5

6

7

8

9

L

10

EPM – T222 1A

1+5 V

2

3

4

5

6

7

8

9

10

Z

Z

Z

Z

epm-t020 epm-t021

Fig. 5.8-2 Front view and connection of 4×relay

Status display; LED (green) is lit whena relay output is triggered

Terminal strip assignmentdetailsa relay out ut is triggered

1 Not assigned2/3 Relay output A.0

.0 Relay output A.0 4/5 Relay output A.11. Relay output A.1 6/7 Relay output A.2.2 Relay output A.2 8/9 Relay output A.3.3 Relay output A.3 10 Not assigned

Connection to backplane busExternal AC voltage sourceAC 0 ... 230 VExternal DC voltage sourceDC 0 ... +30 V

Z Load


4×relay

5The modular system

5.8

l 5.8-3EDSPM-TXXX-3.0-04/2004

Maximum relay contact switching capacity Relay contact life

20 30 50 100 200 300 U [V]

0.2

0.5

2

345

1

0.30.4

I [A]

100

50

30

20

10

0.5 1 2 3 4 5 10 100

n

epm-t018 epm-t019

Fig. 5.8-3 Diagrams for the module 4×relay

I Contact current n Number of switching cycles × 104

U Contact voltage Service life at AC 125 VSwitching capacity at AC voltage Service life at DC 30 VSwitching capacity at DC voltage Service life at AC 230 V

Type 4×relay

Voltage supply DC 5 V 125 mA (via backplane bus)


Relay outputs

Number 4

Max. contact voltage AC 230 VDC 30 V

Max. contact current 5A

Max. relay switching frequency 100 Hz

Communication

Output data 1 byte (bit 0 ... bit 3)

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 80 g


Technical data

8×digital input / output

5The modular system

5.9

l 5.9-1EDSPM-TXXX-3.0-04/2004

5.9 8×digital input / output

The channels of the module 8×digital input / output can be used either as digitalinputs or outputs. The digital inputs or outputs are supplied via an external voltagesource.


8 digital inputs or outputs at option




epm-t015

Fig. 5.9-1 Overview of 8×digital input / output


Description

Features

Overview



5.9

l5.9-2 EDSPM-TXXX-3.0-04/2004

DIO 8xDC24V 1A

.0

L+

.1

.2

.3

.4

.5

.6

.7

F

1

2

3

4

5

6

7

8

9

L

10

EPM – T230 1A

–

+

2

1

3

4

5

6

7

8

9

10

Z

Z

Z

Z

DC 24 V

(DC +18 … +35 V)

epm-t027 epm-t028

Fig. 5.9-2 Front view and connection of 8×digital input / output



1 DC 24 V supply voltage2 Digital input / output E/A.0


3 Digital input / output E/A.1y (g )lit when the corresponding output istriggered

4 Digital input / output E/A.2triggered

5 Digital input / output E/A.3Status display F; LED (red) is lit in

f l d h ti6 Digital input / output E/A.4y ( )


7 Digital input / output E/A.5short circuit

8 Digital input / output E/A.69 Digital input / output E/A.710 GND (reference potential)

Connection to backplane busEmergency-off switch

Z Load

Stop!If the voltage supply (DC 5 V via the backplane bus) fails, themodule will malfunction:

Switched outputs carry voltage if one input is assigned with aHIGH level,The module can be destroyed since the outputs are notresistant to short circuits anymore.

The emergency-off switch ensures that when being operated, theoutputs do not carry any voltage and the inputs are not assignedwith a HIGH level.



5The modular system

5.9

l 5.9-3EDSPM-TXXX-3.0-04/2004

Type 8×digital input / output



Digital inputs / outputs

Number 8, can be optionally parameterised as inputs or outputs


Digital inputs

Inputs 8

Rated input voltage DC 24 V (DC 18 ... 35 V)

Level LOW: DC 0 V ... 5 VHIGH: DC 15 V ... 30 V


Digital outputs

Outputs 8


Max. output current per output 1 A (resistant to short circuits)

Delay time < 1 ms

Communication

Input data 1 byte

Output data 1 byte

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g


Technical data

4×analog input

5The modular system

5.10

l 5.10-1EDSPM-TXXX-3.0-04/2004

5.10 4×analog input

The module 4×analog input has four analog inputs which can be parameterisedindividually. The module assigns a total of eight bytes of input data in the processimage (two bytes per input). The analog inputs are isolated with regard to thebackplane bus.


4 analog inputs

The inputs can be parameterised individually

Any unused inputs can be deactivated

The reference potentials (GND) of the analog inputs are electricallyseparated from each other

The reference potentials may vary from each other by a voltage differential ofup to 5 V

Input ranges: Voltage, current, temperature, resistance

LED diagnostics display a wire breakage or overcurrent in the currentmeasuring range

epm-t015

Fig. 5.10-1 Overview of 4×analog input


Description

Features

Overview

4×analog input


5.10

l5.10-2 EDSPM-TXXX-3.0-04/2004

AI 4x16BIT

F0

F1

F2

F3

1

2

3

4

5

6

7

8

9

L

10

EPM – T310 1A 10

epm-t029

Fig. 5.10-2 Front view 4×analog input

Status display

LED (red) is lit in case of a wire breakage in the measuring range of 4 ... 20 mA

LED (red) is blinking at an input current of >40 mAF0 Analog input E.0F1 Analog input E.1F2 Analog input E.2F3 Analog input E.3Terminal strip

Assignment:Two-wire connection Four-wire connection

1 Not assigned -V / analog input E.02 + / analog input E.0 -I / analog input E.03 - / analog input E.0 Not assigned4 + / analog input E.1 +V / analog input E.05 - / analog input E.1 -I / analog input E.06 + / analog input E.2 -I / analog input E.27 - / analog input E.2 Not assigned8 + / analog input E.3 +V / analog input E.29 - / analog input E.3 -I / analog input E.210 Not assigned -V / analog input E.2


4×analog input

5The modular system

5.10

l 5.10-3EDSPM-TXXX-3.0-04/2004

Connection

Two-wire connection Four-wire connection

2

1

3

5

7

9

10

4

6

8

D

AµP

MU

X

PES

PES PES

PESPES

PES PES

PES

D

AµP

MU

X

9

10

+U

+U

-U

-U

I

I

I

I

8

7

6

5

4

3

2

1

PESPES

PES

PES

epm-t036 epm-t033

Fig. 5.10-3 Sensor connection

Analog input E.0Analog input E.2Connection to backplane bus

PES HF shield termination through large-surface connection to PESensor:

Voltage or current source

Thermal element

Resistor

Resistor, temperature-dependent

Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.The 4×analog input module does not supply any auxiliaryvoltage for sensors. For information on how to connect sensors,please refer to the relevant sensor documentation.

4×analog input


5.10

l5.10-4 EDSPM-TXXX-3.0-04/2004

Type 4×analog input



Analog inputs

Number 4

Input area

Voltage -10 ... +10 V-4 ... +4 V-400 ... +400 mV0 ... +50 mV

Current -20 ... +20 mA+4 ... +20 mA

Information on tolerancescan be found in the chapter”Parameter setting”

Resistor 60 Ω, 600 Ω, 3 kΩ,6 kΩ”Parameter setting”

Resistor, temperature-dependent PT100, PT1000, Ni100,NI1000

Thermal element J, K, N, R, S, T

Input resistance

Voltage range 2 MΩCurrent range 50 Ω

Delay times Conversion time/resolution

Conversion rate [Hz] 3.7 7.5 15 30 60 123 168 202

Processing time per channel [ms] 290 150 84 54 36 28 26 26

Resolution [Bit] 16 16 16 16 15 14 12 10


Communication

Input data 8 bytes (2 bytes per analog input)

Parameter data 10 bytes

Diagnostic data 4 bytes

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 100 g

Order number EPM-T310

Technical data

4×analog output

5The modular system

5.11

l 5.11-1EDSPM-TXXX-3.0-04/2004

5.11 4×analog output

The module 4×analog output has four analog outputs which can be parameterisedindividually. The analog outputs are isolated with regard to the backplane bus.


4 analog outputs


The outputs can be parameterised individually

One reference potential (GND) for all outputs

Output ranges: Voltage, current

LED diagnostics displays a wire breakage at current output and a shortcircuit at voltage output

epm-t015

Fig. 5.11-1 Overview of 4×analog output


Description

Features

Overview

4×analog output


5.11

l5.11-2 EDSPM-TXXX-3.0-04/2004

AO 4x12BIT

Q0

M0

Q1

M1

Q2

M2

Q3

M3

M

L+ 1

2

3

4

5

6

7

8

9

L

10

EPM – T320 1A 10

2

1

3

5

7

9

10

4

6

8

D

A

D

A

D

A

D

A

µP

PES

PES

PES

PES

PES

PES

PES

PES

–

+DC 24 V

(DC 19.2

… 28.8 V)

epm-t030 epm-t037

Fig. 5.11-2 Front view and connection of 4×analog output

Status display L+; LED (yellow) is lith l lt i li d

Terminal strip assignment detailsy (y )when a supply voltage is applied 1 DC 24 V supply voltageStatus display M3; LED (red) is lit in

f th f ll i f lt2 Analog output A.0y ( )

case of the following faults:

Short-circuit on voltage output3 GND1 (reference potential for

analog signals)Short circuit on voltage out ut

Open circuit on current output 4 Analog output A.1O en circuit on current out ut

CAN gateway is not supplied withvoltage

5 GND1 (reference potential foranalog signals)voltage

6 Analog output A.27 GND1 (reference potential for

analog signals)8 Analog output A.39 GND1 (reference potential for

analog signals)10 GND (reference potential for

supply voltage)Connection to backplane busInput resistor of actuator

PES HF shield termination throughlarge-surface connection to PE

Note!Ensure correct polarity when connecting the actuators.The 4×analog output module does not supply any auxiliaryvoltage for actuators. For information on how to connectactuators requiring auxiliary voltage, please refer to the relevantactuator documentation.Unused outputs remain unassigned.


4×analog output

5The modular system

5.11

l 5.11-3EDSPM-TXXX-3.0-04/2004

Type 4×analog output


External voltage supply DC 24 V / 200 mA (DC 19.2 ... 28.8 V)


Analog outputs

Number 4 outputs

Output current consumption 200 mA

Analog-to-digital converter 12 bits

Output ranges

Voltage -10 ... +10 V+1 ... +5 V0 ... +10 V Information on tolerances can be

found in the chapter ”ParameterCurrent -20 ... +20 mA

+4 ... +20 mA0 ... +20 mA

found in the chapter ”Parametersetting”

Actuator - input resistance

Voltage range min. 500 ΩCurrent range max. 500 Ω

Delay time 10 ms


Communication

Output data 8 bytes (2 bytes per analog output)



Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 100 g


Technical data

4×analog input / output

5The modular system

5.12

l 5.12-1EDSPM-TXXX-3.0-04/2004

5.12 4×analog input / output

The module 4×analog input / output has two analog inputs and two analog outputswhich can be parameterised individually. The analog inputs and outputs areisolated from the backplane bus and the voltage supply.


2 analog inputs

2 analog outputs


The inputs and outputs can be parameterised individually

Input ranges: Voltage, current

Output ranges: Voltage, current

LED diagnostics displays a wire breakage in the current measuring range

epm-t015

Fig. 5.12-1 Overview of 4×analog input / output


Description

Features

Overview



5.12

l5.12-2 EDSPM-TXXX-3.0-04/2004

AI/AO 2/2x12BIT

+0

M0

+1

M1

Q0

M0

Q1

M1

F

L+

L

EPM – T330 1A. 10

1

2

3

4

5

6

7

8

9

10

D

A

D

A

µP

2

1

3

5

7

9

10

4

6

8

PES

PES

PES

PES

PES

PES

PES

PES

–

+DC 24 V

(DC 20.4

… 28.8 V)

MU

XD

A

epm-t127 epm-t123

Fig. 5.12-2 Front view and connection of 4×analog input / output

Status display L+; LED (yellow) is lith l lt i li d

Terminal strip assignment detailsy (y )when a supply voltage is applied 1 DC 24 V supply voltageStatus display F; LED (red) is lit in

f th f ll i f lt2 + analog input E.0y ( )

case of the following faults:

N t l l lt3 - analog input E.0

No external supply voltage

Wi b k i h4 + analog input E.1

Wire breakage in the currentmeasuring range

5 - analog input E.1measuring range 6 Analog output A.0

7 GND (reference potential foranalog signals)

8 Analog output A.19 GND (reference potential for

analog signals)10 GND (reference potential for

supply voltage)Connection to backplane busInput resistorof actuatorSensor (voltage or current source)

PES HF shield termination throughlarge-surface connection to PE

Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.Ensure correct polarity when connecting the actuators.Unused outputs remain unassigned.The 4×analog input/output module does not supply anyauxiliary voltage for sensors/actuators. For information on howto connect sensors/actuators requiring auxiliary voltage, pleaserefer to the relevant sensor/actuator documentation.



5The modular system

5.12

l 5.12-3EDSPM-TXXX-3.0-04/2004

Type 4×analog input / output


External voltage supply DC 24 V / 110 mA (DC 20.4 ... 28.8 V)

Short-circuit current 30 mA


Analog inputs

Number 2

Input area

Voltage DC 0 ... +10 VDC -10 ... +10 VDC +1 ... +5 V Information on tolerances

can be found in the chapterCurrent 0 ... +20 mA

-20 ... +20 mA+4 ... +20 mA

can be found in the chapter”Parameter setting”

Conversion rate [Hz] 3.7 7.5 15 30 60 123 168 202

Processing time per channel [ms] 290 150 84 54 36 28 26 26

Resolution [Bit] 16 16 16 16 15 14 12 10


Analog outputs

Number 2

Analog-to-digital converter 12 bits

Output ranges(Tolerances refer to the upper limit of effectiverange)

Voltage DC 0 ... +10 V (±0.4 %)DC -10 ... +10 V (±0.2 %)DC +1 ... +5 V (±0.6 %)

Current 0 ... +20 mA (±0.6 %)-20 ... +20 mA (±0.3 %)+4 ... +20 mA (±0.8 %)

Actuator input resistor

Voltage range min. 500 ΩCurrent range max. 500 Ω

Delay time 10 ms


Communication

Input data 4 bytes (one word per channel)

Output data 4 bytes



Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 100 g


Technical data

2/4×counter

5The modular system

5.13

l 5.13-1EDSPM-TXXX-3.0-04/2004

5.13 2/4×counter

The module 2/4×counter detects the pulses of the connected encoders andprocesses these pulses according to the mode selected. The module has two32-bit counters or four 16-bit counters. Each 32-bit counter has a digital outputwhich can be triggered depending on the mode.


Two 32-bit counters or four 16-bit counters

One freely configurable digital output per 32-bit counter with an outputcurrent of 0.5 A

Counter and compare registers loaded via control byte

Up / down counter, optionally with a channel width of 32 or 16 bits

Compare and Auto Reload functionality

Various modes for encoder pulses

Period and frequency measuring

LED displays status of the inputs and outputs

epm-t015

Fig. 5.13-1 Overview of 2/4×counter


Description

Features

Overview

2/4×counter


5.13

l5.13-2 EDSPM-TXXX-3.0-04/2004

2 Counter 2 DO

R0

C0

D0

O0

R1

C1

D1

O1

F

L+ 1

2

3

4

5

6

7

8

9

L

10

EPM – T410 1A 10

2

C0

C2

1

OUT0

OUT1

GND

IN1

IN4

IN3

IN6

IN2

IN5

3

5

7

9

10

4

6

8

+

–

DC 24 V

(DC 18

… 30 V)

Z

Z

epm-t038 epm-t039

Fig. 5.13-2 Front view and connection of 2/4×counter

Status display L+; LED (yellow) islit h l lt i li d

Terminal strip assignment detailsy (y )lit when a supply voltage is applied 1 DC 24 V supply voltage

2 IN1: Input 1 of counter 0Status display 00; LED (green) is lit 3 IN2: Input 2 of counter 0Status dis lay 00 LED (green) is litwhen the digital output OUT0 ist i d b t 0

4 IN3: Input 3 of counter 0gtriggered by counter 0 5 OUT0: Counter 0 outputStatus display 01; LED (green) is lit 6 IN4: Input 1 of counter 1Status dis lay 01 LED (green) is litwhen the digital output OUT1 ist i d b t 1

7 IN5: Input 2 of counter 1gtriggered by counter 1 8 IN6: Input 3 of counter 1Status display F; LED (red) is lit in 9 OUT1: Counter 1 outputStatus dis lay F LED (red) is lit incase of overload, overheating, andshort circuit

10 GND (reference potential forsupply voltage)

Connection to backplane busC0 32-bit counter 0c1 32-bit counter 1

BufferCounter register

Z Load

Counter mode overview

Mode of Function IN1 IN2 IN3 IN4 IN5 IN6 OUT0 OUT1 AutoR l d

CompareL d[h] [dec]

o oReload

o pLoad

2 counters 0 1

00h 0 32-bit counter RES CLK DIR RES CLK DIR • • – –

01h 1 Encoder 1 edge RES A B RES A B • • – –

03h 3 Encoder 2 edges RES A B RES A B • • – –


4 counters 0.1 0.2 1.1 1.2

08h 8 2 × 16-bit counters(counting direction up/up)

– CLK CLK – CLK CLK – – – –

09h 9 2 × 16-bit counters(counting direction down/up)


0Ah 10 2 × 16-bit counters(counting direction up/down)


0Bh 11 2 × 16-bit counters(counting direction down/down)



2/4×counter

5The modular system

5.13

l 5.13-3EDSPM-TXXX-3.0-04/2004

Mode of CompareLoad

AutoReload

OUT1OUT0IN6IN5IN4IN3IN2IN1Function

[h]

CompareLoad

AutoReload


[dec]

2 counters 0 1

0Ch 12 2 × 32-bit counters(counting direction up)

RES CLK GATE RES CLK GATE • • –

0Dh 13 2 × 32-bit counters(counting direction down)


0Eh 14 2 × 32-bit counters(counting direction up)

RES CLK GATE RES CLK GATE • •

0Fh 15 2 × 32-bit counters(counting direction down)


1 counter 0/1

10h 16 Frequency measuring RES CLK START STOP – – • • –

11h 17 Measuring the period RES CLK START STOP – – • • –

12h 18 Frequency measuring(Counter output on/off)

RES CLK START STOP – – • • –

13h 19 Measuring the period(Counter output on/off)


2 counters 0 1

06h 6 Measuring the pulse width(fref 50 kHz, counting direction isselectable)

RES PULSE DIR RES PULSE DIR – – – –

14h 20 Measuring the pulse width(fref programmable, countingdirection is selectable)


15h 21 Measuring the pulse width(fref programmable, countingdirection: Upwards)

RES PULSE GATE RES PULSE GATE – – – –

16h 22 Measuring the pulse width(fref programmable, countingdirection: Downwards)


2 counters 0 1

17h 23 2 × 32-bit counters(counting direction up, ”Set”function)

RES CLK GATE RES CLK GATE – – –

18h 24 2 × 32-bit counters(counting direction down, ”Set”function)


19h 25 2 × 32-bit counters(counting direction up, ”Reset”function)


1Ah 26 2 × 32-bit counters(counting direction down, ”Reset”function)


2/4×counter


5.13

l5.13-4 EDSPM-TXXX-3.0-04/2004

Mode of CompareLoad

AutoReload


[h]

CompareLoad

AutoReload


[dec]

2 counters 0 1

1Bh 27 32-bit counter G/RES CLK DIR G/RES CLK DIR • • – –

1Ch 28 Encoder 1 edge G/RES A B G/RES A B • • – –

1Dh 29 Encoder 2 edges G/RES A B G/RES A B • • – –

1Eh 30 Encoder 4 edges G/RES A B G/RES A B • • – –

2 counters 0 1

1Fh 31 2 × 32-bit counters(counting direction up)


20h 32 2 × 32-bit counters(counting direction down)


21h 33 2 × 32-bit counters(counting direction up)




2 counters 0 1

23h 35 32-bit counter GATE CLK DIR GATE CLK DIR • • – –

24h 36 Encoder 1 edge GATE A B GATE A B • • – –

25h 37 Encoder 2 edges GATE A B GATE A B • • – –


• Digital output can signal an eventFunction available.

– No function / function not availableA Encoder signal AAuto Reload ”Auto Reload” causes the counter to accept a preset value as soon

as the counter content matches the Compare register content.B Encoder signal BCompare Load You may use ”Compare Load” to specify a counter limit value to

trigger an output when reached or to restart the counters via AutoReload.

CLK Clock signal of a connected encoder

HIGH level starts and / or stops the counting processDIR Indicates counting direction depending on signal level

LOW: Upcounter

HIGH: DowncounterGATE Gate signal is level-triggered

HIGH: Pulses are measuredG/RES Gate signal is level-triggered and reset signal is edge-triggered

HIGH: Pulses are measured

LOW-HIGH edge: Deletes one or both countersPULSE The pulse width of the supplied signal is measured with an internal

time baseRES Reset signal is level-triggered

HIGH: Deletes one or both countersRES Reset signal is edge-triggered

LOW-HIGH edge: Deletes one or both countersSTART Start signal is edge-triggeredSTOP Stop signal is edge-triggered

2/4×counter

5The modular system

5.13

l 5.13-5EDSPM-TXXX-3.0-04/2004

Type 2/4×counter




Counters

Number 2 × 32-bit counter or 4 × 16-bit counter

Operating modes 36 modes

Counting frequency 1 MHz

Inputs / outputs

External voltage supply DC 24 V (DC 18 ... 28.8 V)

Input signal level LOW: DC -30 ... +5 VHIGH: DC +13 ... +36 V

Max. output current per output 0,5A

Communication

Input data 10 bytes

Output data 10 bytes


Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 100 g

Technical data

SSI interface

5The modular system

5.14

l 5.14-1EDSPM-TXXX-3.0-04/2004

5.14 SSI interface

An SSI interface (Synchronous Serial Interface) is a synchronously pulsed, serialinterface.

SSI interface module permits the connection of absolutely coded sensors with SSIinterfaces. The module converts the serial information of the sensor into a parallelinformation and makes it available to the control.


1 SSI channel

Data transmission in the Gray code or binary code (safe data collection byusing the Gray code)

Adjustable baud rate of 100 ... 600 kbits/s

Maximum data integrity by using symmetrical clock and data signals

Isolation from receiver and encoder by optocoupler

Two parameterisable digital outputs, one of which parameterisable as holdinput to ”freeze” the current SSI encoder value

Integrated power supply unit of the interface electronics and the connectedsensor


epm-t015

Fig. 5.14-1 Overview of SSI interface


Description

Features

Overview

SSI interface


5.14

l5.14-2 EDSPM-TXXX-3.0-04/2004

Status display and terminal assignment

SSI

Cl+

Cl-

D+

D-

Us

M

.0

.1

F

L+ 1

2

3

4

5

6

7

8

9

L

10

EPM – T411 1A. 10

2

1

3

5

7

9

10

4

6

8

PES

PES

–

–

++

DC 24 V

(DC 18

… 28.8 V)

µP

Z

SSI

epm-t124 epm-t130

Fig. 5.14-2 Front view and connection of SSI interface

Status display L+; LED (yellow) islit h l lt i li d

Terminal strip assignment detailsy (y )lit when a supply voltage is applied 1 DC 24 V supply voltage

2 Clock pulseStatus display Cl+; LED (green) islit ith t t l k i l

3 Clock pulse convertedy (g )lit with an output clock signal 4 Data

5 Data convertedStatus display D+; LED (green) is litwhen the SSI sensor is receiving

6 DC 24 V supply voltage forSSI sensorwhen the SSI sensor is receiving

data 7 GND (reference potential ofl lt f SSI )Status display .0; LED (green) is lit

h HIGH l l i li d t

(supply voltage for SSI sensor)y (g )

when a HIGH level is applied to oroutput at input/output 0

8 Input/output .0output at input/output .0

9 Input/output .1Status display .1; LED (green) is litwhen a HIGH level is applied to or

10 GND (reference potential forsupply voltage)when a HIGH level is a lied to or

output at input/output .1 Connection to backplane busSSI SSI sensor

Status display F; LED (red) is lith th i t / t t 0 1

Z Loady ( )when the inputs / outputs .0 or .1are short-circuited or overloadedare short-circuited or overloaded

SSI interface

5The modular system

5.14

l 5.14-3EDSPM-TXXX-3.0-04/2004

Type SSI interface


External voltage supply DC 24 V / 50 mA mA (DC 18 ... 28.8 V)


SSI interface

External voltage supply DC 24 V (DC 18 ... 28.8 V)

Number of channels 1

Data line RS422, isolated

Clockline RS422, isolated

Cable specification Shielded cable with cores twisted in pairs

Cable length

Baud rate [kbit/s] 100 300 600

Max. bus length [m] 400 100 50

Inputs / outputs

Number 2, optional parameter setting

Input signal level LOW: DC -5 ... +7 VHIGH: DC +13 ... +36 V

Max. output current per output 0.5A

Communication

Input data 4 bytes

Output data 4 bytes, further 8 bytes in the module serving as buffer


Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 100 g


Technical data

1×counter/16×digital input

5The modular system

5.15

l 5.15-1EDSPM-TXXX-3.0-04/2004

5.15 1×counter/16×digital input

The module 1×counter/16×digital input detects the binary control signals of theprocess level and transfers them to the master bus system. In addition, a countercan be triggered via the first two inputs.


16 digital inputs

Adjustable counter function (pulse, frequency) for the first two inputs



epm-t129

Fig. 5.15-1 Overview of 1×counter/16×digital input


Description

Features

Overview



5.15

l5.15-2 EDSPM-TXXX-3.0-04/2004

1C/DI 16xDC24V

EPM – T430 1A

1

2.0

3.1

4.2

5.3

6.4

7.5

8.6

9.7

10.0

11.1

12.2

13.3

14.4

15.5

16.6

17.7

18

+–

2

1

3

4

14

15

16

17

18

DC 24 V (DC 18 … 28.8 V)

A

B

epm-t128 epm-t131

Fig. 5.15-2 Front view and connection 1×counter/16×digital input

2 × status display .0 ... .7; LED( ) i lit h HIGH l l i

Terminal strip assignment detailsy(green) is lit when a HIGH level isrecognised

1 Not assignedrecognised

2 Digital input E.0 or counterinput A

3 Digital input E.1 or counterinput B

4 Digital input E.2... ...16 Digital input E.1417 Digital input E.1518 GND (reference potential)Connection to backplane busPre-assign the counter with a countvalueOutput the current count value32-bit counter with channel A andchannel B


Mode Function E.0 E.1

0 4-fold pulse evaluation CLK CLK

1 Pulse and direction evaluation CLK DIR

2 Clock up/clock down evaluation CLK-UP CLK-DOWN

3 Frequency measurement CLK –

4 Period measurement CLK –

– No functionCLK Clock signal of a connected encoder

HIGH level starts and / or stops the counting processCLK-UP Clock signal of a connected encoder

With each LOW-HIGH edge the counter counts up by 1CLK-DOWN Clock signal of a connected encoder

With each LOW-HIGH edge the counter counts down by 1DIR Indicates counting direction depending on signal level

LOW: Upcounter

HIGH: Downcounter



5The modular system

5.15

l 5.15-3EDSPM-TXXX-3.0-04/2004

Type 1×counter/16×digital input



Digital inputs


Number of inputs 16

Level LOW: DC 0 ... 5 VHIGH: DC 15 ... 28.8 V

Input current 7 mA


Delay - pulse input 100 µsCounter

Number 1

Inputs 2

Max. frequency 100 kHz

Electrical isolation from the backplane bus Yes, via optocouplers

Communication

Input data 6 bytes

Output data 6 bytes

Parameter data 1 byte

Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g


Technical data

Terminal module

5The modular system

5.16

l 5.16-1EDSPM-TXXX-3.0-04/2004

5.16 Terminal module

The terminal module offers two terminal strips with 11 terminals each. All terminalsof a terminal strip are connected with each other. The terminal strips arepotential-free.

Sensors which must be supplied with external voltage, for instance, can be wiredwith the help of the terminal module with a minimum of effort.

Note!Designing the modular system requires the consideration of theterminal module.Since the backplane bus is also guided via the terminal module, itmust be considered when calculating the project stage (max. 32modules).

2 terminal strips with 11 terminals each

All terminals of a terminal strip are interconnected with each other.

The terminal strips are potential-free

XXX XXX xx

epm-t108 epm-t109

Fig. 5.16-1 Overview and internal wiring of the terminal module

Description

Features

Overview

Terminal module


5.16

l5.16-2 EDSPM-TXXX-3.0-04/2004

Type Terminal module

Terminals

Terminal strips 2 spring-mounted clamps, not plug-in

Terminals per strip 11

Max. current capacity per terminal strip 10A


Dimensions

Width 25.4 mm

Height 76.0 mm

Depth 76.0 mm

Weight 50 g


Technical data

Contents

6The compact system

6.1

l 6.1-1EDSPM-TXXX-3.0-04/2004

6 The compact system

6.1 Contents

6.2 8×dig. I/O compact 6.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.3 16×dig. I/O compact (single-wire conductor) 6.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.4 16×dig. I/O compact (three-wire conductor) 6.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

6.5 32×dig. I/O compact 6.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8×dig. I/O compact

6The compact system

6.2

l 6.2-1EDSPM-TXXX-3.0-04/2004

6.2 8×dig. I/O compact

The 8×dig. I/O compact module consists of a CAN gateway which serves as aninterface to the master bus system as well as eight digital inputs/outputs(optionally configurable) and two terminal strips.

The channels can be optionally used as digital inputs or outputs. Each output canbe loaded with up to 1 A. The status of the channels is displayed by the LEDs.

8 digital inputs or outputs, optionally configurable

Voltage supply via an external 24 V DC voltage source

Connection to the system bus (CAN) via a 9-pole Sub-D plug



LEDs display the status

01

epm-t040

Fig. 6.2-1 8×dig. I/O compact

LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strip for digital input/output signalsTerminal strips, additional terminals for wiring

Description

Features

Overview

8×dig. I/O compact


6.2

l6.2-2 EDSPM-TXXX-3.0-04/2004

1

2

3

45

6

7

8

9

epm-t023





0 1

+ +

– –

epm-t024






8×dig. I/O compact

6The compact system

6.2

l 6.2-3EDSPM-TXXX-3.0-04/2004



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



2. Use the coding switch to set the required baud rate.– Select ”9x” , when using the ”system bus (CAN)” protocol (x = value for the


baud rate)





Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.After switching on the supply voltage, the compact systemneeds approx. 1 ms for initialisation. During this time, noparameters can be set.

Baud rate setting


8×dig. I/O compact


6.2

l6.2-4 EDSPM-TXXX-3.0-04/2004

LED Status Meaning

PW (yellow) on Supply voltage is applied

ER (red) on Incorrect data transmission between microcontroller and digital inputs/outputs

RD (green)on Error-free data transmission between microcontroller and digital inputs/outputs















Note!NMT telegrams for changing to the different states can be found inthe chapter ”Networking via system bus (CAN)” or ”Networking viaCANopen” .

Status display

8×dig. I/O compact

6The compact system

6.2

l 6.2-5EDSPM-TXXX-3.0-04/2004

DIO 8xDC24V 1A

L+

.0

.1

.2

.3

.4

.5

.6

.7

F

1

X4 X4–

2

3

4

5

6

7

8

9

10

L

PW

ER

RD

BA

ADR.0 1

+ – PE

X1DC24V DIO 8xDC24V 1A

X 2x11COM

EPM-T830 1A.10

X3

epm-t042

Fig. 6.2-4 Front view of 8×dig. I/O compact

Status display for digital inputs/outputs at terminal strip X3L+ LED (yellow) is lit when supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and / or a HIGH

level is detected at the input, respectively.F LED (red) is lit in case of overload, overheating, short-circuit

errors.Terminal strip X3 assignmentX3/1 +24 V DC (supply voltage)X3/2 ... X3/9 Digital inputs/outputs E/A.0 ... E/A.7X3/10 GND (reference potential)Terminal strips (2 × 11 terminals)X4 Electrically isolated terminal stripX4– Terminal strip GND


8×dig. I/O compact


6.2

l6.2-6 EDSPM-TXXX-3.0-04/2004

µC

+ – X1PE

X4 X4–

–

+

+

+X3/2

X3/1

X3/3

X3/4

X3/5

X3/6

X3/7

X3/8

X3/9

X3/10

Z

Z

Z

Z

DC 24 V

(DC +18 … +35 V)

epm-t041

Fig. 6.2-5 Wiring diagram of 8×dig. I/O compact

Emergency-off switchX4, X4– Terminal strips

Z Load

Stop!If the voltage supply (DC 24 V) fails, the module will malfunction:


The emergency-off switch ensures that when being operated theoutputs do not carry any voltage and the inputs are not assignedwith a HIGH level.

Connection

8×dig. I/O compact

6The compact system

6.2

l 6.2-7EDSPM-TXXX-3.0-04/2004

Type 8×dig. I/O compact

Voltage supply DC 24 V / 55 mA (DC 20.4 ... 28.8 V)


Communication




Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000

Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25


Digital inputs/outputs

Number 8 optionally configurable digital inputs/outputs


Digital inputs



Digital outputs



Delay time < 1 ms

Communication

Input data 1 byte

Output data 1 byte

Diagnostic data 2 bits

Dimensions

Width 101 mm

Height 76 mm

Depth 48 mm

Weight 200 g


Technical data

16×dig. I/O compact (single-wire conductor)

6The compact system

6.3

l 6.3-1EDSPM-TXXX-3.0-04/2004

6.3 16×dig. I/O compact (single-wire conductor)

The 16×dig. I/O compact (single-wire conductor) module consists of 1 CANgateway which serves as the interface to the master bus system as well as 8 digitalinputs, 4 digital inputs/outputs (optionally configurable) and 4 digital outputs.

Each output can be loaded with up to 1 A. The status of the channels is displayedby LEDs.

8 digital inputs

4 optionally configurable digital inputs/outputs

4 digital outputs






01

epm-t050

Fig. 6.3-1 16×dig. I/O compact (single-wire conductor)

LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strip for digital input signalsTerminal strip for digital output signalsTerminal strip for digital input / output signals (optionally configurable)

Description

Features

Overview



6.3

l6.3-2 EDSPM-TXXX-3.0-04/2004

1

2

3

45

6

7

8

9

epm-t023





0 1

+ +

– –

epm-t024







6The compact system

6.3

l 6.3-3EDSPM-TXXX-3.0-04/2004



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





baud rate)






Baud rate setting




6.3

l6.3-4 EDSPM-TXXX-3.0-04/2004

LED Status Meaning



















Status display


6The compact system

6.3

l 6.3-5EDSPM-TXXX-3.0-04/2004

DI 8xDC24V DIO/DO 4/4xDC24V 1A

L+ L+

.0 .0

.1 .1

.2 .2

.3 .3

.4 .4

.5 .5

.6 .6

.7 .7

F F

1 1

2 2

3 3

4 4

5 5

6 6

7 7

8 8

9 9

10 10

L

PW

ER

RD

BA

ADR.0 1

+ – PE

X1DC24V

DI 8xDC24VDIO 4xDC24V 1ADO 4xDC24V 1A

X3 X4

EPM-T831 1A.10

epm-t051

Fig. 6.3-4 Front view of 16×dig. I/O compact (single-wire conductor)

Status display for digital inputs / outputs at the terminal strips X3 and X4L+ LED (yellow) is lit when the supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and/or a HIGH

level is detected at the inputF LED (red) is lit in case of overload, overheating, short-circuit

errors.Terminal strip X3 assignmentX3/1 Not assignedX3/2 ... X3/9 Digital inputs E.0 ... E.7X3/10 GND (reference potential)Terminal strip X4 assignmentX4/1 DC 24 V supply voltageX4/2 ... X4/5 Digital inputs/outputs E/A.0 ... E/A.3X4/6 ... X4/9 Digital outputs A.4 ... A.7X4/10 GND (reference potential)




6.3

l6.3-6 EDSPM-TXXX-3.0-04/2004

X4/1

X4/2

X3/10

X3/9

X3/8

X3/7

X3/6

X3/5

X3/4

X3/3

X3/2

X3/1

X4/3

X4/4

X4/5

X5/6

X4/7

X4/8

X4/9

X4/10

Z

Z

Z

Z

Z

Z

+ – X1PE

µC

+

+

+

–

+

DC 24 V

(DC +18 … +35 V)

epm-t052

Fig. 6.3-5 Wiring diagram of 16×dig. I/O compact (single-wire conductor)

Emergency-off switch

Z Load

Stop!If the voltage supply (DC 24 V) fails, the module will malfunction:


The emergency-off switch ensures that when being operated theoutputs do not carry any voltage and the inputs are not assignedwith a HIGH level.

Connection


6The compact system

6.3

l 6.3-7EDSPM-TXXX-3.0-04/2004

Type 16×dig. I/O compact (single-wire conductor)



Communication




Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000

Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25


Digital inputs/outputs

Number 8 digital inputs8 optionally configurable digital inputs/outputs4 digital outputs


Digital inputs



Digital outputs



Current consumption if all outputs= LOW

50 mA

Delay time < 1 ms

Communication

Input data 2 bytes

Output data 1 byte

Diagnostic data 2 bits

Dimensions

Width 101 mm

Height 76 mm

Depth 48 mm

Weight 200 g


Technical data

16×dig. I/O compact (three-wire conductor)

6The compact system

6.4

l 6.4-1EDSPM-TXXX-3.0-04/2004

6.4 16×dig. I/O compact (three-wire conductor)

The 16×dig. I/O compact (three-wire conductor) module consists of 1 CANgateway which serves as the interface to the master bus system as well as 8 digitalinputs, 4 digital inputs/outputs (optionally configurable) and 4 digital outputs.


8 digital inputs

4 optionally configurable digital inputs/outputs

4 digital outputs






01

epm-t044

Fig. 6.4-1 16×dig. I/O compact (three-wire conductor)

LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strip for digital input signalsTerminal strips, additional terminals for wiringTerminal strip for digital output signalsTerminal strip for digital input / output signals (optionally configurable)

Description

Features

Overview



6.4

l6.4-2 EDSPM-TXXX-3.0-04/2004

1

2

3

45

6

7

8

9

epm-t023





0 1

+ +

– –

epm-t024







6The compact system

6.4

l 6.4-3EDSPM-TXXX-3.0-04/2004



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





baud rate)






Baud rate setting




6.4

l6.4-4 EDSPM-TXXX-3.0-04/2004

LED Status Meaning



















Status display


6The compact system

6.4

l 6.4-5EDSPM-TXXX-3.0-04/2004

DI 8xDC24V DIO/DO4/4xDC24V1A

L+

.0

.1

.2

.3

.4

.5

.6

.7

F

1

X4 X4–

2

3

4

5

6

7

8

9

10

L

PW

ER

RD

BA

ADR.0 1

+ – PE

X1DC24V

DI 8xDC24V

X 4x11COM

DIO 4xDC24V 1ADO 4xDC24V 1A

X3

L+

.0

.1

.2

.3

.4

.5

.6

.7

F

1

X5 X6 X6–

2

3

4

5

6

7

8

9

10

EPM-T833 1A.10

epm-t045

Fig. 6.4-4 Front view of 16×dig. I/O compact (three-wire conductor)

Status display for digital inputs / outputs at the terminal strips X3 and X5L+ LED (yellow) is lit when the supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and/or a HIGH


errors.Terminal strip X3 assignmentX3/1 Not assignedX3/2 ... X3/9 Digital inputs E.0 ... E.7X3/10 GND (reference potential)Terminal strips (2 × 11 terminals)X4 Electrically isolated terminal stripX4– Terminal strip GNDTerminal strip X5 assignmentX5/1 DC 24 V supply voltageX5/2 ... X5/5 Digital inputs/outputs E/A.0 ... E/A.3X5/6 ... X5/9 Digital outputs A.4 ... A.7X5/10 GND (reference potential)Terminal strips (2 × 11 terminals)X6 Electrically isolated terminal stripX6– Terminal strip GND




6.4

l6.4-6 EDSPM-TXXX-3.0-04/2004

X5/1

X5/2

X3/10

X3/9

X3/8

X3/7

X3/6

X3/5

X3/4

X3/3

X3/2

X3/1

X5/3

X5/4

X5/5

X5/6

X5/7

X5/8

X5/9

X5/10

Z

Z

Z

Z

Z

Z

+ – X1PE

µC

+

+

+

–

+

DC 24 V

(DC +18 … +35 V)

X4 X4– X6 X6–

epm-t046

Fig. 6.4-5 Wiring diagram of 16×dig. I/O compact (three-wire conductor)

Emergency-off switchX4, X4– Terminal stripsX6, X6 Terminal strips

Z Load

Connection


6The compact system

6.4

l 6.4-7EDSPM-TXXX-3.0-04/2004

Type 16×dig. I/O compact (three-wire conductor)



CommunicationCommunication protocol • System bus (CAN)

• CANopen (CAL-based communication profile DS301/DS401)



Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000

Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25


Digital inputs/outputsNumber 8 digital inputs

8 optionally configurable digital inputs/outputs4 digital outputs


Digital inputs



Digital outputs




50 mA

Delay time < 1 ms

Communication

Input data 2 bytes

Output data 1 byte

Diagnostic data 2 bitsDimensions

Width 152 mm

Height 76 mm

Depth 48 mm

Weight 300 g


Technical data

32×dig. I/O compact

6The compact system

6.5

l 6.5-1EDSPM-TXXX-3.0-04/2004

6.5 32×dig. I/O compact

The 32×dig. I/O compact module consists of 1 CAN gateway which serves as theinterface to the master bus system as well as 24 digital inputs and 8 digital outputs.


24 digital inputs

8 digital outputs






01

epm-t047

Fig. 6.5-1 32×dig. I/O compact

LEDs for status display9-pole Sub-D plug for connection to the system bus (CAN)Coding switch to set address and baud rateExternal voltage supply connectionTerminal strips for digital input signalsTerminal strip for digital output signals

Description

Features

Overview



6.5

l6.5-2 EDSPM-TXXX-3.0-04/2004

1

2

3

45

6

7

8

9

epm-t023





0 1

+ +

– –

epm-t024







6The compact system

6.5

l 6.5-3EDSPM-TXXX-3.0-04/2004



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





baud rate)






Baud rate setting




6.5

l6.5-4 EDSPM-TXXX-3.0-04/2004

LED Status Meaning



















Status display


6The compact system

6.5

l 6.5-5EDSPM-TXXX-3.0-04/2004

DI 8xDC24V DI 8xDC24V DI 8xDC24V DO 8xDC24V 1A

L+ L+ L+ L+

.0 .0 .0 .0

.1 .1 .1 .1

.2 .2 .2 .2

.3 .3 .3 .3

.4 .4 .4 .4

.5 .5 .5 .5

.6 .6 .6 .6

.7 .7 .7 .7

F F F F

1 1 1 1

2 2 2 2

3 3 3 3

4 4 4 4

5 5 5 5

6 6 6 6

7 7 7 7

8 8 8 8

9 9 9 9

10 10 10 10

L

PW

ER

RD

BA

ADR.0 1

+ – PE

X1DC24V DI 24xDC24V

DO 8xDC24V 1A

X3 X4 X5 X6

EPM-T832 1A.10

epm-t049

Fig. 6.5-4 Front view of 32×dig. I/O compact

Status display for digital inputs/outputs at terminal strips X3, X4, X5, and X6

L+ LED (yellow) is lit when the supply voltage is applied..0 ... .7 LED (green) is lit when the output is triggered and/or a HIGH


errors.Terminal strip X3 assignmentX3/1 Not assignedX3/2 ... X3/9 Digital inputs E.0 ... E.7X3/10 GND (reference potential)Terminal strip X4 assignmentX4/1 Not assignedX4/2 ... X4/9 Digital inputs E.0 ... E.7X4/10 GND (reference potential)Terminal strip X5 assignmentX5/1 Not assignedX5/2 ... X5/9 Digital inputs E.0 ... E.7X5/10 GND (reference potential)Terminal strip X6 assignmentX6/1 DC 24 V supply voltageX6/2 ... X6/9 Digital outputs A.0 ... A.7X6/10 GND (reference potential)




6.5

l6.5-6 EDSPM-TXXX-3.0-04/2004

–

+

X6/1

X6/2

X3/10

X4/10

X5/10

X3/9

X4/9

X5/9

X3/2

X4/2

X5/2

X3/1

X4/1

X5/1

X6/9

X6/10

Z

Z

DC 24 V+ – X1PE

µC

epm-t048

Fig. 6.5-5 Wiring diagram of 32×dig. I/O compact

Z Load

Connection


6The compact system

6.5

l 6.5-7EDSPM-TXXX-3.0-04/2004

Type 32×dig. I/O compact



CommunicationCommunication protocol • System bus (CAN)

• CANopen (CAL-based communication profile DS301/DS401)



Baud rate [kbit/s] 10 20 50 100 125 250 500 800 1000

Max. bus length [m] 5000 2500 1000 600 500 250 80 50 25


Digital inputs/outputsNumber 24 digital inputs

8 digital outputs


Digital inputs



Digital outputs




50 mA

Delay time < 1 ms

Communication

Input data 3 bytes

Output data 1 byte

Diagnostic data 2 bitsDimensions

Width 152 mm

Height 76 mm

Depth 48 mm

Weight 300 g


Technical data

Contents

7Mechanical installation

7.1

l 7.1-1EDSPM-TXXX-3.0-04/2004

7 Mechanical installation

7.1 Contents

7.2 The modular system 7.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

7.3 The compact system 7.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

The modular system


7.2

l 7.2-1EDSPM-TXXX-3.0-04/2004

7.2 The modular system

Mounting dimensions and other dimensions

01

60 mm

40 mm

27 mm

7.5/15 mm

35 mm

80 mm90 mm

76 mm 76 mm

76 mm 76 mm

25.4 mm 25.4 mm 110 mm

epm-t053

Fig. 7.2-1 Module dimensions of the modular system

The modular system


7.2

l7.2-2 EDSPM-TXXX-3.0-04/2004

Stop!Only plug the modules on the backplane bus or remove them if thesupply voltage is switched off!

#0

#1

#2

#n < 33_

4321

CLACK!

60

40

epm-t055

Fig. 7.2-2 Mounting the module on the DIN rail

Mount the DIN rail to allow the module an installation clearance of min. 60 mmat the top and min. 40 mm at the bottom.

Press backplane bus on to the DIN rail until it safely engagesLower the module on to the DIN rail at an angle of approx. 45 °Turn the module downwardConnection to the backplane bus is established once the module has audiblyengaged with the DIN rail.

Note!The backplane bus is available in single (EPM-T910), double(EPM-T911), quadruple (EPM-T912) and octuple (EPM-T913)versions.– In order to determine the number of slots, add a 1 to the

backplane bus versions you want to use, e. g.:single (EPM-T910) + octuple (EPM-T913) + 1 = 10 slots.

The modules are always arranged from left to right and mustalways start with the CAN gateway module.Modules must always be plugged directly next to each other.Free slots are not permissible since this would interrupt thebackplane bus.A module is electrically connected only once it has audiblyengaged.Slots to the right of the last module may remain unassigned.The number of modules is limited to max. 32.

Mounting

The modular system


7.2

l 7.2-3EDSPM-TXXX-3.0-04/2004

Stop!Only plug the modules on the backplane bus or remove them if thesupply voltage is switched off!

1 432

epm-t056

Fig. 7.2-3 Remove the module from the backplane bus

Insert the screw driver into the withdrawal slotPress the screw driver upward to disengage the modulePull the module towards the front by its bottom edge.Remove the module from the backplane bus by pulling it upwards

Note!Unplugging a module leaves the backplane bus interrupted at thatparticular location.

Disassembly

The compact system


7.3

l 7.3-1EDSPM-TXXX-3.0-04/2004

7.3 The compact system

Mounting dimensions and other dimensions

34 mm

101 mm

48 mm

34

mm

27

mm

35

mm

76

mm

EPM-T830

34 mm

152 mm

76

mm

69

mm

34

mm

48 mm

EPM-T833

01

01

34 mm

101 mm

76

mm

69

mm

34

mm

48 mm

EPM-T831

01

34 mm

152 mm

76

mm

69

mm

34

mm

48 mm

EPM-T832

01

30 mm

7.5/15 mm

epm-t054

Fig. 7.3-1 Module dimensions of the compact system

The compact system


7.3

l7.3-2 EDSPM-TXXX-3.0-04/2004

Mounting

CLACK!

1 432

40

60

01

epm-t057

Fig. 7.3-2 Mounting the module on the DIN rail

Mount the DIN rail to allow the module an installation clearance of min. 60 mmat the top and min. 40 mm at the bottom.Lower the module on to the DIN rail at an angle of approx. 45 °Turn the module downwardAllow the module to audibly engage with the DIN rail

1 432

epm-t058

Fig. 7.3-3 Remove the module from the DIN rails

Insert the screw driver into the withdrawal slotPress the screw driver upward to disengage the modulePull the module towards the front by its bottom edge.Remove the module from the DIN rail by pulling it upwards.

Disassembly

Contents

8Electrical installation

8.1

l 8.1-1EDSPM-TXXX-3.0-04/2004

8 Electrical installation

8.1 Contents

8.2 Wiring according to EMC 8.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.3 Wiring of terminal strips 8.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.4 Connecting the supply voltage 8.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

8.5 Wiring of the system bus (CAN) / CANopen 8.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Wiring according to EMC


8.2

l 8.2-1EDSPM-TXXX-3.0-04/2004

8.2 Wiring according to EMC

General notes • The electromagnetic compatibility of the I/O system IP20 depends on the type and accuracy of the installation. Special attention should bepaid to:– Assembly– Shielding– Earthing

• Any other installation set-ups require the system to be checked for compliance with the EMC limit values for assessment of conformity withthe EMC Directive. This applies e.g. to the following:– Use of unshielded cables

• Responsibility for compliance with the EMC Directive is with the user.– It can be assumed, if the following measures are observed, that no EMC problems will arise during operation and that the EMC Directiveand / or the EMC Act, respectively, is complied with.

– Operating devices near the system that do not meet the CE standard in terms of disturbance immunity EN 61000-4-2, may causeelectromagnetic interference to these devices by the decentralised I/O system IP20.

Assembly • Connect DIN rail to earthed mounting plate:– Mounting plates with conductive surfaces (zinc-coated or stainless steel) allow permanent contact.– Painted plates are not suitable for installation in accordance with the EMC.

• If you use several mounting plates:– Connect the mounting plates electrically with a surface as large as possible (e.g. with copper bands).

• When laying the cables, ensure spatial separation from signalling and mains cables.• Route the cables as close as possible to the reference potential. Freely suspended cables act like aerials.

Shielding • If possible, use only cables with braids.• The shield coverage should be in excess of 80%.• Data lines for serial coupling always require metallic or metallised plugs. Connect the shield of the data line to the plug housing.• Use metal cable clamps to attach the braids.• Connect shield to shield rail inside the switchgear cabinet.• Connect the shields of analog control cables at one end (either to the sensor or as closely as possible to the analog module input).

Earthing • Earth all metallically conductive components with suitable cables from a central earthing point (PE bar).• Comply with the minimum cross-sections defined in the safety instructions:

– It is not the cable cross-section that is decisive for EMC, but instead the cable surface and large-surface contact.

Wiring of terminal strips


8.3

l 8.3-1EDSPM-TXXX-3.0-04/2004

8.3 Wiring of terminal strips

Stop!Insert the screw driver only into the rectangular opening of theterminal strip !Using force to insert the screw driver into the round opening forthe cable will destroy the spring-mounted terminal !

6 mm

< 2.5mm²

> AWG 14_ ___ < 1.5 mm²

> AWG 16

epm-t060

Fig. 8.3-1 Wiring of the terminal strips

Plugging and unplugging the terminal stripStripping length and max. permitted cable cross-sectionWiring of the terminal strip

Insert a suitable screw driver into the rectangular openingTo open the contact spring, press the screw driver in the shown directionand hold in positionInsert the stripped core into the round opening. By removing the screwdriver, the wire is securely connected to the terminal strip via a springcontact

Connecting the supply voltage


8.4

l 8.4-1EDSPM-TXXX-3.0-04/2004

8.4 Connecting the supply voltage

PE

N

L1

~

–

DC 24 V (DC 20.4 … 28.8 V)

–+

EPM-T110 EPM-T2XX

EPM-T3XX

EPM-T4XX

GND

X1

GND

PEPEPE

epm-t063

Fig. 8.4-1 Connecting the supply voltage

Module PE connection is made via the DIN rail and established via a contact onthe module’s backplane

PE

N

L1

~

–DC 24 V (DC 20.4 … 28.8 V)

– PE+

EPM-T83X

GND

X1

epm-t132

Fig. 8.4-2 Connecting the supply voltage

The PE connection of the modules is made via terminal X1/PE

Note!Specific connection data is included in the corresponding moduledescription:

Modular system ( 5.1-1 ff)

Compact system ( 6.1-1 ff)

Modular system

Compact system

Wiring of the system bus (CAN) / CANopen


8.5

l 8.5-1EDSPM-TXXX-3.0-04/2004

8.5 Wiring of the system bus (CAN) / CANopen

120

120

LO LO LOCG CG CGHI HI HI

A 2A 1 A 3 A nEPM-T110

EPM-T8XX

PES PES PESPES PES PES

CAN-GND

CAN-LOW

CAN-HIGH

120

1 2 3 4 5

6 7 8 9

epm-t061

Fig. 8.5-1 Basic wiring of the system bus (CAN) / CANopen

A1 Nodes 1 EPM-T110 or EPM-T8XXA2 Node 2A3 Node 3An Node n (e.g. PLC), n = max. 63

Please follow our recommendations on the use of the signal cable:

Total length ≤ 300 m ≤ 1000 m

Cable type LIYCY 2 x 2 x 0.5 mm2

(twisted in pairs with shield)CYPIMF 2 x 2 x 0.5 mm2

(twisted in pairs with shield)

Cable resistance ≤ 80 Ω/km ≤ 80 Ω/km

Capacitance per unitlength

≤ 130 nF/km ≤ 60 nF/km

Connection of the bus terminating resistors:– One resistor of 120 Ω each at the first and last bus node

Communication protocol– System bus (CAN) and– CANopen (CAL-based communication profile DS301/DS401)

Bus extension:– 25 m for max. 1 Mbit/s baud rate– up to 1 km with reduced baud rate

Signal level acc. to ISO 11898

Up to 63 nodes possible

Access to all Lenze parameters

Features

Contents

9Networking via system bus (CAN)

9.1

l 9.1-1EDSPM-TXXX-3.0-04/2004

9 Networking via system bus (CAN)

9.1 Contents

9.2 Via system bus (CAN) 9.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.1 Structure of the CAN data telegram 9.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.2 Identifier 9.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.2.3 Saving changes 9.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.3 Network management (NMT) 9.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4 Transmitting process data 9.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.1 Process data telegram 9.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.2 Identifier of the process data objects (PDO) 9.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.3 Assigning individual parameters 9.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.4 Process data transmission mode 9.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.5 Process image of the modular system 9.4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.6 Process image of the compact system 9.4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.4.7 Compatibility with Lenze drive and automation components 9.4-9. . . . . . . . . . . . . . . . . . .

9.4.8 Data transmission between I/O system IP20 and controller 9.4-11. . . . . . . . . . . . . . . . . . .

9.4.9 Indices for setting the process data transmission 9.4-12. . . . . . . . . . . . . . . . . . . . . . . . . .

9.5 Transmitting parameter data 9.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5.1 Telegram structure 9.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5.2 Writing a parameter (example) 9.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.5.3 Reading a parameter (example) 9.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.6 Setting of baud rate and node address (node ID) 9.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.7 Node Guarding 9.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.8 Heartbeat 9.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.9 Reset node 9.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10 Monitoring 9.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx 9.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.10.2 Digital output monitoring 9.10-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


9.10.4 Monitoring of the analog outputs 9.10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11 Diagnostics 9.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.1 Emergency telegram 9.11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.2 Operating state of system bus (CAN) 9.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.3 Reading out the module identifiers 9.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.4 Status of the digital inputs 9.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.5 Status of the digital outputs 9.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.6 Status of the analog inputs 9.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

9.11.7 Status of the analog outputs 9.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Via system bus (CAN)Structure of the CAN data telegram


9.29.2.1

l 9.2-1EDSPM-TXXX-3.0-04/2004

9.2 Via system bus (CAN)

The I/O system IP20 supports the Lenze system bus (CAN).

Lenze has developed the system bus on the basis of CAN. As a result, functionsof the communication profile CANopen have been integrated to DS301 whichcame into being under the umbrella organisation of CiA (CAN in Automation) inconformance with the CAL (CAN Application Layer).

Note!The communication profile system bus (CAN) can be selectedwith the setting of the node address (Node ID).– Information on how to proceed with the modular system is

included in the description of the module CAN Gateway in thechapter ”The modular system” .

– Information on how to proceed with the compact system isincluded in the description of the corresponding module in thechapter ”The compact system” .

– Lenze setting: System bus (CAN)Additional information on the system bus (CAN) can be found inthe Lenze Communication Manual CAN.

9.2.1 Structure of the CAN data telegram

Control field CRC delimit. ACK delimit.Start RTR bit CRC sequence ACK slot End

IdentifierIdentifier User data (0 ... 8 bytes)User data (0 ... 8 bytes)• Network management

1 bit 11 bits 1 bit 6bits

g• Process data• Parameter data

15bits

1 bit 1 bit 1 bit 7 bits

Fig. 9.2-1 Basic structure of the CAN telegram

Note!Only the identifier and the user data are relevant to the user. Allother data of the CAN telegram are automatically processed bythe system

Via system bus (CAN)Identifier


9.29.2.2

l9.2-2 EDSPM-TXXX-3.0-04/2004

9.2.2 Identifier

The principle of CAN communication is based on a message-oriented dataexchange between a transmitter and many receivers. Therefore, all nodes cantransmit and receive more or less at the same time.

The so-called identifier in the CAN telegram, also called COB-ID (CommunicationObject Identifier), controls which node is to receive a transmitted message. Inaddition to the addressing, the identifier contains information on the priority of themessage and the type of user data.

The identifier consists of a ’basic identifier’ and the node address of the device tobe approached:

Identifier = Basic identifier + node address

This node address is set with the coding switch at the module:– Modular system: At CAN gateway– Compact system: At each module

Network management and sync telegram only require the basic identifier.

The identifiers can also be set individually. ( 9.4-3)

9.2.3 Saving changes

Note!Changes of the baud rate, node address, identifiers for PDOs,and the transmission mode for PDOs must be saved withI2003h = 1, for being maintained even after switching off thesupply voltage.Any changes will become effective only after a Reset Node:– Switch the supply voltage on again– Execute NMT command ”81h” (see chapter ”Network

management (NMT)”)– Set I2358h = 1

Network management (NMT)


9.3

l 9.3-1EDSPM-TXXX-3.0-04/2004

9.3 Network management (NMT)

The master can change states for the entire CAN network via the networkmanagement.

Structure of the CAN telegram used for network management:

11 bits 2 bytes of user dataIdentifier Command (1 byte) Device address (1 byte)

00h

Command Network statusafter change

Information

01h Operational The I/O system can receive parameter data and process data.02h Stopped The I/O system can receive network management telegrams, but is

unable to receive parameter and process data.80h Pre-Operational The I/O system can receive parameter data while process data are

ignored.81h Pre-Operational Reset Node: Changes to system bus parameters relevant to

communication (e.g. node address, baud rate, etc.) are only acceptedafter a Reset Node.

Device address Information0 All nodes are addressed. In this way, a status change can be implemented for all devices at

the same time.1 ... 63 Node address of the node the status of which is to be changed.

Command

Device address

Transmitting process dataProcess data telegram


9.49.4.1

l 9.4-1EDSPM-TXXX-3.0-04/2004

9.4 Transmitting process data

Process data are used for control-specific purposes, such as setpoint and actualvalues, for example.

Process data or the input / output data of the I/O system IP20 aretransmitted as so-called PDOs (Process Data Objects).

9.4.1 Process data telegram

Structure of the process data telegram:

11 bits 8 bytes of user dataIdentifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Information on the identifier can be found in chapter ”Structure of the CAN datatelegram” .

The eight bytes of user data transmit the input signals (sent user data) and theoutput signals (received user data) of the modules.

Identifier

User data

Transmitting process dataIdentifier of the process data objects (PDO)


9.49.4.2

l9.4-2 EDSPM-TXXX-3.0-04/2004

9.4.2 Identifier of the process data objects (PDO)

The identifiers of process data objects PDO1 ... PDO10 consist of the so-calledbasic identifiers and the set node address:


Basic identifier Available for

dec hex CAN gateway 8×dig. I/O compact16×dig. I/O compact32×dig. I/O compact

PDOs Process data object 1PDOs Process data object 1

PDO1-Rx 768 300

PDO1-Tx 767 2FFProcess data object 2Process data object 2

PDO2-Rx 640 280 –PDO2-Tx 639 27F

Process data object 3Process data object 3

PDO3-Rx 512 200 –PDO3-Tx 384 180


PDO4-Rx 832 340 –PDO4-Tx 896 380


PDO5-Rx 1024 400 –PDO5-Tx 448 1C0


PDO6-Rx 1088 440 –PDO6-Tx 704 2C0


PDO7-Rx 1152 480 –PDO7-Tx 960 3C0


PDO8-Rx 1280 500 –PDO8-Tx 1216 4C0


PDO9-Rx 1344 540 –PDO9-Tx 1728 6C0


PDO10-Rx 1664 680 –PDO10-Tx 1984 7C0

Basic identifiers of the processdata objects

Transmitting process dataAssigning individual parameters


9.49.4.3

l 9.4-3EDSPM-TXXX-3.0-04/2004

9.4.3 Assigning individual parameters

For larger networks with many nodes, it may be useful to set individual identifiersfor process data objects PDO1 ... PDO10, that are independent of the set nodeaddress.

Process data objects for input data

Individual identifiers for input data can be set via the indices I1400h,subindex 1 ... I1409h, subindex 1.

Process data objects for output data

Individual identifier for output data can be set via the indices I1800h,subindex 1 ... I1809h, subindex 1.

Note!Set the value which makes the required identifier(x = corresponding process data object) in index I140xh,subindex 1 or I180xh, subindex 1.Make a reset node so that the changes are accepted.

9.4.4 Process data transmission mode

The transmission mode is configured via the index I1400h, subindex 2(PDO1-Rx) ... I1409h, subindex 2 (PDO10-Rx):

Sync-controlled reception

N-sync-controlled reception

– First, a certain number (n) of sync telegrams must be transmitted (I140xh,subindex 2 = 1 ... 240). Then the PDO telegram must be received from themaster. Finally, the process input data are accepted.

Event-controlled reception (Lenze setting)

The transmission mode is configured via the index I1800h, subindex 2(PDO1-Tx) ... I1809h, subindex 2 (PDO10-Tx):

Sync-controlled transmission

n-sync-controlled transmission

– First, a certain number (n) of sync telegrams must be transmitted (I180xh,subindex 2 = 2 ... 240). Then, the PDO telegram is transmitted to themaster.

Event-controlled transmission (Lenze setting)

Note!After changing to the CAN state ”Operational” , the currentprocess image is transmitted from the I/O system IP20.

Process data transmission mode

Process output datatransmission method

Transmitting process dataProcess data transmission mode


9.49.4.4

l9.4-4 EDSPM-TXXX-3.0-04/2004

A special telegram, the sync telegram, is required for synchronisation when cyclicprocess data are transmitted.

The sync telegram must be generated by another node. It initiates thetransmission for the cyclic process data of the I/O system I/P20 and at the sametime triggers data acceptance of cyclic process data received in the I/O systemIP20.

1.

PDO1-TX PDO1-RX

2. 3. 4.

epm-t111

Fig. 9.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered)

Sync telegram

1. After receiving a sync telegram, the I/O system IP20 transmits the cyclicprocess output data (PDO1-Tx) if ”sync-controlled transmission” is active.

2. Once the transmission is completed, the I/O system IP20 receives the cyclicprocess input data (PDO1-Rx).

3. The data is accepted by the I/O system IP20 with the next sync telegram if”sync-controlled reception” is active.

4. All other telegrams (e.g. for parameter or event-controlled process data) areaccepted asynchronously by the I/O system IP20 after transmission.

Sync telegram for cyclic processdata

Transmission sequence

Transmitting process dataProcess image of the modular system


9.49.4.5

l 9.4-5EDSPM-TXXX-3.0-04/2004

9.4.5 Process image of the modular system

The process image of the modular system is explained on the basis of the followingexample. In addition to the CAN gateway, maximally 32 modules can beconnected.

Module

L

0 1

L L L L

EPM – T211

L L L L

EPM – T211

L

CANGateway

8×DI 8×DI 8×DI 8×DI 16×DI 8×DO 4×AI 2/4×Counter

SSIinterface

1×counter/ 16×DI

4×AI/AO– –

Processdata

– 1 byte TX 1 byte TX 1 byte TX 1 byte TX 2 bytesTX

1 byte RX 8 bytesTX

10 bytesTX

10 bytesRX

4 bytes TX4 bytesRX

6 bytes TX6 bytesRX

4 bytes TX4 bytesRX

ModuleNo.

M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 ... M32



9.49.4.5

l9.4-6 EDSPM-TXXX-3.0-04/2004

Process image Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

PDO1Fixed for the first PDO1-RX M6 – – – – – – –

PDO1Fixed for the firstDIO PDO1-TX M1 M2 M3 M4 M5 M5 – –

PDO2Fixed for the first PDO2-RX M8 M8 M8 M8 M8 M8 M8 M8

PDO2Fixed for the firstAIO PDO2-TX M7 M7 M7 M7 M7 M7 M7 M7

PDO3 DIO or AIO 1)PDO3-RX M8 M8 M11 M11 M11 M11 – –

PDO3 DIO or AIO 1)PDO3-TX M8 M8 M8 M8 M8 M8 M8 M8

PDO4 DIO or AIO 1)PDO4-RX – – – – – – – –

PDO4 DIO or AIO 1)PDO4-TX M8 M8 M11 M11 M11 M11 – –

PDO5 DIO or AIO 1)PDO5-Rx M10 M10 M10 M10 M10 M10 – –

PDO5 DIO or AIO 1)PDO5-Tx M10 M10 M10 M10 M10 M10 – –

PDO6 DIO or AIO 1)PDO6-Rx M9 M9 M9 M9 – – – –

PDO6 DIO or AIO 1)PDO6-Tx M9 M9 M9 M9 – – – –

... ... ... ... ... ... ... ... ... ... ...

PDO10 DIO or AIO 1) PDO10-RX – – – – – – – –PDO10 DIO or AIO 1)

PDO10-TX – – – – – – – –

1) A PDO can be either assigned to AIO or DIO. AI Analog input dataA PDO can be either assigned to AIO or DIO.The modules are assigned according to the slot

ith th DIO b i i d fi tAO Analog output datag g

sequence, with the DIO being assigned first. DI Digital input data




Special features of the modules 1×counter/16×digital input and SSI interface:

The module 1×counter/16×digital input always assigns the next to last andthe SSI interface module always the last of the PDOs used.

The modules cannot be assigned to PDO1 and PDO2. Thus, only eight ofthese modules can be used in a system.

The modules assign a whole PDO (8 bytes) each.

The transmission times of the input / output signals within the I/O system IP20 canbe calculated with a formula.

tt = tc+ (NPDOTX ⋅ 8 ms)+ (NPDORX ⋅ 2 ms)+ td+ 742 ms

tt Transmission time of input / output signals of a module betweenfieldbus connection and input / output terminals.

tc Time required for copying into the CAN object directoryNPDOTX Transmitting the PDO number (PDO1-Tx ... PDO10-Tx)NPDORX Receiving the PDO number (PDO1-Rx ... PDO10-Rx)td Module delay time742 µs Fixed internal processing time

Time required for copying into the CAN object directory:

DO modules DI modules AO modules AI modules

tc = 50 µs + n × 14 µs tc = 50 µs + n × 25 µs tc = 50 µs + n × 210 µs tc = 50 µs + n × 250 µs

n Number of bytes assigned by the module in the PDOs

Transmission times



9.49.4.5

l 9.4-7EDSPM-TXXX-3.0-04/2004

In the I/O system shown in the example, the transmission time of the input signalsat the module M3 (8×digital input) to the master are to be detected. The baud rateamounts to 500 kbits/s.

Solution:

For transmitting the input signals, the module assigns one byte (byte 3) ofthe process data channel PDO1-Tx.

The delay time td within the module amounts to 3 ms.

1. Calculating the time required for copying tc into the CAN object directory:

tc = 50 ms+ 1 ⋅ 25 ms= 75 ms

2. Calculating the transmission time tt of the input signals to the fieldbus:

tt = 75 ms+ (1 ⋅ 8 ms)+ (0 ⋅ 2 ms)+ 3000 ms+ 742 ms= 3825 ms

3. Calculating the transmission time tCAN via the fieldbus:

l

L

EPM – T110 1A.10

PW

ER

RD

BA

ADR.0 1

+

–

DC24V

X1

DI 8xDC24V

.0

.1

.2

.3

.4

.5

.6

.7

1

2

3

4

5

6

7

8

9

L

10

EPM – T210 1A

tCAN

epm-t135

tCAN=CAN telegram length

Baud rate= 111 bits

500 kbitss

= 222 ms

4. Calculating the total transmission time t:

t = t t+ tCAN= 3825 ms+ 222 ms= 4047 ms= 4.047 ms

Note!The internal processing times of the controller must also beconsidered.

Example

Transmitting process dataProcess image of the compact system


9.49.4.6

l9.4-8 EDSPM-TXXX-3.0-04/2004

9.4.6 Process image of the compact system

The process image of the compact system is explained on the basis of the module32×dig. I/O compact.

Module

L

0 1

CAN gateway 8×DI 8×DI 8×DO

Process data – 1 byte 1 byte DI 1 byte DI 1 byte DO

Slot M0 M1 M2 M3 M4


PDO1PDO1-RX M4 – – – – – – –

PDO1PDO1-TX M1 M2 M3 – – – – –



Transmitting process dataCompatibility with Lenze drive and automation components


9.49.4.7

l 9.4-9EDSPM-TXXX-3.0-04/2004

9.4.7 Compatibility with Lenze drive and automation components

The tables below will assist you in finding out at which stage a modular system orwhich compact module, respectively, can be operated in combination with aLenzedrive and automation component.

Compatibility is dependent on the available process data objects (PDO).

Process data objects (PDO) of the I/O system IP20 (slave)

Module type Module requiresModule type

PDO-Rx PDO-TxModular system8×digital input – 1/816×digital input – 2/88×digital output 1A 1/8 –8×digital output 2A 1/8 –16×digital output 1A 2/8 –8×digital input / output 1/8 1/84×relay 1/8 –4×analog input – 8/84×analog output 8/8 –4×analog input / output 8/8 8/82/4×counter 8/8 + 2/8 8/8 + 1/8SSI interface 8/8 8/81×counter/16×digital input 8/8 8/8Compact system8×dig. I/O compact 8/8 8/816×dig. I/O compact 8/8 8/816×dig. I/O compact (single-wire conductor) 8/8 8/816×dig. I/O compact (three-wire conductor) 8/8 8/8

Process data objects (PDO) of the Lenze drive and automation components (master)

Components PDO-Rx [xPDO-Rx] PDO-Tx [xPDO-Tx]9300 Servo PLC

>10 >10Drive PLC

>10 >10

9300 inverter (all standard types)8200 vector frequency inverter

2 28200 motec frequency inverter 2 2

Communication module EMF2175

Note!A modular system allows the connection of max. 32 modules inaddition to the CAN gateway.A modular system offers max. 20 PDOs (10 PDO-Rx and10 PDO-Tx) for process data exchange.Since 9300 Servo PLC and Drive PLC are able to manage morethan 20 process data objects, several modular systems can beoperated on a Servo PLC or Drive PLC. For this each CANgateway must be assigned to a unique node address.



9.49.4.7

l9.4-10 EDSPM-TXXX-3.0-04/2004

A control task requires the connection of 4 digital outputs, 10 digital inputs and3 analog outputs to an 8200 vector frequency inverter.

The planned solution is a modular system with the following modules:

I/O system IP20 Number Required PDOsI/O system IP20Modular system

Numbermodules PDO-Rx PDO-Tx

8×digital input / output 1 1/8 1/88×digital input 1 – 1/84×analog input 1 1 –Sum 3 9/8 2/8

For exchanging the process data, the 8200 vector makes enough PDOs available:

Frequency inverter Available PDOsFrequency inverterPDO-Rx PDO-Tx

8200 vector 2 2

Example

Solution

Transmitting process dataData transmission between I/O system IP20 and controller


9.49.4.8

l 9.4-11EDSPM-TXXX-3.0-04/2004

9.4.8 Data transmission between I/O system IP20 and controller

The basic identifiers of PDO1-Rx and PDO1-Tx are pre-assigned in such away that they can exchange data with the process data objects ofCAN-IN3/OUT3 of a controller.

The basic identifiers of PDO2-Rx and PDO2-Tx are pre-assigned in such away that they can exchange data with the process data objects ofCAN-IN2/OUT2 of a controller.

l

L

EPM – T110 1A.10

PW

ER

RD

BA

ADR.0 1

+

–

DC24V

X1

DO 8xDC24V 1A

.0

L+

.1

.2

.3

.4

.5

.6

.7

F

1

2

3

4

5

6

7

8

9

L

10

EPM – T220 1A

DI 8xDC24V

.0

.1

.2

.3

.4

.5

.6

.7

1

2

3

4

5

6

7

8

9

L

10

EPM – T210 1A

PDO1-Rx

CAN_OUT3

CAN_IN3

PDO1-Tx

epm-t112

Fig. 9.4-2 Data transmission between I/O system IP20 and controller

PDO-Rx The I/O system IP20 receives the status information of the controllerPDO-Tx The I/O system IP20 transmits the status information to the controller

Controller with node address 1 (C0350 = 1)768d (Basic identifier) + 1 (node address) = 769d (identifier)769d (Basic identifier) + 1 (node address) = 770d (identifier)

CAN gateway of the modular system (or a module of the compact system)with node address 2

767d (Basic identifier) + 2 (node address) = 769d (identifier)768d (Basic identifier) + 2 (node address) = 770d (identifier)

Transmitting process dataIndices for setting the process data transmission


9.49.4.9

l9.4-12 EDSPM-TXXX-3.0-04/2004

9.4.9 Indices for setting the process data transmission


Index Name Possible settings Important

Lenze Selection

I1400h Index is available in the modular andcompact system

9.4-3

1 COB-ID used byRxPDO 1

768 385 1 2047 Defining the individual identifiers forprocess data object 1

2 Transmission mode 255 0 1 255 Defining the transmission mode

0 Sync-controlled reception The input data are accepted on synctelegram transmission.

1 ... 240 N-sync-controlled reception The input data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.

255 Event-controlled reception Every received value is accepted

... ...

I1409h Index is only available in the modularsystem

9.4-3









9.49.4.9

l 9.4-13EDSPM-TXXX-3.0-04/2004



Lenze Selection


9.4-3

1 COB-ID used byTxPDO 1



1 Sync-controlled transmission The output data are accepted on synctelegram transmission.

2 ... 240 n-sync-controlled transmission The output data are accepted aftertransmission of the set number (1 ... 240)of sync telegrams.

254 Time-controlled transmission Only if a cycle time is set in I180xh,subindex 5

255 Event-controlled transmission

255 Event-controlled transmission with cyclicoverlapping

Only if a cycle time is set in I180xh,subindex 5

... ...


9.4-3










3 Inhibit time 0 0 1 ms 65535 Inhibit time

5 Event time 0 1 ms 65535 Cycle time

Transmitting parameter dataTelegram structure


9.59.5.1

l 9.5-1EDSPM-TXXX-3.0-04/2004

9.5 Transmitting parameter data

Parameter data are the so-called indices.

Parameters are usually set only once during the commissioning.

Parameter data are transmitted as so-called SDOs (Service Data Objects) via thesystem bus and acknowledged by the receiver, i.e. the transmitter gets a feedbackif the transmission was successful.

9.5.1 Telegram structure

Structure of the telegram for parameter data:

11 bits 8 bytes of user data

IdentifierInstruction Index

Subindex Data 1 Data 2 Data 3 Data 4IdentifierInstruction

code LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4

The subchapters below explain the individual telegram components in detail.

The chapter 9.5.2 contains an example of how to write a parameter.( 9.5-4)

The chapter 9.5.3 contains an example of how to read a parameter. ( 9.5-5)




Two parameter channels are available for parameter data transmission. They areaddressed via the identifier.

Identifier = Basic identifier + node address of the deviceIdentifier =

dec hex

+ node address of the device

SDOs Parameter channel 1SDOs

Output (transmit) 1408 580al e set ith coding s itch

Input (receive) 1536 600+ value set with coding switch

Parameter channel 2

Output (transmit) 1600 640+ value set with coding switch

Input (receive) 1472 5C0+ value set with coding switch

Note!There is an offset of 64 between the identifiers for parameterchannels 1 and 2:

Output of parameter channel 1 = 1536Output of parameter channel 2 = 1536 + 64 = 1600

Identifier



9.59.5.1

l9.5-2 EDSPM-TXXX-3.0-04/2004




The instruction code contains the command to be executed and information aboutthe parameter data length. It is structured as follows:

bits 7(MSB)

bits 6 bits 5 bits 4 bits 3 bits 2 bit 1 bit 0

Command Command Specifier (cs) Length E s

Write Request 0 0 1 0 00 = 4 bytes 1 1Write Response 0 1 1 0

00 4 bytes01 = 3 bytes 0 0

Read Request 0 1 0 0

y10 = 2 bytes11 1 b t

0 0Read Response 0 1 0 0

y11 = 1 byte 1 1

Error Response 1 0 0 0 0 0 0 0

Instruction code for parameters with 4 bytes of data length:

4 bytes of data(32 bits)

Command hex dec Information

Write Request 23 35 Transmitting parameters to a node

Write Response 60 96 Node response to the Write Request (acknowledgement)

Read Request 40 64 Request to read a parameter from a node

Read Response 43 67 Response to the read request with the actual value

Error Response 80 128 Node reports a communication error

If an error occurs, the addressed node generates an “Error Response” .

In Data 4, this telegram always contains the value “6” , in Data 3 it contains an errorcode:

Command code Error Response Data 3 Data 4 Error message

3 Access denied

80h 5 6 Wrong subindex80h6

6Wrong index

Instruction code

Instruction “Error Response”



9.59.5.1

l 9.5-3EDSPM-TXXX-3.0-04/2004




The index of the telegram is used to address the index to be read or written:

The index value must be entered in left-justified Intel format and divided intoLow byte and High byte (see example).

For subindices, the number of the associated subindex must be entered intothe telegram’s subindex.

For indices without subindex, the subindex always has a value “0’.

The subindex 1 of index I2400h (monitoring time for PDO1) is to be addressed:





00h 24h 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).

The value ”1 s” is to be transmitted for the index 2400h (monitoring time).

Data1...4 = 1 × 1000 = 1000 = 00 00 03 E8h





E8h 03h 00h 00h

(LSB) (MSB)

Parameter addressing(Index/subindex)

Example

Parameter data (data 1 ... data 4)

Example

Transmitting parameter dataWriting a parameter (example)


9.59.5.2

l9.5-4 EDSPM-TXXX-3.0-04/2004

9.5.2 Writing a parameter (example)

An I/O system IP20 has the node address 2. For the first analog module (4×analogoutput), the function of the output A.0 (voltage signal 0 ... +10 V, 12 bits) is to beoutput.

Formula InformationIdentifier = Basic identifier + node address

= 1536 + 2 =1538 = 602h• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2

Instructioncode:

= 23h • Command “Write Request” (transmitting parameters tothe I/O system IP20)

Index = I3001h • Index first analog module

Subindex = 1 • Subindex = 1 (function for output A.1 among others)

Data 1Data 2Data 3Data 4Data 1 ... 4

= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh

• Diagnostics (Lenze setting)• Reserved• Output A.0 (voltage signal 0 ... +10 V, 12 bits)• Output A.1 (Lenze setting)

11 Bit 8 bytes of user data



code: LOW byte HIGH byteSubindex Data 1 Data 2 Data 3 Data 4

602h 23h 01h 30h 1 00h 00h 05h 3Bh

(LSB) (MSB)

L

0 1

L

Write Request

Write Response

Identifier = 1538

Identifier = 1410

epm-t118

Fig. 9.5-1 Writing a parameter


= 1408 + 2= 1410

• Basic identifier for parameter channel 1 (input) = 1408• Node address of the I/O system IP20 = 2

Instructioncode:

= 60h • Command “Write Response” (acknowledgement from theI/O system IP20)

Index = Index of the read request

Subindex = Subindex of the read request

Data 1 ... 4 = 0 • Acknowledgement only





1410 60h 01h 30h 0 0 0 0 3

Task

Telegram to the I/O system IP20

Telegram from the I/Osystem IP20 (acknowledgementwhen being executed faultlessly)

Transmitting parameter dataReading a parameter (example)


9.59.5.3

l 9.5-5EDSPM-TXXX-3.0-04/2004

9.5.3 Reading a parameter (example)

An I/O system IP20 has the node address 2. For the first module (4×analog output)the function of the A.0 output is to be read.

Formula Information

Identifier = Basic identifier + node address= 1536 + 2 =1538 = 602h

• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2

Instructioncode:

= 40h • Command “Read Request” (request for reading aparameter of the I/O system IP20)




= 00h= 00h= 00h= 00h= 00 00 00 00h

• Read request only





602h 40h 01h 30h 1 00h 00h 00h 00h

L

0 1

L

Read Request

Read Response

Identifier = 1538

Identifier = 1410

epm-t119

Fig. 9.5-2 Reading a parameter

Formula Information

Identifier = Basic identifier + node address= 1408 + 2= 1410


Instructioncode:

= 43h • Command “Read Response” (response to the readrequest with the current value)




= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh

• Assumption: Analog output A.0 outputs a voltage signal0 ... +10 V at a 12 bit resolution.





1410 43h 01h 30h 0 00h 00h 05h 3Bh

(LSB) (MSB)

Task


Telegram from the I/O systemIP20 (value of the requestedparameter):

Setting of baud rate and node address (node ID)


9.6

l 9.6-1EDSPM-TXXX-3.0-04/2004

9.6 Setting of baud rate and node address (node ID)

Baud rate

For establishing a communication, all devices must use the same baud rate for thedata transfer.

The baud rate can be set via the coding switch at the module.

Node address

Each nodeof thenetwork must beassigned to anode address, also called Node IDwithin a range of 1 ... 63 for clear identification.

A node address in a network may be used only once.

The node address must be set with the coding switch at the module.

0 1

+ +

– –

epm-t024




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



2. Use the coding switch to set the required baud rate.– Select ”9x” (x = value for the required baud rate)



Baud rate setting



9.6

l9.6-2 EDSPM-TXXX-3.0-04/2004


6. The set node address will be accepted after 5 seconds.– LED RD goes off.

– The module changes to the pre-operational mode.

Note!The node address can be changed any time with the codingswitch. The setting is accepted after switching on the supplyvoltage.

Indices for setting


Lenze SelectionI100Bh Node ID 0 0 1 63 Display only

System bus node address

I2001h CAN baud rate 1 0 1 255 Display onlyh

012345678

1000 kbits/s500 kbits/s250 kbits/s125 kbits/s100 kbits/s50 kbits/s20 kbits/s10 kbits/s800 kbits/s

p y ysystem bus baud rate


Node Guarding


9.7

l 9.7-1EDSPM-TXXX-3.0-04/2004

9.7 Node Guarding

COB-ID = 1792 + Node-ID

COB-ID = 1792 + Node-ID NMT-Slave1 )

NMT-Master

indication

indication

indication

request

request

confirm

confirm

indication

Remote transmit request


response

response

Node Guarding Event2 )

Life Guarding Event2

Node

Guard

time

Node

Time

Life

0

0

1

1

t s

7 6 … 0

t s

7 6 … 0

epm-t133

Fig. 9.7-1 Node Guarding Protocol

1) I/O system IP20s Status of the I/O system IP20T Toggle bit

The Node Guarding Protocol monitors the connection between master and slave.

Via the index I100Ch ”Guard time” , a time [ms] can be set and in the index I100Dh”Life time factor” a factor can be set. If both indices are multiplied by each other,you get a monitoring time in which the master must send a Node Guardingtelegram to the slave. If one of both indices is set to zero, the monitoring time isalso zero and hencedeactivated. The slavesends a telegram with its current statusto the master.

With event-controlled process data transmission, Node Guarding ensures cyclicalnode monitoring.

The master starts the Node Guarding by sending the Node Guardingtelegram.

If the slave (I/O system IP20) does not receive a telegram within themonitoring time, the Node Guarding Event is activated. The I/O system IP20switches to the state set in I1029h. The outputs switch to a defined state(also see the chapter Configuration → Diagnostics).

A change to the Operational status triggers a reset.

Description

Node Guarding


9.7

l9.7-2 EDSPM-TXXX-3.0-04/2004

11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) Toggle bit

1792d (700h)

Identifier:


= 1792d + xxThe basic identifier for Node Guarding isfirmly adjusted to 1792d (700h)xx = Node address of the I/O system

Device status (bit 0 ... 6) of the slave (I/O system IP20):

Command(hex)

Device status

04 Stopped05 Operational7F Pre-Operational

Indices for setting


Lenze Selection

I100Ch Guard time 0 0 1 ms 65535 Node GuardingMonitoring time0 = monitoring not active

9.7-1

I100Dh Life time factor 0 0 1 255 Node GuardingResponse time computation factor0 = monitoring not activeThe response time is computed as:Monitoring period x factor

9.7-1

I100Eh Node Guardingidentifier

Display onlyidentifier = basic identifier + node address(basic identifier cannot be modified)

9.7-1

Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the ”NodeGuarding” function.

Status telegram

Heartbeat


9.8

l 9.8-1EDSPM-TXXX-3.0-04/2004

9.8 Heartbeat

COB-ID = 1792 + Node-ID Heartbeat

Consumer

Heartbeat

Producer

indication

indication

indication

indication

indication

indication

indication

indication

Heartbeat Event

request

request

Heartbeat

Producer

Time

Heartbeat

Consumer

Time

Heartbeat

Consumer

Time

0

0

1

1

r

r

s

s

7

7

6 … 0

6 … 0

epm-t134

Fig. 9.8-1 Heartbeat Protocol

r Reserveds Status of the Heartbeat Producer

The I/O system IP20 can monitor up to five nodes. The status telegrams of thenodes to be monitored must arrive cyclically with a certain time at the I/O systemIP20. If a status telegram is not received within this time, the I/O system IP20switches to the status set in I1029h. The outputs switch to a defined status (alsosee the chapter Configuration → Diagnostics).

Settings are made in the index I1016h.

The I/O system IP20 assigns a status telegram to the fieldbus and can thus bemonitored by other nodes.

Settings are made in index I1017h.

Producer heartbeat is automatically started if a time > 0 is entered into theindex 1017h and the I/O system IP20 changes to the status ”Operational” .

After the cycle time has been completed, the status telegram is transmittedto the fieldbus by the I/O system IP20.

A change into the Operational status triggers a reset.

Heartbeat Consumer

Heartbeat Producer

Heartbeat


9.8

l9.8-2 EDSPM-TXXX-3.0-04/2004

11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) bits 7

1792d (700h) reserved

Identifier:


= 1792d + xxThe basic identifiers for heartbeat is firmlyadjusted to 1792d (700h)xx = node address of the I/O system IP20

Device status (bit 1 ... 6) of the heartbeat producer:

Command(hex)

Status

00 Boot-up05 Operational04 Stopped7F Pre-Operational

Indices for setting


Lenze SelectionI1016h Heartbeat

consumer timeData contents The I/O system IP20 can monitor up to five

nodes (subindex 1 5)9.8-1

consumer timeHeartbeat time Node ID reserved

nodes (subindex 1 ... 5).If the monitored node does not respond,

Byte 1 Byte 2 Byte 3 Byte 4If the monitored node does not respond,the I/O system IP20 changes to the”Pre-Operational” state The outputs

00h 00h 00h 00h”Pre-Operational” state. The outputsswitch to a defined state.

1 Heartbeat time 0 0 1 ms 65535 In the compact system, only the subindex 1i il bl

9.8-1

Node ID 0 0 1 255

p y , yis availableHeartbeat time:2 Heartbeat time 0 0 1 ms 65535Heartbeat time:The monitored node must respond within

Node ID 0 0 1 255The monitored node must respond withinthe time set. The time is set in byte 0 and

3 Heartbeat time 0 0 1 ms 65535the time set. The time is set in byte 0 and1.

Node ID 0 0 1 255 Node ID:N d dd f th d t b it d4 Heartbeat time 0 0 1 ms 65535 Node address of the node to be monitored.The address is set in byte 2

Node ID 0 0 1 255The address is set in byte 2.

5 Heartbeat time 0 0 1 ms 65535

Node ID 0 0 1 255I1017h Heartbeat producer

time0 0 1 ms 65535 The I/O system IP20 can be monitored by

other nodes.Within this time the device status of the I/O

9.8-1

0 Function is not active

Within this time the device status of the I/Osystem IP20 is transmitted to the fieldbus.In the communication protocol, system bus(CAN) is not available

Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the”heartbeat” function.

Status telegram

Reset node


9.9

l 9.9-1EDSPM-TXXX-3.0-04/2004

9.9 Reset node

Changes of transmission modes and identifiers will be accepted after ”reset node”only.

Switch the supply voltage on again

Execute NMT command ”81h” (see chapter ”Network management (NMT)”)

Set I2358h = 1


Lenze SelectionI2358h CAN reset node 0 0 No function Reset node 9.9-1h

1 CAN reset node

MonitoringTime monitoring for PDO1-Rx ... PDO10-Rx


9.109.10.1

l 9.10-1EDSPM-TXXX-3.0-04/2004

9.10 Monitoring

9.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx

A time monitoring can be configured for the inputs of the process data objectsPDO1-Rx ... PDO10-Rx via the index I2400h.


Lenze Selection

I2400h* Timer value 0 1 ms 65535 Monitoring time for process data inputbj

9.10-1

1 PD01 0

g p pobjectsFor the compact system only index I2400

2 PD02 0For the compact system, only index I2400h,subindex 1 is available

3 PD03 0subindex 1 is available

4 PD04 0

5 PD05 0

6 PD06 0

7 PD07 0

8 PD08 0

9 PD09 0

10 PD10 0

MonitoringDigital output monitoring


9.109.10.2

l9.10-2 EDSPM-TXXX-3.0-04/2004

9.10.2 Digital output monitoring

Via the index I6206h you can configure the reactions of the digital outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.


Lenze SelectionI6206h Error mode digital

output0 1 255 Configures digital output monitoring

For the compact system, only index I6206h,subindex 1 is available

9.10-2

0 All digital outputs retain the last status output.

255 Reaction from I6207h In I6207h, the response can be configuredindividually for each digital output

1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0



Via index I6207h the response can be configured individually for each digitaloutput.


Lenze SelectionI6207h Error value digital 0 0 1 255 Configures the individual digital output 9.10-2h g

output 8 bits of information

g g presponsesFor the compact system only index I620

Bit value0

Output switches to LOWFor the compact system, only index I6207h,subindex 1 is available

Bit value1

Output retains last status output

1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0

Individual response setting



9.109.10.4

l 9.10-3EDSPM-TXXX-3.0-04/2004

9.10.4 Monitoring of the analog outputs

Via the index I6443h you can configure the reactions of the analog outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.

Monitoring is started on receipt of the next PDO telegram after the settings.

If a telegram is not transmitted within the adjusted time, the moduleswitches to the ”Pre-Operational” state. No further process data aretransmitted.

A change into the ”Operational” state triggers a reset.


Lenze SelectionI6443h* Error mode analog

output0 1 255 Configures analog output monitoring

Index is only available in the modularsystem

9.10-3

0 All analog outputs retain the last value output.

255 Response from I6444h In I6444h the response can be configuredindividually for each analog output

1 Channel 1 0

2 Channel 2 0

... ... ...

36 Channel 36 0

Via index I6444h the response can be configured individually for each analogoutput.


Lenze Selection

I6444h* Error value analogoutput

-32768 1 32767 Configures the individual analog outputresponsesTh l id h l

9.10-3

1 Channel 1 0

pThe analog outputs provide the set valueIndex is only available in the modular

2 Channel 2 0Index is only available in the modularsystem

... ... ...system

36 Channel 36 0


Diagnostics


9.11

l 9.11-1EDSPM-TXXX-3.0-04/2004

9.11 Diagnostics

The following indices can be used for the diagnostics. They display operatingstates. Settings are not possible.

Index Information displayed DescriptionI1014h Emergency telegram 9.11-2

I2359h Operating status of the system bus 9.11-3

I1027h Module ID read 9.11-3

I6000h Digital input status 9.11-4

I6200h Digital output status 9.11-4

I6401h Analog input status 9.11-5

I6411h Analog output status 9.11-5

I1003h Current errors

DiagnosticsEmergency telegram


9.119.11.1

l9.11-2 EDSPM-TXXX-3.0-04/2004

9.11.1 Emergency telegram

By means of the emergency telegram, the I/O system IP20 communicates internaldevice errors to other system bus nodes with high priority. 8 bytes of user data areavailable.


Lenze Selection

I1014h COB ID emergency Emergency telegramIdentifier 80h + node address is displayedafter boot-up.

9.11-2

Emergency telegram structure

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7LOW byte HIGH byte Error register Error information

Error code Error code I1001h 1 2 3 4 5

Contents of the emergency telegram

Error cause Byte 0 Byte 1 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7Emergency telegram reset 0000h 00h 00h 00h 00h 00hError on initialisation of modules linked tobackplane bus 01h 00h 00h 00h 00h

Error on module configuration check 02h Slot number 00h 00h 00hError on module read/write 03h Slot number 00h 00h 00hModule configuration was changed 05h 00h 00h 00h 00hConfiguration of the modules has beenchanged. The module is in the Pre-Operationalstate. 1000h

06h 00h 00h 00h 00h

Incorrect module parameterisation1000h

30h Slot number 00h 00h 00hDiagnostic alarm - analog module 40h +

Slot numberDiagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3

Process alarm - analog module 80h +Slot number

Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3

PDO control (monitoring time in I2400h hasbeen exceeded). FFh 10h PDO number

Monitoring time(LOW byte)

Monitoring time(HIGH byte)

SDO/PDO mapping error6300h

Map index(LOW byte)

Map index(HIGH byte)

Number of entries 00h 00h

Heartbeat error (monitoring time exceeded).8100h Subindex Node address


Monitoring time(HIGH byte) 00h

Node guarding error (monitoring timeexceeded). 8130h

Guard time(LOW byte)

Guard time(HIGH byte)

Life time 00h 00h

DiagnosticsOperating state of system bus (CAN)


9.119.11.2

l 9.11-3EDSPM-TXXX-3.0-04/2004

9.11.2 Operating state of system bus (CAN)

Index I2359h displays the operating status of the system bus.

I2359h Operating status Description0 Operational The system bus is fully functional. The I/O system can transmit and receive parameter and process data.

1 Pre-Operational The I/O system can transmit and receive parameter data while process data are ignored.The status can be changed from Pre-Operational to Operational by:• The CAN master• An NMT telegram ’00 01 00’

2 Warning The I/O system has received incorrect telegrams and become passive in the overall system bus environment, i. e., the I/Osystem can no longer transmit data.Possible causes:• A missing bus termination• Insufficient shielding• Potential differences in the earth connections for the control electronics• The bus load is too high

3 Bus off The I/O system has disconnected itself from the system bus after receiving too many incorrect telegrams.


Lenze SelectionI2359h CAN state 0 1 3 Display only 9.11-3h

0123

OperationalPre-OperationalWarningBus off

p y ySystem bus status

9.11.3 Reading out the module identifiers

When using the modular system, the number of the modules connected to thebackplane bus as well as the module types used can be read out via index I1027h.Each module type can be clearly identified via a hexadecimal value.

Index Subindex Reading... Module type Module identifier0 ... the number of plugged modules (0 ... 32) – 0h ... 20h

No module 0h8×digital input 9FC1h16×digital input 9FC2h

1×counter/16×digital input 08C0h

I1027h 1 ... 32 ... the module type in slots 1 ... 32

8×digital output 1A16×digital output 1A8×digital output 2A4×relay

AFC8h

8×digital input / output BFC9h4×analog input 15C4h

4×analog output A5E0h4×analog input / output 45DBh2/4×counter B5F4hSSI interface B5DBh

DiagnosticsStatus of the digital inputs


9.119.11.4

l9.11-4 EDSPM-TXXX-3.0-04/2004

9.11.4 Status of the digital inputs

Via the index I6000h the status of the digital inputs can be displayed.


Lenze Selection

I6000h Digital input 0 1 255 Display only 9.11-4

1 Module 1

p y ydigital input status

2 Module 2

... ...

32 Module 32

9.11.5 Status of the digital outputs

Via the index I6200h the status of the digital outputs can be displayed:


Lenze Selection

I6200h Digital output 0 1 255 Display only 9.11-4

1 Module 1

p y ydigital output status

2 Module 2

... ...

32 Module 32

DiagnosticsStatus of the analog inputs


9.119.11.6

l 9.11-5EDSPM-TXXX-3.0-04/2004

9.11.6 Status of the analog inputs

Via the index I6401h the status of the analog inputs can be displayed.


Lenze Selection

I6401h Analog input -32768 1 32767 Display only 9.11-5

1 Channel 1

p y yanalog input statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem

... ...system

36 Channel 36

9.11.7 Status of the analog outputs

Via the index I6411h the status of the analog outputs can be displayed:


Lenze Selection

I6411h Analog output -32768 1 32767 Display only 9.11-5

1 Channel 1

p y yanalog output statusI d i l il bl i th d l2 Channel 2 Index is only available in the modularsystem

... ...system

36 Channel 36

Contents

10Network via CANopen

10.1

l 10.1-1EDSPM-TXXX-3.0-04/2004

10 Networking via CANopen

10.1 Contents

10.2 Via CANopen 10.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.1 Structure of the CAN data telegram 10.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.2 Identifier 10.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.2.3 Saving changes 10.2-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.3 Network management (NMT) 10.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4 Transmitting process data 10.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.1 Process data telegram 10.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.2 Identifier of the process data objects (PDO) 10.4-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.3 Assigning individual parameters 10.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.4 Process data transmission mode 10.4-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.5 Process image of the modular system 10.4-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.6 Process image of the compact system 10.4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.4.7 Compatibility with Lenze drive and automation components 10.4-9. . . . . . . . . . . . . . . . . . .

10.4.8 Data transmission between I/O system IP20 and controller 10.4-11. . . . . . . . . . . . . . . . . . .

10.4.9 Indices for setting the process data transmission 10.4-12. . . . . . . . . . . . . . . . . . . . . . . . . .


10.5.1 Telegram structure 10.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.2 Writing a parameter (example) 10.5-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.5.3 Reading a parameter (example) 10.5-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.6 Setting of baud rate and node address (node ID) 10.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.7 Node Guarding 10.7-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.8 Heartbeat 10.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.9 Reset node 10.9-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.10 Monitoring 10.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx 10.10-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .



10.10.4 Monitoring of the analog outputs 10.10-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11 Diagnostics 10.11-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.1 Emergency telegram 10.11-2. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.2 Operating state of system bus (CAN) 10.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.3 Reading out the module identifiers 10.11-3. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.4 Status of the digital inputs 10.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.5 Status of the digital outputs 10.11-4. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.6 Status of the analog inputs 10.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

10.11.7 Status of the analog outputs 10.11-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Via CANopenStructure of the CAN data telegram


10.210.2.1

l 10.2-1EDSPM-TXXX-3.0-04/2004

10.2 Via CANopen

The I/O system IP20 supports the communication module CANopen.

The CANopen protocol is a standardised layer-7 protocol for the CAN bus. Thislayer is based on the CAN Application Layer (CAL) which was developed as auniversal protocol.

However, as the practice shows, applications with CAL were too complex for theusers. CANopen provides a uniform and simple structure for connecting the CANdevices of the various manufacturers.

Note!The communication profile CANopen can be selected withsetting the node address (Node-ID).– Information on how to proceed with the modular system is

included in the description of the module CAN Gateway in thechapter ”The modular system” .

– Information on how to proceed with the compact system isincluded in the description of the corresponding module in thechapter ”The compact system” .

– Lenze setting: System bus (CAN)Additional information on CANopen can be found in the LenzeCommunication Manual CAN.

10.2.1 Structure of the CAN data telegram

Control field CRC delimit. ACK delimit.Start RTR bit CRC sequence ACK slot End

IdentifierIdentifier User data (0 ... 8 bytes)User data (0 ... 8 bytes)• Network management

1 bit 11 bits 1 bit 6bits

g• Process data• Parameter data

15bits

1 bit 1 bit 1 bit 7 bits

Fig. 10.2-1 Basic structure of the CAN telegram

Note!Only the identifier and the user data are relevant to the user. Allother data of the CAN telegram are automatically processed bythe system

Via CANopenIdentifier

10 Network via CANopen

10.210.2.2

l10.2-2 EDSPM-TXXX-3.0-04/2004

10.2.2 Identifier

The principle of CAN communication is based on a message-oriented dataexchange between a transmitter and many receivers. Therefore, all nodes cantransmit and receive more or less at the same time.

The so-called identifier in the CAN telegram, also called COB-ID (CommunicationObject Identifier), controls which node is to receive a transmitted message. Inaddition to the addressing, the identifier contains information on the priority of themessage and the type of user data.

The identifier consists of a ’basic identifier’ and the node address of the device tobe approached:


This node address is set with the coding switch at the module:– Modular system: At CAN gateway– Compact system: At each module

Network management and sync telegram only require the basic identifier.

The identifiers can also be set individually. ( 10.4-3)

10.2.3 Saving changes

Note!Changes of the baud rate, node address, identifiers for PDOs,and the transmission mode for PDOs must be saved withI2003h = 1, for being maintained even after switching off thesupply voltage.Any changes will become effective only after a Reset Node:– Switch the supply voltage on again– Execute NMT command ”81h” (see chapter ”Network

management (NMT)”)– Set I2358h = 1

Network management (NMT)


10.3

l 10.3-1EDSPM-TXXX-3.0-04/2004

10.3 Network management (NMT)

The master can change states for the entire CAN network via the networkmanagement.

Structure of the CAN telegram used for network management:

11 bits 2 bytes of user dataIdentifier Command (1 byte) Device address (1 byte)

00h

Command Network statusafter change

Information

01h Operational The I/O system can receive parameter data and process data.02h Stopped The I/O system can receive network management telegrams, but is

unable to receive parameter and process data.80h Pre-Operational The I/O system can receive parameter data while process data are

ignored.81h Pre-Operational Reset Node: Changes to system bus parameters relevant to

communication (e.g. node address, baud rate, etc.) are only acceptedafter a Reset Node.

Device address Information0 All nodes are addressed. In this way, a status change can be implemented for all devices at

the same time.1 ... 63 Node address of the node the status of which is to be changed.

Command

Device address

Transmitting process dataProcess data telegram


10.410.4.1

l 10.4-1EDSPM-TXXX-3.0-04/2004

10.4 Transmitting process data

Process data are used for control-specific purposes, such as setpoint and actualvalues, for example.

Process data or the input / output data of the I/O system IP20 aretransmitted as so-called PDOs (Process Data Objects).

10.4.1 Process data telegram

Structure of the process data telegram:

11 bits 8 bytes of user dataIdentifier Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Information on the identifier can be found in chapter ”Structure of the CAN datatelegram” .

The eight bytes of user data transmit the input signals (sent user data) and theoutput signals (received user data) of the modules.

Identifier

User data

Transmitting process dataIdentifier of the process data objects (PDO)


10.410.4.2

l10.4-2 EDSPM-TXXX-3.0-04/2004

10.4.2 Identifier of the process data objects (PDO)

The identifiers of process data objects PDO1 ... PDO10 consist of the so-calledbasic identifiers and the set node address:


Basic identifier Available for

dec hex CAN gateway 8×dig. I/O compact16×dig. I/O compact32×dig. I/O compact

PDOs Process data object 1PDOs Process data object 1

PDO1-Rx 512 200

PDO1-Tx 384 180Process data object 2Process data object 2

PDO2-RX 768 300 –PDO2-TX 640 280


PDO3-Rx 1024 400 –PDO3-Tx 896 380


PDO4-Rx 1280 500 –PDO4-Tx 1152 480


PDO5-Rx 1920 780 –PDO5-Tx 1664 680


PDO6-Rx 576 240 –PDO6-Tx 448 1C0


PDO7-Rx 832 340 –PDO7-Tx 704 2C0


PDO8-Rx 1088 440 –PDO8-Tx 960 3C0


PDO9-Rx 1344 540 –PDO9-Tx 1216 4C0


PDO10-Rx 1984 7C0 –PDO10-Tx 1728 6C0

Basic identifiers of the processdata objects

Transmitting process dataAssigning individual parameters


10.410.4.3

l 10.4-3EDSPM-TXXX-3.0-04/2004

10.4.3 Assigning individual parameters

For larger networks with many nodes, it may be useful to set individual identifiersfor process data objects PDO1 ... PDO10, that are independent of the set nodeaddress.


Individual identifiers for input data can be set via the indices I1400h,subindex 1 ... I1409h, subindex 1.


Individual identifier for output data can be set via the indices I1800h,subindex 1 ... I1809h, subindex 1.

Note!Set the value which makes the required identifier(x = corresponding process data object) in index I140xh,subindex 1 or I180xh, subindex 1.Make a reset node so that the changes are accepted.

10.4.4 Process data transmission mode

The transmission mode is configured via the index I1400h, subindex 2(PDO1-Rx) ... I1409h, subindex 2 (PDO10-Rx):

Sync-controlled reception

N-sync-controlled reception

– First, a certain number (n) of sync telegrams must be transmitted (I140xh,subindex 2 = 1 ... 240). Then the PDO telegram must be received from themaster. Finally, the process input data are accepted.

Event-controlled reception (Lenze setting)

The transmission mode is configured via the index I1800h, subindex 2(PDO1-Tx) ... I1809h, subindex 2 (PDO10-Tx):

Sync-controlled transmission

n-sync-controlled transmission

– First, a certain number (n) of sync telegrams must be transmitted (I180xh,subindex 2 = 2 ... 240). Then, the PDO telegram is transmitted to themaster.

Event-controlled transmission (Lenze setting)

Note!After changing to the CAN state ”Operational” , the currentprocess image is transmitted from the I/O system IP20.

Process data transmission mode

Process output datatransmission method

Transmitting process dataProcess data transmission mode


10.410.4.4

l10.4-4 EDSPM-TXXX-3.0-04/2004

A special telegram, the sync telegram, is required for synchronisation when cyclicprocess data are transmitted.

The sync telegram must be generated by another node. It initiates thetransmission for the cyclic process data of the I/O system I/P20 and at the sametime triggers data acceptance of cyclic process data received in the I/O systemIP20.

1.

PDO1-TX PDO1-RX

2. 3. 4.

epm-t111

Fig. 10.4-1 Synchronisation of cyclical process data with the help of a sync telegram(asynchronous data not considered)

Sync telegram

1. After receiving a sync telegram, the I/O system IP20 transmits the cyclicprocess output data (PDO1-Tx) if ”sync-controlled transmission” is active.

2. Once the transmission is completed, the I/O system IP20 receives the cyclicprocess input data (PDO1-Rx).

3. The data is accepted by the I/O system IP20 with the next sync telegram if”sync-controlled reception” is active.

4. All other telegrams (e.g. for parameter or event-controlled process data) areaccepted asynchronously by the I/O system IP20 after transmission.

Sync telegram for cyclic processdata

Transmission sequence



10.410.4.5

l 10.4-5EDSPM-TXXX-3.0-04/2004

10.4.5 Process image of the modular system

The process image of the modular system is explained on the basis of the followingexample. In addition to the CAN gateway, maximally 32 modules can beconnected.

Module

L

0 1

L L L L

EPM – T211

L L L L

EPM – T211

L

CANGateway

8×DI 8×DI 8×DI 8×DI 16×DI 8×DO 4×AI 2/4×Counter

SSIinterface

1×counter/ 16×DI

4×AI/AO– –

Processdata

– 1 byte TX 1 byte TX 1 byte TX 1 byte TX 2 bytesTX

1 byte RX 8 bytesTX

10 bytesTX

10 bytesRX

4 bytes TX4 bytesRX

6 bytes TX6 bytesRX

4 bytes TX4 bytesRX

ModuleNo.

M0 M1 M2 M3 M4 M5 M6 M7 M8 M9 M10 M11 ... M32



10.410.4.5

l10.4-6 EDSPM-TXXX-3.0-04/2004


PDO1Fixed for the first PDO1-RX M6 – – – – – – –

PDO1Fixed for the firstDIO PDO1-TX M1 M2 M3 M4 M5 M5 – –

PDO2Fixed for the first PDO2-RX M8 M8 M8 M8 M8 M8 M8 M8

PDO2Fixed for the firstAIO PDO2-TX M7 M7 M7 M7 M7 M7 M7 M7

PDO3 DIO or AIO 1)PDO3-RX M8 M8 M11 M11 M11 M11 – –

PDO3 DIO or AIO 1)PDO3-TX M8 M8 M8 M8 M8 M8 M8 M8

PDO4 DIO or AIO 1)PDO4-RX – – – – – – – –

PDO4 DIO or AIO 1)PDO4-TX M8 M8 M11 M11 M11 M11 – –

PDO5 DIO or AIO 1)PDO5-Rx M10 M10 M10 M10 M10 M10 – –

PDO5 DIO or AIO 1)PDO5-Tx M10 M10 M10 M10 M10 M10 – –

PDO6 DIO or AIO 1)PDO6-Rx M9 M9 M9 M9 – – – –

PDO6 DIO or AIO 1)PDO6-Tx M9 M9 M9 M9 – – – –

... ... ... ... ... ... ... ... ... ... ...

PDO10 DIO or AIO 1) PDO10-RX – – – – – – – –PDO10 DIO or AIO 1)

PDO10-TX – – – – – – – –

1) A PDO can be either assigned to AIO or DIO. AI Analog input dataA PDO can be either assigned to AIO or DIO.The modules are assigned according to the slot

ith th DIO b i i d fi tAO Analog output datag g

sequence, with the DIO being assigned first. DI Digital input data




Special features of the modules 1×counter/16×digital input and SSI interface:

The module 1×counter/16×digital input always assigns the next to last andthe SSI interface module always the last of the PDOs used.

The modules cannot be assigned to PDO1 and PDO2. Thus, only eight ofthese modules can be used in a system.

The modules assign a whole PDO (8 bytes) each.

The transmission times of the input / output signals within the I/O system IP20 canbe calculated with a formula.

tt = tc+ (NPDOTX ⋅ 8 ms)+ (NPDORX ⋅ 2 ms)+ td+ 742 ms

tt Transmission time of input / output signals of a module betweenfieldbus connection and input / output terminals.

tc Time required for copying into the CAN object directoryNPDOTX Transmitting the PDO number (PDO1-Tx ... PDO10-Tx)NPDORX Receiving the PDO number (PDO1-Rx ... PDO10-Rx)td Module delay time742 µs Fixed internal processing time

Time required for copying into the CAN object directory:

DO modules DI modules AO modules AI modules

tc = 50 µs + n × 14 µs tc = 50 µs + n × 25 µs tc = 50 µs + n × 210 µs tc = 50 µs + n × 250 µs

n Number of bytes assigned by the module in the PDOs

Transmission times



10.410.4.5

l 10.4-7EDSPM-TXXX-3.0-04/2004

In the I/O system shown in the example, the transmission time of the input signalsat the module M3 (8×digital input) to the master are to be detected. The baud rateamounts to 500 kbits/s.

Solution:

For transmitting the input signals, the module assigns one byte (byte 3) ofthe process data channel PDO1-Tx.

The delay time td within the module amounts to 3 ms.

1. Calculating the time required for copying tc into the CAN object directory:

tc = 50 ms+ 1 ⋅ 25 ms= 75 ms

2. Calculating the transmission time tt of the input signals to the fieldbus:

tt = 75 ms+ (1 ⋅ 8 ms)+ (0 ⋅ 2 ms)+ 3000 ms+ 742 ms= 3825 ms

3. Calculating the transmission time tCAN via the fieldbus:

l

L

EPM – T110 1A.10

PW

ER

RD

BA

ADR.0 1

+

–

DC24V

X1

DI 8xDC24V

.0

.1

.2

.3

.4

.5

.6

.7

1

2

3

4

5

6

7

8

9

L

10

EPM – T210 1A

tCAN

epm-t135

tCAN=CAN telegram length

Baud rate= 111 bits

500 kbitss

= 222 ms

4. Calculating the total transmission time t:

t = t t+ tCAN= 3825 ms+ 222 ms= 4047 ms= 4.047 ms

Note!The internal processing times of the controller must also beconsidered.

Example

Transmitting process dataProcess image of the compact system


10.410.4.6

l10.4-8 EDSPM-TXXX-3.0-04/2004

10.4.6 Process image of the compact system

The process image of the compact system is explained on the basis of the module32×dig. I/O compact.

Module

L

0 1

CAN gateway 8×DI 8×DI 8×DO

Process data – 1 byte 1 byte DI 1 byte DI 1 byte DO

Slot M0 M1 M2 M3 M4


PDO1PDO1-RX M4 – – – – – – –

PDO1PDO1-TX M1 M2 M3 – – – – –





10.410.4.7

l 10.4-9EDSPM-TXXX-3.0-04/2004

10.4.7 Compatibility with Lenze drive and automation components

The tables below will assist you in finding out at which stage a modular system orwhich compact module, respectively, can be operated in combination with aLenzedrive and automation component.

Compatibility is dependent on the available process data objects (PDO).

Process data objects (PDO) of the I/O system IP20 (slave)

Module type Module requiresModule type

PDO-Rx PDO-TxModular system8×digital input – 1/816×digital input – 2/88×digital output 1A 1/8 –8×digital output 2A 1/8 –16×digital output 1A 2/8 –8×digital input / output 1/8 1/84×relay 1/8 –4×analog input – 8/84×analog output 8/8 –4×analog input / output 8/8 8/82/4×counter 8/8 + 2/8 8/8 + 1/8SSI interface 8/8 8/81×counter/16×digital input 8/8 8/8Compact system8×dig. I/O compact 8/8 8/816×dig. I/O compact 8/8 8/816×dig. I/O compact (single-wire conductor) 8/8 8/816×dig. I/O compact (three-wire conductor) 8/8 8/8

Process data objects (PDO) of the Lenze drive and automation components (master)

Components PDO-Rx [xPDO-Rx] PDO-Tx [xPDO-Tx]9300 Servo PLC

>10 >10Drive PLC

>10 >10

9300 inverter (all standard types)8200 vector frequency inverter

2 28200 motec frequency inverter 2 2

Communication module EMF2175

Note!A modular system allows the connection of max. 32 modules inaddition to the CAN gateway.A modular system offers max. 20 PDOs (10 PDO-Rx and10 PDO-Tx) for process data exchange.Since 9300 Servo PLC and Drive PLC are able to manage morethan 20 process data objects, several modular systems can beoperated on a Servo PLC or Drive PLC. For this each CANgateway must be assigned to a unique node address.



10.410.4.7

l10.4-10 EDSPM-TXXX-3.0-04/2004

A control task requires the connection of 4 digital outputs, 10 digital inputs and3 analog outputs to an 8200 vector frequency inverter.

The planned solution is a modular system with the following modules:

I/O system IP20 Number Required PDOsI/O system IP20Modular system

Numbermodules PDO-Rx PDO-Tx

8×digital input / output 1 1/8 1/88×digital input 1 – 1/84×analog input 1 1 –Sum 3 9/8 2/8

For exchanging the process data, the 8200 vector makes enough PDOs available:

Frequency inverter Available PDOsFrequency inverterPDO-Rx PDO-Tx

8200 vector 2 2

Example

Solution

Transmitting process dataData transmission between I/O system IP20 and controller


10.410.4.8

l 10.4-11EDSPM-TXXX-3.0-04/2004

10.4.8 Data transmission between I/O system IP20 and controller

In the Lenze setting of the I/O system IP20, the basic identifiers of the PDOs areset for the communication protocol ”system bus (CAN)” .

For communicating with Lenzecontrollers thebasic identifiers for the process dataobject 1 must be adapted.

1. Set PDO1-Rx via index 1400h, subindex 1 to 770.

2. Set PDO1-Tx via index 1800h, subindex 1 to 769.

3. Make a reset node by setting the index I2358h = 1. The settings areaccepted.

l

L

EPM – T110 1A.10

PW

ER

RD

BA

ADR.0 1

+

–

DC24V

X1

DO 8xDC24V 1A

.0

L+

.1

.2

.3

.4

.5

.6

.7

F

1

2

3

4

5

6

7

8

9

L

10

EPM – T220 1A

DI 8xDC24V

.0

.1

.2

.3

.4

.5

.6

.7

1

2

3

4

5

6

7

8

9

L

10

EPM – T210 1A

PDO1-Rx

CAN_OUT3

CAN_IN3

PDO1-Tx

epm-t112

Fig. 10.4-2 Data transmission between I/O system IP20 and controller

PDO-Rx The I/O system IP20 receives the status information of the controllerPDO-Tx The I/O system IP20 transmits the status information to the controller

Controller with node address 1 (C0350 = 1)768d (Basic identifier) + 1 (node address) = 769d (identifier)769d (Basic identifier) + 1 (node address) = 770d (identifier)

CAN gateway of the modular system (or a module of the compact system)with node address 2

767d (Basic identifier) + 2 (node address) = 769d (identifier)768d (Basic identifier) + 2 (node address) = 770d (identifier)



10.410.4.9

l10.4-12 EDSPM-TXXX-3.0-04/2004

10.4.9 Indices for setting the process data transmission



Lenze Selection


10.4-3







... ...


10.4-3









10.410.4.9

l 10.4-13EDSPM-TXXX-3.0-04/2004



Lenze Selection


10.4-3










... ...


10.4-3














10.510.5.1

l 10.5-1EDSPM-TXXX-3.0-04/2004


Parameter data are the so-called indices.

Parameters are usually set only once during the commissioning.

Parameter data are transmitted as so-called SDOs (Service Data Objects) via thesystem bus and acknowledged by the receiver, i.e. the transmitter gets a feedbackif the transmission was successful.

10.5.1 Telegram structure

Structure of the telegram for parameter data:





The subchapters below explain the individual telegram components in detail.

The chapter 10.5.2 contains an example of how to write a parameter.( 10.5-4)

The chapter 10.5.3 contains an example of how to read a parameter.( 10.5-5)




Two parameter channels are available for parameter data transmission. They areaddressed via the identifier.

Identifier = Basic identifier + node address of the deviceIdentifier =

dec hex

+ node address of the device

SDOs Parameter channel 1SDOs

Output (transmit) 1408 580al e set ith coding s itch

Input (receive) 1536 600+ value set with coding switch

Parameter channel 2

Output (transmit) 1600 640+ value set with coding switch

Input (receive) 1472 5C0+ value set with coding switch

Note!There is an offset of 64 between the identifiers for parameterchannels 1 and 2:

Output of parameter channel 1 = 1536Output of parameter channel 2 = 1536 + 64 = 1600

Identifier



10.510.5.1

l10.5-2 EDSPM-TXXX-3.0-04/2004




The instruction code contains the command to be executed and information aboutthe parameter data length. It is structured as follows:

bits 7(MSB)

bits 6 bits 5 bits 4 bits 3 bits 2 bit 1 bit 0

Command Command Specifier (cs) Length E s

Write Request 0 0 1 0 00 = 4 bytes 1 1Write Response 0 1 1 0

00 4 bytes01 = 3 bytes 0 0

Read Request 0 1 0 0

y10 = 2 bytes11 1 b t

0 0Read Response 0 1 0 0

y11 = 1 byte 1 1

Error Response 1 0 0 0 0 0 0 0

Instruction code for parameters with 4 bytes of data length:

4 bytes of data(32 bits)

Command hex dec Information

Write Request 23 35 Transmitting parameters to a node

Write Response 60 96 Node response to the Write Request (acknowledgement)

Read Request 40 64 Request to read a parameter from a node

Read Response 43 67 Response to the read request with the actual value

Error Response 80 128 Node reports a communication error

If an error occurs, the addressed node generates an “Error Response” .

In Data 4, this telegram always contains the value “6” , in Data 3 it contains an errorcode:

Command code Error Response Data 3 Data 4 Error message

3 Access denied

80h 5 6 Wrong subindex80h6

6Wrong index

Instruction code

Instruction “Error Response”



10.510.5.1

l 10.5-3EDSPM-TXXX-3.0-04/2004




The index of the telegram is used to address the index to be read or written:

The index value must be entered in left-justified Intel format and divided intoLow byte and High byte (see example).

For subindices, the number of the associated subindex must be entered intothe telegram’s subindex.

For indices without subindex, the subindex always has a value “0’.

The subindex 1 of index I2400h (monitoring time for PDO1) is to be addressed:





00h 24h 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).

The value ”1 s” is to be transmitted for the index 2400h (monitoring time).

Data1...4 = 1 × 1000 = 1000 = 00 00 03 E8h





E8h 03h 00h 00h

(LSB) (MSB)

Parameter addressing(Index/subindex)

Example

Parameter data (data 1 ... data 4)

Example

Transmitting parameter dataWriting a parameter (example)


10.510.5.2

l10.5-4 EDSPM-TXXX-3.0-04/2004

10.5.2 Writing a parameter (example)

An I/O system IP20 has the node address 2. For the first analog module (4×analogoutput), the function of the output A.0 (voltage signal 0 ... +10 V, 12 bits) is to beoutput.


= 1536 + 2 =1538 = 602h• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2

Instructioncode:

= 23h • Command “Write Request” (transmitting parameters tothe I/O system IP20)




= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh

• Diagnostics (Lenze setting)• Reserved• Output A.0 (voltage signal 0 ... +10 V, 12 bits)• Output A.1 (Lenze setting)





602h 23h 01h 30h 1 00h 00h 05h 3Bh

(LSB) (MSB)

L

0 1

L

Write Request

Write Response

Identifier = 1538

Identifier = 1410

epm-t118

Fig. 10.5-1 Writing a parameter


= 1408 + 2= 1410


Instructioncode:

= 60h • Command “Write Response” (acknowledgement from theI/O system IP20)



Data 1 ... 4 = 0 • Acknowledgement only





1410 60h 01h 30h 0 0 0 0 3

Task


Telegram from the I/Osystem IP20 (acknowledgementwhen being executed faultlessly)

Transmitting parameter dataReading a parameter (example)


10.510.5.3

l 10.5-5EDSPM-TXXX-3.0-04/2004

10.5.3 Reading a parameter (example)

An I/O system IP20 has the node address 2. For the first module (4×analog output)the function of the A.0 output is to be read.

Formula Information

Identifier = Basic identifier + node address= 1536 + 2 =1538 = 602h

• Basic identifier for parameter channel 1 (output) = 1536• Node address of the I/O system IP20 = 2

Instructioncode:

= 40h • Command “Read Request” (request for reading aparameter of the I/O system IP20)




= 00h= 00h= 00h= 00h= 00 00 00 00h

• Read request only





602h 40h 01h 30h 1 00h 00h 00h 00h

L

0 1

L

Read Request

Read Response

Identifier = 1538

Identifier = 1410

epm-t119

Fig. 10.5-2 Reading a parameter

Formula Information

Identifier = Basic identifier + node address= 1408 + 2= 1410


Instructioncode:

= 43h • Command “Read Response” (response to the readrequest with the current value)




= 00h= 00h= 05h= 3Bh= 00 00 05 3Bh

• Assumption: Analog output A.0 outputs a voltage signal0 ... +10 V at a 12 bit resolution.





1410 43h 01h 30h 0 00h 00h 05h 3Bh

(LSB) (MSB)

Task


Telegram from the I/O systemIP20 (value of the requestedparameter):



10.6

l 10.6-1EDSPM-TXXX-3.0-04/2004

10.6 Setting of baud rate and node address (node ID)

Baud rate

For establishing a communication, all devices must use the same baud rate for thedata transfer.

The baud rate can be set via the coding switch at the module.

Node address

Each nodeof thenetwork must beassigned to anode address, also called Node IDwithin a range of 1 ... 63 for clear identification.

A node address in a network may be used only once.

The node address must be set with the coding switch at the module.

0 1

+ +

– –

epm-t024




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


2. Use the coding switch to set the required baud rate.– Select ’8x’ (x = value of required baud rate)



Baud rate setting



10.6

l10.6-2 EDSPM-TXXX-3.0-04/2004


6. The set node address will be accepted after 5 seconds.– LED RD goes off.

– The module changes to the pre-operational mode.


Indices for setting


Lenze SelectionI100Bh Node ID 0 0 1 63 Display only

System bus node address

I2001h CAN baud rate 1 0 1 255 Display onlyh

012345678




Node Guarding


10.7

l 10.7-1EDSPM-TXXX-3.0-04/2004

10.7 Node Guarding

COB-ID = 1792 + Node-ID

COB-ID = 1792 + Node-ID NMT-Slave1 )

NMT-Master

indication

indication

indication

request

request

confirm

confirm

indication



response

response

Node Guarding Event2 )

Life Guarding Event2

Node

Guard

time

Node

Time

Life

0

0

1

1

t s

7 6 … 0

t s

7 6 … 0

epm-t133

Fig. 10.7-1 Node Guarding Protocol

1) I/O system IP20s Status of the I/O system IP20T Toggle bit

The Node Guarding Protocol monitors the connection between master and slave.

Via the index I100Ch ”Guard time” , a time [ms] can be set and in the index I100Dh”Life time factor” a factor can be set. If both indices are multiplied by each other,you get a monitoring time in which the master must send a Node Guardingtelegram to the slave. If one of both indices is set to zero, the monitoring time isalso zero and hencedeactivated. The slavesends a telegram with its current statusto the master.

With event-controlled process data transmission, Node Guarding ensures cyclicalnode monitoring.

The master starts the Node Guarding by sending the Node Guardingtelegram.

If the slave (I/O system IP20) does not receive a telegram within themonitoring time, the Node Guarding Event is activated. The I/O system IP20switches to the state set in I1029h. The outputs switch to a defined state(also see the chapter Configuration → Diagnostics).

A change to the Operational status triggers a reset.

Description

Node Guarding


10.7

l10.7-2 EDSPM-TXXX-3.0-04/2004

11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) Toggle bit

1792d (700h)

Identifier:


= 1792d + xxThe basic identifier for Node Guarding isfirmly adjusted to 1792d (700h)xx = Node address of the I/O system

Device status (bit 0 ... 6) of the slave (I/O system IP20):

Command(hex)

Device status

04 Stopped05 Operational7F Pre-Operational

Indices for setting


Lenze Selection


10.7-1


10.7-1



10.7-1

Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the ”NodeGuarding” function.

Status telegram

Heartbeat


10.8

l 10.8-1EDSPM-TXXX-3.0-04/2004

10.8 Heartbeat

COB-ID = 1792 + Node-ID Heartbeat

Consumer

Heartbeat

Producer

indication

indication

indication

indication

indication

indication

indication

indication

Heartbeat Event

request

request

Heartbeat

Producer

Time

Heartbeat

Consumer

Time

Heartbeat

Consumer

Time

0

0

1

1

r

r

s

s

7

7

6 … 0

6 … 0

epm-t134

Fig. 10.8-1 Heartbeat Protocol

r Reserveds Status of the Heartbeat Producer

The I/O system IP20 can monitor up to five nodes. The status telegrams of thenodes to be monitored must arrive cyclically with a certain time at the I/O systemIP20. If a status telegram is not received within this time, the I/O system IP20switches to the status set in I1029h. The outputs switch to a defined status (alsosee the chapter Configuration → Diagnostics).

Settings are made in the index I1016h.

The I/O system IP20 assigns a status telegram to the fieldbus and can thus bemonitored by other nodes.

Settings are made in index I1017h.

Producer heartbeat is automatically started if a time > 0 is entered into theindex 1017h and the I/O system IP20 changes to the status ”Operational” .

After the cycle time has been completed, the status telegram is transmittedto the fieldbus by the I/O system IP20.

A change into the Operational status triggers a reset.

Heartbeat Consumer

Heartbeat Producer

Heartbeat


10.8

l10.8-2 EDSPM-TXXX-3.0-04/2004

11 bits 1 byte of user dataIdentifier Device status (bits 0 ... 6) bits 7

1792d (700h) reserved

Identifier:


= 1792d + xxThe basic identifiers for heartbeat is firmlyadjusted to 1792d (700h)xx = node address of the I/O system IP20

Device status (bit 1 ... 6) of the heartbeat producer:

Command(hex)

Status

00 Boot-up05 Operational04 Stopped7F Pre-Operational

Indices for setting


Lenze SelectionI1016h Heartbeat

consumer timeData contents The I/O system IP20 can monitor up to five

nodes (subindex 1 5)10.8-1

consumer timeHeartbeat time Node ID reserved

nodes (subindex 1 ... 5).If the monitored node does not respond,




10.8-1

Node ID 0 0 1 255










10.8-1



Note!The Lenze PLC’s 9300 servo PLC and Drive PLC in connectionwith the function library LenzeCanDSxDrv.lib support the”heartbeat” function.

Status telegram

Reset node


10.9

l 10.9-1EDSPM-TXXX-3.0-04/2004

10.9 Reset node

Changes of transmission modes and identifiers will be accepted after ”reset node”only.

Switch the supply voltage on again

Execute NMT command ”81h” (see chapter ”Network management (NMT)”)

Set I2358h = 1


Lenze SelectionI2358h CAN reset node 0 0 No function Reset node 10.9-1h

1 CAN reset node

MonitoringTime monitoring for PDO1-Rx ... PDO10-Rx


10.1010.10.1

l 10.10-1EDSPM-TXXX-3.0-04/2004

10.10 Monitoring

10.10.1 Time monitoring for PDO1-Rx ... PDO10-Rx

A time monitoring can be configured for the inputs of the process data objectsPDO1-Rx ... PDO10-Rx via the index I2400h.


Lenze Selection


10.10-1

1 PD01 0




4 PD04 0

5 PD05 0

6 PD06 0

7 PD07 0

8 PD08 0

9 PD09 0

10 PD10 0



10.1010.10.2

l10.10-2 EDSPM-TXXX-3.0-04/2004




Lenze SelectionI6206h Error mode digital



10.10-2



1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0



Via index I6207h the response can be configured individually for each digitaloutput.


Lenze SelectionI6207h Error value digital 0 0 1 255 Configures the individual digital output 10.10-2h g



Bit value0


Bit value1


1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0




10.1010.10.4

l 10.10-3EDSPM-TXXX-3.0-04/2004

10.10.4 Monitoring of the analog outputs

Via the index I6443h you can configure the reactions of the analog outputs, whichare to take place when no telegrams, ”node guarding events” or ”heartbeat” havebeen received in the adjusted monitoring time.

Monitoring is started on receipt of the next PDO telegram after the settings.

If a telegram is not transmitted within the adjusted time, the moduleswitches to the ”Pre-Operational” state. No further process data aretransmitted.

A change into the ”Operational” state triggers a reset.


Lenze SelectionI6443h* Error mode analog



10.10-3



1 Channel 1 0

2 Channel 2 0

... ... ...

36 Channel 36 0

Via index I6444h the response can be configured individually for each analogoutput.


Lenze Selection



10.10-3

1 Channel 1 0



... ... ...system

36 Channel 36 0


Diagnostics


10.11

l 10.11-1EDSPM-TXXX-3.0-04/2004

10.11 Diagnostics

The following indices can be used for the diagnostics. They display operatingstates. Settings are not possible.

Index Information displayed DescriptionI1014h Emergency telegram 10.11-2

I2359h Operating status of the system bus 10.11-3

I1027h Module ID read 10.11-3

I6000h Digital input status 10.11-4

I6200h Digital output status 10.11-4

I6401h Analog input status 10.11-5

I6411h Analog output status 10.11-5

I1003h Current errors

DiagnosticsEmergency telegram


10.1110.11.1

l10.11-2 EDSPM-TXXX-3.0-04/2004

10.11.1 Emergency telegram

By means of the emergency telegram, the I/O system IP20 communicates internaldevice errors to other system bus nodes with high priority. 8 bytes of user data areavailable.


Lenze Selection


10.11-2

Emergency telegram structure

Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7LOW byte HIGH byte Error register Error information

Error code Error code I1001h 1 2 3 4 5

Contents of the emergency telegram

Error cause Byte 0 Byte 1 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7Emergency telegram reset 0000h 00h 00h 00h 00h 00hError on initialisation of modules linked tobackplane bus 01h 00h 00h 00h 00h

Error on module configuration check 02h Slot number 00h 00h 00hError on module read/write 03h Slot number 00h 00h 00hModule configuration was changed 05h 00h 00h 00h 00hConfiguration of the modules has beenchanged. The module is in the Pre-Operationalstate. 1000h

06h 00h 00h 00h 00h

Incorrect module parameterisation1000h

30h Slot number 00h 00h 00hDiagnostic alarm - analog module 40h +

Slot numberDiagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3

Process alarm - analog module 80h +Slot number

Diagnostic byte 0 Diagnostic byte 1 Diagnostic byte 2 Diagnostic byte 3

PDO control (monitoring time in I2400h hasbeen exceeded). FFh 10h PDO number


Monitoring time(HIGH byte)

SDO/PDO mapping error6300h

Map index(LOW byte)

Map index(HIGH byte)

Number of entries 00h 00h

Heartbeat error (monitoring time exceeded).8100h Subindex Node address


Monitoring time(HIGH byte) 00h

Node guarding error (monitoring timeexceeded). 8130h

Guard time(LOW byte)

Guard time(HIGH byte)

Life time 00h 00h

DiagnosticsOperating state of system bus (CAN)


10.1110.11.2

l 10.11-3EDSPM-TXXX-3.0-04/2004

10.11.2 Operating state of system bus (CAN)

Index I2359h displays the operating status of the system bus.

I2359h Operating status Description0 Operational The system bus is fully functional. The I/O system can transmit and receive parameter and process data.

1 Pre-Operational The I/O system can transmit and receive parameter data while process data are ignored.The status can be changed from Pre-Operational to Operational by:• The CAN master• An NMT telegram ’00 01 00’

2 Warning The I/O system has received incorrect telegrams and become passive in the overall system bus environment, i. e., the I/Osystem can no longer transmit data.Possible causes:• A missing bus termination• Insufficient shielding• Potential differences in the earth connections for the control electronics• The bus load is too high

3 Bus off The I/O system has disconnected itself from the system bus after receiving too many incorrect telegrams.


Lenze SelectionI2359h CAN state 0 1 3 Display only 10.11-3h

0123



10.11.3 Reading out the module identifiers

When using the modular system, the number of the modules connected to thebackplane bus as well as the module types used can be read out via index I1027h.Each module type can be clearly identified via a hexadecimal value.

Index Subindex Reading... Module type Module identifier0 ... the number of plugged modules (0 ... 32) – 0h ... 20h

No module 0h8×digital input 9FC1h16×digital input 9FC2h

1×counter/16×digital input 08C0h

I1027h 1 ... 32 ... the module type in slots 1 ... 32

8×digital output 1A16×digital output 1A8×digital output 2A4×relay

AFC8h

8×digital input / output BFC9h4×analog input 15C4h

4×analog output A5E0h4×analog input / output 45DBh2/4×counter B5F4hSSI interface B5DBh

DiagnosticsStatus of the digital inputs


10.1110.11.4

l10.11-4 EDSPM-TXXX-3.0-04/2004

10.11.4 Status of the digital inputs

Via the index I6000h the status of the digital inputs can be displayed.


Lenze Selection


1 Module 1


2 Module 2

... ...

32 Module 32

10.11.5 Status of the digital outputs

Via the index I6200h the status of the digital outputs can be displayed:


Lenze Selection


1 Module 1


2 Module 2

... ...

32 Module 32

DiagnosticsStatus of the analog inputs


10.1110.11.6

l 10.11-5EDSPM-TXXX-3.0-04/2004

10.11.6 Status of the analog inputs

Via the index I6401h the status of the analog inputs can be displayed.


Lenze Selection


1 Channel 1


... ...system

36 Channel 36

10.11.7 Status of the analog outputs

Via the index I6411h the status of the analog outputs can be displayed:


Lenze Selection


1 Channel 1


... ...system

36 Channel 36

Contents

11Commissioning

11.1

l 11.1-1EDSPM-TXXX-3.0-04/2004

11 Commissioning

11.1 Contents

11.2 Before switching on 11.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3 Commissioning examples 11.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

11.3.1 I/O system IP20 at the 93xx controller 11.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Before switching on

11Commissioning

11.2

l 11.2-1EDSPM-TXXX-3.0-04/2004

11.2 Before switching on

Prior to supply voltage connection, check

the wiring for completeness, earth faults and short circuits

the system bus wiring (CAN)– The first and last node must be connected to a 120 Ω resistor.

spatial cable separation from signalling and mains cables.

Note!After switching on the supply voltage, the modules of the I/Osystem IP20 are initialised. During the initialisation, the modulescannot be parameterised.

Initialisation time - modular system: approx. 10 sInitialisation time - compact system: approx. 1 s

Commissioning examplesI/O system IP20 at the 93xx controller

11Commissioning

11.311.3.1

l 11.3-1EDSPM-TXXX-3.0-04/2004

11.3 Commissioning examples

11.3.1 I/O system IP20 at the 93xx controller

An I/O system IP20 is to be operated on a controller of the 9300 series with sixdigital inputs and two digital outputs.

The node address at the controller is 1. Hence, the node address at the I/Osystem IP20 must be 2.

The baud rate is to be 500 kbits/s.

Stop!When transmitting the status information of the I/O system IP20,the complete byte is read into the controller, including the statusinformation of the digital outputs.

In the example, the input states are read via CAN-IN3.B0 ...CAN-IN3.B5 and the output states via CAN-IN3.B6 andCAN-IN3.B7.Check the internal connection of the input signals CAN-IN3.B6and CAN-IN3.B7 at the controller. Otherwise, outputs set (HIGHlevel) at the I/O system may trigger uncontrolled actions of thecontroller.

CAN

l

LDIO 8xDC24V 1A

.0

L+

.1

.2

.3

.4

.5

.6

.7

F

1

2

3

4

5

6

7

8

9

L

10

EPM – T110 1A.10 EPM – T230 1A

PW

ER

RD

BA

ADR.

X1

1

2

0 2

+

–

DC24V

–

+Z

Z

DC 24 V

EPM-T110

Fig. 11.3-1 9300 drive controller and I/O system IP20 with 6 digital inputs and 2 digital outputs

Drive controller 93XX

Example


11 Commissioning

11.311.3.1

l11.3-2 EDSPM-TXXX-3.0-04/2004

Please also note relevant information on the controller in the System Manual!

Setting sequence:

1. Set CAN bus node address to value 1 (C0350 = 1).

2. Address for CAN3-IN and CAN3-OUT to be defined by C0350 (C0353/3 = 0).

3. Set CAN bus baud rate to 500 kbits/s (C0351 = 0).

4. Set CAN bus master operation (C0352 = 1).

5. Set cycle time for cyclical process data transfers (C0356/3 > 0).

6. Switch process output words in CAN3-OUT to digital output signals(C0864/3 = 1).

7. Save set parameters (C0003 = 1).

8. Trigger CAN Reset Node (C0358 = 1).

Note!When using an 8200 vector frequency inverter, make sure to setthe process data channel CAN-I/O from sync-controlled toevent-controlled transmission (C0360 = 0) .The modified settings will be accepted after a ”Reset Node”(C0358 = 1).

Settings at the controller


11Commissioning

11.311.3.1

l 11.3-3EDSPM-TXXX-3.0-04/2004

If you use the communication profile system bus (CAN)

Setting of the baud rate and node address:

System bus (CAN) Baud rateCoding switch value [kbit/s]

90 1000

91 50092 250

93 125

94 100

95 50

96 20

97 10

98 800


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.


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.


Settings at the I/O system IP20


11 Commissioning

11.311.3.1

l11.3-4 EDSPM-TXXX-3.0-04/2004

When using the communication profile CANopen

1. Adapt the basic identifiers for the process data object 1.– Set PDO1-Rx via index 1400h, and subindex 1 to 770.– Set PDO1-Tx via index 1800h, and subindex 1 to 769.

2. Make a ”reset node” by setting the index I2358h = 1. The settings areaccepted.

Setting of the baud rate and node address:

CANopen Baud rateCoding switch value [kbit/s]

80 1000

81 50082 250

83 125

84 100

85 50

86 20

87 10

88 800


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.


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.


Contents

12Parameter setting

12.1

l 12.1-1EDSPM-TXXX-3.0-04/2004

12 Parameter setting

12.1 Contents

12.2 Parameterising digital modules 12.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.2.1 Parameter data 12.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3 Parameterising analog modules 12.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.1 Parameter data 12.3-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.2 Diagnostic data 12.3-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.3 Input data / output data 12.3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.4 Signal functions of 4xanalog input 12.3-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.5 Signal functions of 4xanalog output 12.3-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.6 Signal functions of 4xanalog input /output 12.3-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.3.7 Converting measured values for voltage and current 12.3-16. . . . . . . . . . . . . . . . . . . . . . . .

12.4 Parameterising 2/4xcounter module 12.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.1 Parameter data 12.4-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


12.4.3 2 x 32 bit counter (mode 0) 12.4-6. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.4 Encoder (modes 1, 3, and 5) 12.4-8. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.5 Measuring the pulse width, fref 50 kHz (mode 6) 12.4-12. . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.6 4 × 16 bit counter (modes 8 ... 11) 12.4-14. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.7 2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13) 12.4-16. . . . . . . . .

12.4.8 2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14 and 15) 12.4-19

12.4.9 Measuring the frequency (modes 16 and 18) 12.4-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.10 Measuring the period (modes 17 and 19) 12.4-26. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.11 Measuring the pulse width, fref programmable (mode 20) 12.4-29. . . . . . . . . . . . . . . . . . . .

12.4.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22) 12.4-32. . . . . .

12.4.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26) 12.4-35. . . . . . . . . . . . . . . . .

12.4.14 2 x 32 bit counter with G/RES (mode 27) 12.4-39. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.15 Encoder with G/RES (modes 28 ... 30) 12.4-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.16 2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32) 12.4-45. . . . . . . . .

12.4.17 2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33 and 34) 12.4-48

12.4.18 2 x 32 bit counter with GATE (mode 35) 12.4-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.4.19 Encoder with GATE (modes 36 ... 38) 12.4-53. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Contents


12.1

l12.1-2 EDSPM-TXXX-3.0-04/2004

12.5 Parameterising SSI interface 12.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.5.1 Parameter data 12.5-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


12.6 Parameterising 1xcounter/16xdigital input module 12.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.6.1 Parameter data 12.6-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


12.6.3 Encoder (mode 0) 12.6-5. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.6.4 32 bit counter (mode 1) 12.6-7. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.6.5 32 bit counter with clock up/down evaluation (mode 2) 12.6-9. . . . . . . . . . . . . . . . . . . . . .

12.6.6 Measuring the frequency (mode 3) 12.6-11. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

12.6.7 Measuring the period (mode 4) 12.6-13. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .


12.8 Loading default setting 12.8-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Parameterising digital modulesParameter data

12Parameter setting

12.212.2.1

l 12.2-1EDSPM-TXXX-3.0-04/2004

12.2 Parameterising digital modules

12.2.1 Parameter data

Via the parameter data of the digital modules can be defined, how to transmit thecontrol signals: with original polarity or inverse polarity.

1 byte (8x module)or 2 bytes (16x modules)are available for parameter data, whichare assigned via SDOs.

Digital inputs are parameterised via the index I6002h.

Digital outputs are parameterised via the index I6202h.

The subindex depends on the plug-in station (max. 32 digital modules).

epm-t174

Fig. 12.2-1 Display of the parameter data ”digital module”

Byte Assignment Lenze setting0 Polarity of the transmitted

signalsBit 0 0 Signal is transmitted in original

form00h

signals

1 Signal is transmitted in inverseform

Bits 1 ... 7 Reserve

Note!Store changed parameters in the EEPROM via index I2003h. Thesettings are maintained after switching off the supply voltage.

8xdigital input8xdigital output8xdigital input / output16xdigital input16xdigital output

Parameterising analog modulesParameter data

12Parameter setting

12.312.3.1

l 12.3-1EDSPM-TXXX-3.0-04/2004

12.3 Parameterising analog modules


Stop!The modules are not protected against a wrong parameter settingby the hardware. If you, for instance, apply a voltage during aproject current metering, the module can be destroyed!


Via the parameter data of the 4xanalog input module you can define the following:

The signal function for each input (current measurement, voltagemeasurement, temperature measurement etc.)

The module error behaviour

The conversion speed

For the 4xanalog input 10 bytes of parameter data are available, which areassigned via SDOs.

Depending on the plug-in station, the module is activated via the indicesI3001h ... I3010h (max. 16 analog modules). The parameter data are assigned inthe subindex 1 ... 3.

epm-t059

Fig. 12.3-1 Display of the parameter data 4xanalog input

4xanalog input



12.312.3.1

l12.3-2 EDSPM-TXXX-3.0-04/2004

The following bytes with fixed assignment are available for parameter data:

Byte Assignment Lenzesetting

0 Enabling / releasing1)

Bits 0 ... 5 Reserved 00h0 Enabling / releasingdiagnostic alarm 1) Bit 6 0 Alarm inhibited

12 3 6

00hg Bit 6

1 Alarm enabled12.3-6

Bit 7 Reserved1 Reserved2 Selecting signal function for

input E.0Selecting the signal function for analog inputs: 12.3-7 3Bh

3 Selecting signal function forinput E.1

3Bh


3Bh


3Bh

6 Select options for input E.0 Bits 0 ... 3 Conversion speed 2) Resolution 00h7 Select options for input E.1

Bits 0 ... 300000001

15 conversions/s30 conversions/s

16 bits16 bits

00h

8 Select options for input E.2000100100011

30 conversions/s60 conversions/s123 conversions/s

16 bits15 bits14 bits

00h

9 Select options for input E.300110100

123 conversions/s168 i /

14 bits12 bit 00h9 Select options for input E.3 0100 168 conversions/s 12 bits 00h0100

0101168 conversions/s202 conversions/s

12 bits10 bits0101

0110202 conversions/s3 7 conversions/s

10 bits16 bits0110

01113.7 conversions/s7 5 conversions/s

16 bits16 bits0111 7.5 conversions/s 16 bits

Bits 4 ... 5 Data selectionBits 4 ... 500 Deactivated01 Use 2 of 3 values10 Use 4 of 6 values

Bits 6 ... 7 HysteresisBits 6 ... 700 Deactivated01 Hysteresis ±810 Hysteresis ±16

1) If the diagnostic alarm is enabled in byte 0, diagnostic data are transmitted to the master via the emergencytelegram in the event of an error.

2) The conversion speeds given are valid for the operation of an analog input. When operating several inputs, thecorresponding convervion speed must be divided by the number of active inputs to detect the conversion speedper input.Please note that the resolution is reduced with higher conversion speeds due to shorter integration times. Thedata transfer format remains the same. Only the lower bits (LSBs) are not relevant anymore for the analog value.


12Parameter setting

12.312.3.1

l 12.3-3EDSPM-TXXX-3.0-04/2004

Via the parameter data of the 4xanalog output module you can define thefollowing:

The signal function for each output (current signal output, voltage signaloutput)


For the 4xanalog output 6 bytes of parameter data are available, which areassigned via SDOs.


epm-t193

Fig. 12.3-2 Display of the parameter data 4xanalog output


Byte Assignment Lenze setting0 Enabling / inhibiting diagnostic

1)Bits 0 ... 5 Reserved 00h0 Enabling / inhibiting diagnostic

alarm 1) Bit 6 0 Alarm inhibited12 3 6

00hBit 6

1 Alarm enabled12.3-6

0 Activating / inhibitingdiagnostics

Bit 7 Reserved

1 reserved2 Selecting signal function for

output E.0Selecting the signal function for analog outputs:

12.3-1101h

3 Selecting signal function foroutput E.1

12.3 11

01h


01h


01h

1) If the diagnostic alarm is enabled, diagnostic data are transmitted to the master via the emergency telegram inthe event of an error.

4xanalog output



12.312.3.1

l12.3-4 EDSPM-TXXX-3.0-04/2004

Via the parameter data of the 4xanalog input / output module you can define thefollowing:

The signal function for each input or output (current metering, voltagemetering, temperature metering, or current signal output, voltage signaloutput)


The conversion speed

For the 4xanalog input / output up to eight bytes of parameter data are available,which are assigned via SDOs.


epm-t194

Fig. 12.3-3 Display of the parameter data 4xanalog input /output


Byte Assignment Lenzesetting

0 Activating/deactivating wire1)

Bit 0 Wire breakage detection for input E.0 00h0 Activating/deactivating wirebreakage detection 1) and

bli /i hibiti di ti

Bit 00 Deactivated

12 3 6

00hg

enabling/inhibiting diagnosticalarm 2) 1 activated

12.3-6alarm 2)

Bit 1 Wire breakage detection for input E.1Bit 10 Deactivated

12 3 61 activated

12.3-6

Bits 2 ... 5 ReservedBit 6 0 Diagnostic alarm

inhibited12 3 6

1 Diagnostic alarmenabled

12.3-6

1 reserved Bits 0 ... 7 Reserved2 Selecting signal function for

input E.0Selection of signal function 12.3-13 3Bh



01h




12Parameter setting

12.312.3.1

l 12.3-5EDSPM-TXXX-3.0-04/2004

Byte Lenzesetting

Assignment

6 Select options for input E.0 Bits 0 ... 3 Conversion speed 3) Resolution 00h7 Select options for input E.1

Bits 0 ... 30000 15 conversions/s 16 Bit 00h7 Select options for input E.10001 30 conversions/s 16 Bit

00h

0010 60 conversions/s 15 Bit0011 123 conversions/s 14 Bit0100 168 conversions/s 12 Bit0101 202 conversions/s 10 Bit0110 3.7 conversions/s 16 Bit0111 7.5 conversions/s 16 Bit

Bits 4 ... 7 Reserved8... 11

Reserved

1) The wire breakage detection is used in the measuring range 4 ... 20 mA. If the wire breakage detection isactivated in byte 0 and the diagnostic alarm is enabled, a current reduction to below 0.8 mA is indicated.

2) If the diagnostic alarm is enabled in byte 0, diagnostic data are transmitted to the master via the emergencytelegram in the event of an error.

3) The conversion speeds given are valid for the operation of an analog input. When operating several inputs, thecorresponding convervion speed must be divided by the number of active inputs to detect the conversion speedper input.Please note that the resolution is reduced with higher conversion speeds due to shorter integration times. Thedata transfer format remains the same. Only the lower bits (LSBs) are not relevant anymore for the analog value.

Parameterising analog modulesDiagnostic data


12.312.3.2

l12.3-6 EDSPM-TXXX-3.0-04/2004

12.3.2 Diagnostic data

If the diagnostic alarm is activated in byte 0 of the parameter data, the diagnosticdata in the emergency telegram are transmitted to the master (see chapter”Diagnostics” , section ”Emergency telegram”).1

The following bytes are available for diagnostic data:

Byte Assignment0 Bit 0 Module monitoring0 Bit 0

0 No fault1 Module fault

Bit 1 Consistently at 0Bit 2 External errorBit 2

0 No error1 External error

Bit 3 Error at inputs and / or outputs, respectivelyBit 30 No error1 Error at at least one input and / or output, respectively

Bits 4 ... 7 Reserved1 Bits 0 ... 3 Module type1 Bits 0 ... 3

0101 Analog moduleBit 4 Information on inputs and / or outputs, respectivelyBit 4

0 No information available1 Information available

2 Reserved3 Reserved

The following bytes with fixed assignment are available for diagnostic data:

Byte Assignment0 Bit 0 Module monitoring0 Bit 0

0 No fault1 Module fault

Bit 1 ReservedBit 2 External errorBit 2

0 No error1 External error

Bit 3 Error at inputs and / or outputs, respectivelyBit 30 No error1 Error at at least one input and / or output, respectively

Bit 4 Supply errorBit 40 No error1 No external supply voltage

Bits 5 ... 6 ReservedBit 7 Wrong parametersBit 7

0 No error1 Wrong parameters in the module

1 Bits 0 ... 3 Module type1 Bits 0 ... 30101 Analog module

Bit 4 Information on inputs and / or outputs, respectivelyBit 40 No information available1 Information available

2 Reserved3 Reserved

4xanalog input4xanalog output


Parameterising analog modulesInput data / output data

12Parameter setting

12.312.3.3

l 12.3-7EDSPM-TXXX-3.0-04/2004

12.3.3 Input data / output data

Two bytes (LOW byte, HIGH byte) are available for input and output data, whichare assigned and read via PDOs.

Byte2 Format A Format BLOW byte Bits 0 ... 7 Binary signal value Bit 0 Overflow bitLOW byte Bit 0

0 Value within signal range1 Signal range exceeded

Bit 1 Error bitBit 10 No error1 Internal fault

Bit 2 Activity bit (always 0)Bits 3 ... 7 Binary signal value

HIGH byte Bits 0 ... 6 Binary signal value Bits 0 ... 6 Binary signal valueHIGH byteBit 7 Polarity bit Bit 7 Polarity bitBit 7

0 Positive polarityBit 7

0 Positive polarity1 Negative polarity 1 Negative polarity

12.3.4 Signal functions of 4xanalog input

Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.In the event of an overflow or underflow, wrong values areoutput. Strong signal jumps with sign reversal may occur.

Parameterbytes2/3/4/5

Signal function Signal range Format 1) Tolerance 2)

00h3 Parameter data in module not overwritten01h Temperature

measurement withwithPT100

-200.0 0.1 °C +850.0 ±1 °C 3)

02h

measurement withtwo-wire connection with

PT1000-200.0 0.1 °C +500.0

A

±1 °C 3)

03h withNI100

-50.0 0.1 °C +250.0A

±1 °C 3)

04h withNI1000

-50.0 0.1 °C +250.0 ±1 °C 3)

05h Resistancemeasurement with

with60 Ω

00

0.01 Ω1dec

+60.0032767

±0.2 % of the finalvalue 3)

06h


600 Ω00

0.01 Ω1dec

+600.0032767

A


07h with3000 Ω

00

0.01 Ω1dec

+3000.0032767

A±0.2 % of the finalvalue 3)

08h with6000 Ω

00

0.01 Ω1dec

+6000.0032767


09h Temperaturemeasurement with

withPT100

-200.0 0.1 °C +850.0 ±0.5 °C

0Ah

measurement withfour-wire connection with

PT1000-200.0 0.1 °C +500.0

A

±0.5 °C

0Bh withNI100

-50.0 0.1 °C +250.0A

±0.5 °C

0Ch withNI1000

-50.0 0.1 °C +250.0 ±0.5 °C

Parameterising analog modulesSignal functions of 4xanalog input


12.312.3.4

l12.3-8 EDSPM-TXXX-3.0-04/2004


Tolerance 2)Format 1)Signal rangeSignal function

0Dh Resistancemeasurement with

with60 Ω

0 0.01 Ω +60.00 ±0.1 % of the finalvalue

0Eh


600 Ω0 0.01 Ω +600.00

A±0.05 % of thefinal value

0Fh with3000 Ω

0 0.01 Ω +3000.00 ±0.05 % of thefinal value


with typeJ

-210.0 0.1 °C +850.0 ±1 °C

11h

measurement withthermoelement andexternalcompensation 4)

with typeK

-270.0 0.1 °C +1200.0 ±1.5 °C

12hcompensation 4)

with typeN

-200.0 0.1 °C +1300.0

A

±1.5 °C

13h with typeR

-50.0 0.1 °C +1760.0A

±4 °C

14h with typeT

-270.0 0.1 °C +400.0 ±1.5 °C

15h with typeS

-50.0 0.1 °C +1760.0 ±5 °C


with typeJ

-210.0 0.1 °C +850.0 ±1.5 °C

19h

measurement withthermoelement andinternalcompensation 5)

with typeK

-270.0 0.1 °C +1200.0 ±2 °C

1Ahcompensation 5)

with typeN

-200.0 0.1 °C +1300.0

A

±2 °C

1Bh with typeR

-50.0 0.1 °C +1760.0A

±5 °C

1Ch with typeT

-270.0 0.1 °C +400.0 ±2 °C

1Dh with typeS

-50.0 0.1 °C +1760.0 ±5 °C

27h Voltagemeasurement

0...50 mV 00

0.01 mV1dec

+50.0027648

±0.1 % of the finalvaluemeasurement

Lower range limit – A

value

Upper range limit: +59.25 mV32767 dec

A


±10 V -10.00-27648

0.01V1dec

+10.0027648

±0.05 % of thefinal valuemeasurement

Lower range limit: -11.85 V-32767 dec

A

final value

Upper range limit: +11.85 V32767 dec


±4 V -4.00-27648

0.01V1dec

+4.00 V27648dec



A

final value

Upper range limit: +4.74 V32767 dec

2Ah Voltagemeasurement

±400 mV -400-27648

1 mV1dec

+40027648


Lower range limit: -474 mV-32767 dec

A

value

Upper range limit: +474 mV32767 dec


12Parameter setting

12.312.3.4

l 12.3-9EDSPM-TXXX-3.0-04/2004



2Ch Currentmeasurement

±20 mA -20.00-27648

0.01 mA1dec

+20.0027648


Lower range limit: -23.70 mA-32767dec

A

final value

Upper range limit: +23.70 mA+32767dec

2Dh Currentmeasurement

4...20 mA 4.000

0.01 mA1dec

20.0027648


Lower range limit: 1.185 mA-4864dec

A

final value


32h Resistancemeasurement with

with6000 Ω

00

0.01 Ω1dec

+6000.0032767dec

±0.05 % of thefinal value

33h


6000 Ω00

0.01 Ω1dec

+6000.006000dec


35h with60 Ω

00

0.01 Ω +6000.006000dec A


36h with600 Ω

00

0.01 Ω1dec

+600.006000dec

A±0.1 % of the finalvalue 3)

37h with3000 Ω

00

0.01 Ω1dec

+3000.0030000dec


38h with6000 Ω

00

0.01 Ω1dec

+6000.006000dec


3Ah Currentmeasurement

±20 mA -20.00-16384

0.01 mA1dec

+20.0016384



A

final value


3Bh Voltagemeasurement

±10 V -10.00-16384

0.01V1dec

+10.0016384


Lower range limit: -11.85 V-20480dec

A

value

Upper range limit: +11.85 V20480dec

3Dh Resistancemeasurement with

with60 Ω

00

0.01 Ω1dec

+60.006000dec

±0.1 % of the finalvalue

3Eh


600 Ω00

0.01 Ω1dec

+600.006000dec

A±0.05 % of thefinal value

3Fh with3000 Ω

00

0.01 Ω1dec

+3000.0030000dec



0...50 mV 00

0.01 mV1dec

+50.005000

A



Avalue


±10 V -10.00-10000

0.01V1dec

+10.0010000



A

final value



±4 V -4.00-40000

0.01V1dec

+4.00 V40000



A

final value




12.312.3.4

l12.3-10 EDSPM-TXXX-3.0-04/2004



5Ah Voltagemeasurement

±400 mV -400-40000

1 mV1dec

+40040000


Lower range limit: -474 mV-47400dec

A

value

Upper range limit: +474 mV47400dec

5Ch Currentmeasurement

±20 mA -20.00-20000

0.01 mA1dec

+20.0020000



A

final value


5Dh Currentmeasurement

4...20 mA 4.000

0.01 mA1dec

20.0016000


Lower range limit: 1.185 mA-2815dec

A

final value


FFh Analog input deactivated

1) Format of the input data ( 12.3-7).2) The tolerance values have been detected at a temperature of 25 °C and 15 conversions/s. Sensor inaccuracies

have not been considered.3) Contact and cable resistances were not taken into consideration.4) Cold spot compensation must be effected externally.5) The cold spot must be compensated internally. The temperature of the terminals is taken into consideration.

Connect the conductors of the thermorelements directly to the terminals; if necessary, operate withthermoelement extension cables.

Parameterising analog modulesSignal functions of 4xanalog output

12Parameter setting

12.312.3.5

l 12.3-11EDSPM-TXXX-3.0-04/2004

12.3.5 Signal functions of 4xanalog output

Note!In the event of an overflow or underflow, wrong values are output.Strong signal jumps with sign reversal may occur.


Signal function Signal range Format1)

Tolerance 2)

00h4 No signal emitted at output01h Voltage signal output ±10 V -10.00

-163840.01V1dec

+10.0016384

±0.2 %


B


02h Voltage signal output +1 ... +5 V 1.00

0.1V1dec

+5.016384

±0.05 %

Lower range limit: 0 V20480dec

B


05h Voltage signal output 0 ... +10 V 00

0.1V1dec

+10.016384

±0.2 %

Lower range limit: – BUpper range limit: +12.5 V

20480dec

B

09h Voltage signal output ±10 V -10.00-27648

0.01V1dec

+10.00 V27648dec

±0.05 %


A


0Ah Voltage signal output +1 ... +5 V 1.000

0.01V1dec

+5.0027648

±0.05 %

Lower range limit: 0 V-6912dec

A


0Dh Voltage signal output 0 ... +10 V 00

0.1V1dec

+10.027648

±0.2 %

Lower range limit: – AUpper range limit: +11.5 V

32767dec

A

03h Current signal output ±20 mA -20.00-16384

0.01 mA1dec

+20.0016384

±0.2 %

Lower range limit: -23.70 mA-20480 dec

B


04h Current signal output 4 ... 20 mA 4.000

0.01 mA1dec

20.0016384

±0.2 %

Lower range limit: 0 mA-4096 dec

B


Parameterising analog modulesSignal functions of 4xanalog output


12.312.3.5

l12.3-12 EDSPM-TXXX-3.0-04/2004


Tolerance 2)Format1)

Signal rangeSignal function

06h Current signal output 0 ... 20 mA 00

0.01 mA1dec

+20.0016384

±0.2 %

Lower range limit: – BUpper range limit: +23.70 mA

+20480dec

B

0Bh Current signal output ±20 mA -20.00-27648

0.01 mA1dec

+20.0027648

±0.05 %

Lower range limit: -23.70 mA-32767 dec

A


0Ch Current signal output 4 ... 20 mA 4.000

0.01 mA1dec

20.0027648

±0.05 %

Lower range limit: 0 mA-5530dec

A


0Eh Current signal output 0 ... 20 mA 00

0.01 mA1dec

20.0027648

±0.2 %

Lower range limit: – AUpper range limit: +22.96 mA

+32767dec

A

1) Format of the output data ( 12.3-7).2) The tolerance values were detected at an ambient temperature of 25 °C and 15 conversions/s. The values refer

to the final value.

Parameterising analog modulesSignal functions of 4xanalog input /output

12Parameter setting

12.312.3.6

l 12.3-13EDSPM-TXXX-3.0-04/2004

12.3.6 Signal functions of 4xanalog input /output

Note!Short-circuit unused inputs (connect positive and negativeterminals) or deactivate them by assigning the function numberFFh.In the event of an overflow or underflow, wrong values areoutput. Strong signal jumps with sign reversal may occur.

Parameterbytes 2/3


00h5 Parameter data in module not overwritten3Bh Voltage measuring ±10 V -10.00

-163840.01V1dec

+10.00+16384



B

final value

Upper range limit: +12.50 V+20480dec

75h Voltage measuring 0 ... 10 V 0.000

0.01V1dec

+10.00+16384


Lower range limit: - B

final value


B

28h Voltage measuring ±10 V -10.00-27648

0.01V1dec

+10.00+27648



A

final value


7Ah Voltage measuring 1 ... 5 V +1.000

0.01V1dec

+5.00+27648


Lower range limit: 0.00 V-6912dec

A

final value


7Dh Voltage measuring 0 ... 10 V 0.000

0.01V1dec

+10.00+27648


Lower range limit: - A

final value


A

3Ah Current measuring ±20 mA -20.00-16384

0.01 mA1dec

+20.00+16384


Lower range limit -25.00 mA-20480dec

B

final value


76h Current measuring 0 ... 20 mA 0.000

0.01 mA1dec

+20.00+16384


Lower range limit - B

final value


B

Input functions



12.312.3.6

l12.3-14 EDSPM-TXXX-3.0-04/2004

Parameterbytes 2/3


2Ch Current measuring ±20 mA -20.00-27648

0.01 mA1dec

+20.00+27648



A

final value


2Dh Current measuring 4 ... 20 mA +4.000

0.01 mA1dec

+20.00+27648


Lower range limit +1.18 mA-4864dec

A

final value


7Eh Current measuring 0 ... 20 mA 0.000

0.01 mA1dec

+20.00+27648


Lower range limit - A

final value


A

FFh Analog input deactivated

1) Format of the input data ( 12.3-7).2) The tolerance values have been detected at a temperature of 25 °C and 15 conversions/s. Sensor inaccuracies

have not been considered.

Parameterbytes 4/5


00h Parameter data in module not overwritten01h Voltage signal output ±10 V -10.00

-163840.01V1dec

+10.00+16384



B

final value


02h Voltage signal output 1 ... 5 V +1.000

0.01V1dec

+5.00+16384



B

final value


05h Voltage signal output 0 ... 10 V 0.000

0.01V1dec

+10.00+16384


Lower range limit: - B

final value


B

09h Voltage signal output ±10 V -10.00-27648

0.01V1dec

+10.00+27648



A

final value


0Ah Voltage signal output 1 ... 5 V +1.000

0.01V1dec

+5.00+27648



A

final value


Output functions


12Parameter setting

12.312.3.6

l 12.3-15EDSPM-TXXX-3.0-04/2004

Parameterbytes 4/5


0Dh Voltage signal output 0 ... 10 V 0.000

0.01V1dec

+10.00+27648


Lower range limit: - A

final value


A

03h Current signal output ±20 mA -20.00-16384

0.01 mA1dec

+20.00+16384



B

final value


04h Current signal output 4 ... 20 mA +4.000

0.01 mA1dec

+20.00+16384



B

final value


06h Current signal output 0 ... 20 mA 0.000

0.01 mA1dec

+20.00+16384


Lower range limit - B

final value


B

0Bh Current signal output ±20 mA -20.00-27648

0.01 mA1dec

+20.00+27648



A

final value


0Ch Current signal output 4 ... 20 mA +4.000

0.01 mA1dec

+20.00+27648



A

final value


0Eh Current signal output 0 ... 20 mA 0.000

0.01 mA1dec

+20.00+27648


Lower range limit - A

final value


A

FFh Analog output is switched off

1) Format of the output data ( 12.3-7).2) The tolerance values have been detected at a temperature of 25 °C and 15 conversions/s. Sensor inaccuracies

have not been considered.

Parameterising analog modulesConverting measured values for voltage and current


12.312.3.7

l12.3-16 EDSPM-TXXX-3.0-04/2004

12.3.7 Converting measured values for voltage and current

Signal Signal Format A 1) Format B 1)Signalrange

Signal[U] / [I] Decimal value

[dec]Hexadecimal value

[h]Formulae for calculation Decimal value

[dec]Hexadecimal value

[h]Formulae for calculation

-10 V -27648 9400 dec = 27648 ⋅ U -16384 C000 dec = 16348 ⋅ U-5 V -13824 CA00

dec = 27648 ⋅ U10 -8192 E000

dec = 16348 ⋅ U10

±10 V 0 V 0 0000U d 10 0 0000

U d 10±10 V+5 V +13824 3600 U = dec ⋅ 10

27648 +8192 2000 U = dec ⋅ 1016348

+10 V +27648 6C0027648

+16384 400016348

0 V 0 0000 dec = 16384 ⋅ U10

0 0000 dec = 16384 ⋅ U10

0 ... 10 V +5 V +8192 2000dec = 16384

10

10+8192 2000

dec = 1638410

10+10 V +16384 4000 U = dec ⋅ 1016384 +16384 4000 U = dec ⋅ 10

16384+1 V 0 0000 dec = 27648 ⋅ U− 1

41 ... 5 V +3 V — — +8192 2000

dec = 276484

4+5 V +16384 4000 U = dec ⋅ 416384

+1

-4 V -27648 9400 dec = 27648 ⋅ U4

±4 V 0 V 0 0000dec = 27648

4

4— —

+4 V +27648 6C00 U = dec ⋅ 427648

-400 mV -27648 9400 dec = 27648 ⋅ U400

±400 mV 0 V 0 0000dec = 27648

400

400— —

+400 mV +27648 6C00 U = dec ⋅ 40027648

+4 mA 0 0000 dec = 27648 ⋅ I− 416

0 0000 dec = 16384 ⋅ I− 416

4 ... 20 mA +12 mA +13824 3600dec = 27648

16

16+8192 2000

dec = 1638416

16+20 mA +27648 6C00 U = dec ⋅ 1627648

+1 +16384 4000 U = dec ⋅ 1616384

+1

-20 mA -27648 9400 dec = 27648 ⋅ I -16384 C000 dec = 16384 ⋅ I-10 mA -13824 CA00

dec = 27648 ⋅ I20 -8192 E000

dec = 16384 ⋅ I20

±20 mA 0 mA 0 0000U d 20 0 0000

U d 20±20 mA+10 mA +13824 3600 U = dec ⋅ 20

27648 +8192 2000 U = dec ⋅ 2016384

+20 mA +27648 6C0027648

+16384 400016384

1) Format of the input data and output data ( 12.3-7).

Parameterising 2/4xcounter moduleParameter data

12Parameter setting

12.412.4.1

l 12.4-1EDSPM-TXXX-3.0-04/2004

12.4 Parameterising 2/4xcounter module


The operating mode of the 2/4xcounter (e. g. 2 x 32-bit counter or 4 x 16-bitcounter) can be determined by assigning each channel (counter 0 and counter 1)a mode via the parameter data.

Stop!Depending on the mode set, the terminal assigment of the countermodule changes!I

For the 2/4xcounter two bytes of parameter data are available which are assignedvia SDOs.

Depending on the plug-in station, the counter module is parameterised via theindices 3001h ... 3010h (max. 4 counter modules). The parameter data are storedin the subindex 1.

epm-t062

Fig. 12.4-1 Display of the parameter data of 2/4xcounter

The parameter data follow the assignment below:

Byte Assignment Lenze setting

0 Mode, counter 0 Selecting the modes 00h1 Mode, counter 1

g

00h



Mode of Function IN1 IN2 IN3 IN4 IN5 IN6 OUT0 OUT1 AutoR l d

CompareL d[h] [dec]

o oReload

o pLoad

2 counters 0 1

00h 0 32-bit counter RES CLK DIR RES CLK DIR • • – –

01h 1 Encoder 1 edge RES A B RES A B • • – –





12.412.4.1

l12.4-2 EDSPM-TXXX-3.0-04/2004

Mode of CompareLoad

AutoReload


[h]

CompareLoad

AutoReload


[dec]

4 counters 0.1 0.2 1.1 1.2

08h 8 2 × 16-bit counters(counting direction up/up)


09h 9 2 × 16-bit counters(counting direction down/up)


0Ah 10 2 × 16-bit counters(counting direction up/down)


0Bh 11 2 × 16-bit counters(counting direction down/down)


2 counters 0 1

0Ch 12 2 × 32-bit counters(counting direction up)


0Dh 13 2 × 32-bit counters(counting direction down)


0Eh 14 2 × 32-bit counters(counting direction up)


0Fh 15 2 × 32-bit counters(counting direction down)


1 counter 0/1

10h 16 Frequency measuring RES CLK START STOP – – • • –

11h 17 Measuring the period RES CLK START STOP – – • • –

12h 18 Frequency measuring(Counter output on/off)


13h 19 Measuring the period(Counter output on/off)


2 counters 0 1

06h 6 Measuring the pulse width(fref 50 kHz, counting direction isselectable)


14h 20 Measuring the pulse width(fref programmable, countingdirection is selectable)


15h 21 Measuring the pulse width(fref programmable, countingdirection: Upwards)


16h 22 Measuring the pulse width(fref programmable, countingdirection: Downwards)


2 counters 0 1

17h 23 2 × 32-bit counters(counting direction up, ”Set”function)


18h 24 2 × 32-bit counters(counting direction down, ”Set”function)


19h 25 2 × 32-bit counters(counting direction up, ”Reset”function)


1Ah 26 2 × 32-bit counters(counting direction down, ”Reset”function)



12Parameter setting

12.412.4.1

l 12.4-3EDSPM-TXXX-3.0-04/2004

Mode of CompareLoad

AutoReload


[h]

CompareLoad

AutoReload


[dec]

2 counters 0 1

1Bh 27 32-bit counter G/RES CLK DIR G/RES CLK DIR • • – –

1Ch 28 Encoder 1 edge G/RES A B G/RES A B • • – –

1Dh 29 Encoder 2 edges G/RES A B G/RES A B • • – –

1Eh 30 Encoder 4 edges G/RES A B G/RES A B • • – –

2 counters 0 1

1Fh 31 2 × 32-bit counters(counting direction up)




21h 33 2 × 32-bit counters(counting direction up)




2 counters 0 1

23h 35 32-bit counter GATE CLK DIR GATE CLK DIR • • – –

24h 36 Encoder 1 edge GATE A B GATE A B • • – –



• Digital output can signal an eventFunction available.

– No function / function not availableA Encoder signal AAuto Reload ”Auto Reload” causes the counter to accept a preset value as soon

as the counter content matches the Compare register content.B Encoder signal BCompare Load You may use ”Compare Load” to specify a counter limit value to

trigger an output when reached or to restart the counters via AutoReload.

CLK Clock signal of a connected encoder

HIGH level starts and / or stops the counting processDIR Indicates counting direction depending on signal level

LOW: Upcounter

HIGH: DowncounterGATE Gate signal is level-triggered

HIGH: Pulses are measuredG/RES Gate signal is level-triggered and reset signal is edge-triggered

HIGH: Pulses are measured

LOW-HIGH edge: Deletes one or both countersPULSE The pulse width of the supplied signal is measured with an internal

time baseRES Reset signal is level-triggered

HIGH: Deletes one or both countersRES Reset signal is edge-triggered

LOW-HIGH edge: Deletes one or both countersSTART Start signal is edge-triggeredSTOP Stop signal is edge-triggered

Parameterising 2/4xcounter moduleInput data / output data


12.412.4.2

l12.4-4 EDSPM-TXXX-3.0-04/2004


epm-t106

Fig. 12.4-2 Data input / output of 2/4xcounter

For data input / output, 10 bytes are available which are transmitted via two PDOsto the counter (Rx PDO) or output by the counter (Tx PDO).

Counter starting values or comparison values are included in the 1. Rx PDO in thebytes 0 to 7 (Data In).

Due to a level change in byte 9 (Control), the values are written into a counterregister. Each bit in byte 9 is assigned to a specific counter register word.

The current count values are included in the 1. Tx PDO in the bytes 0 to 7 (Data Out)and can be read out there.

The behaviour of the counter, when the master module restarts (e.g. after changingthe parameter setting), can be controlled via byte 8 (status). The followingcombinations are possible:

Bit 0 Bit 11 0 Counter reading remanent on restart0 1

Counter reading cleared on restart (Lenze setting)1 1

Counter reading cleared on restart (Lenze setting)

A read access to byte 9 of the output data allows setting checks at any time.

Note!Count values get lost when the mains supply is switched off/on;they are not stored!

Input data

Control byte

Output data

Status byte

Parameterising 2/4xcounter moduleInput data / output data

12Parameter setting

12.412.4.2

l 12.4-5EDSPM-TXXX-3.0-04/2004

The counter 0 is to be set with the figure 26959382. To make the representationsimpler, the figure is given in a hexadecimal format.

SelectionNode address 2Baud rate 500 kbaudCOB-ID Rx PDO 2 (I1401/1)COB-ID Rx PDO 3 (I1402/1)COB-ID Tx PDO 2 (I1801/1)COB-ID Tx PDO 3 (I1802/1)

282h202h281h182h

Event time (I1801/1) 64hMode (I3001/1) 00h

epm-t140

Fig. 12.4-3 Setting the counter content for the 2/4xcounter

1. Transmit the 1. Rx PDO with the counter setting value.

2. For accepting the counter setting value transmit the 2. Rx PDO:Control byte = 30h.

3. The current count value is output via the 1. Tx PDO.

Example

Parameterising 2/4xcounter module2 x 32 bit counter (mode 0)


12.412.4.3

l12.4-6 EDSPM-TXXX-3.0-04/2004

12.4.3 2 x 32 bit counter (mode 0)

epm-t064

Fig. 12.4-4 Terminal assignment of the 2/4xcounter in the mode 0

The mode 0 offers two 32-bit counters which can be assigned with a starting value.

Each LOW-HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements thecounter by 1, respectively.

The counting direction is determined via the signal level at input IN3 / IN6 (DIR):

Upcounter: LOW levelDowncounter: HIGH level

During the counting process, a LOW level must be applied to input IN1 / IN4 (RES).A HIGH level deletes the counter.

When the counter reaches zero, the output OUT0 / OUT1 is to HIGH level for atleast 100 ms, even if the counter continues to count. When the counter stops atzero, the output OUT0 / OUT1 remains on the HIGH level.

Terminal assignment

CLK signal

DIR signal

RES signal

OUT signal

Parameterising 2/4xcounter module2 x 32 bit counter (mode 0)

12Parameter setting

12.412.4.3

l 12.4-7EDSPM-TXXX-3.0-04/2004

epm-t065

Fig. 12.4-5 Counter access of the 2/4xcounter in the mode 0

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0000 0000 0001 0000 0002 0000 0003 0000 0004 0000 0005

RES

DIR

CLK

Counter

epm-t067

Fig. 12.4-6 Signal characteristic of 2/4xcounter in the mode 0 (upcounter)

RES

DIR

CLK

Counter

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0000 FFFF FFFF FFFF FFFE FFFF FFFD FFFF FFFC FFFF FFFB

epm-t066

Fig. 12.4-7 Signal characteristic of 2/4xcounter in the mode 0 (downcounter)

Counter access

Signal characteristic

Parameterising 2/4xcounter moduleEncoder (modes 1, 3, and 5)


12.412.4.4

l12.4-8 EDSPM-TXXX-3.0-04/2004

12.4.4 Encoder (modes 1, 3, and 5)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

In1 (RES)

In2 (A)

In3 (B)

Out0

In4 (RES)

In5 (A)

In6 (B)

Out1

Counte

r0

Counte

r1

epm-t070

Fig. 12.4-8 Terminal assignment of the 2/4xcounter in the modes 1, 3 and 5

The modes 1, 3, and 5 offer two encoders that can be pre-assigned with a startingvalue.

The modes differ in the number of edges which are evaluated:

Mode 1: 1 edgeMode 3: 2 edgesMode 5: 4 edges

See signal characteristics.


When the counter reaches zero, the output OUT0 / OUT1 is to HIGH level for atleast 100 ms, even if the counter continues to count. When the counter stops atzero, the output OUT0 / OUT1 remains on the HIGH level.

Terminal assignment

A/B signal

RES signal

OUT signal


12Parameter setting

12.412.4.4

l 12.4-9EDSPM-TXXX-3.0-04/2004

epm-t141

Fig. 12.4-9 Counter access of the 2/4xcounter in the modes 1, 3 and 5

Every HIGH-LOW edge at input IN2 / IN5 (A) increments the counter by 1 if a HIGHlevel is applied to input IN3 / IN6 (B) at this time.

RES

B

A

Counter 0000 0000XXXX 0000 0001 0000 0002 0000 0003 0000 0004 0000 0005 0000 0006

TreH2d TcIH2d

TcIH

TdL2cIH TcIH2dH

TcIL

epm-t069


Every LOW-HIGH edge at input IN2 / IN5 (A)decrements the counter by 1 if aHIGHlevel is applied to input IN3 / IN6 (B) at this time.

RES

B

A

Counter 0000 0000XXXX FFFF FFFF FFFF FFFE FFFF FFFD FFFF FFFC FFFF FFFB FFFF FFFA

TreH2d

TdL2cIH

Tt0H

TcIH2d

Tt0L

TcIH2dH

epm-t068


Counter access

Signal characteristic in mode 1



12.412.4.4

l12.4-10 EDSPM-TXXX-3.0-04/2004

The counter is incremented by 1 on

a LOW-HIGH edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).

a HIGH-LOW edge (track A) at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).

RES

B

A

Counter 0000000100000000XXXX 00000002 00000003 00000004 00000005 00000006 00000007 00000008 00000009

TreH2d TcIH2d

TcIH

TdL2cIH TcIH2dH

TcIL

epm-t071


The counter is decremented by 1 on

a LOW-HIGH edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).


RES

B

A

Counter FFFFFFFF00000000 FFFFFFFE FFFFFFFD FFFFFFFC FFFFFFFB FFFFFFFA FFFFFFF9 FFFFFFF8 FFFFFFF7XXXXX

TreH2d

TdL2cIH

TcIH

TcIH2d

TcIL

TcIH2dH

epm-t072




12Parameter setting

12.412.4.4

l 12.4-11EDSPM-TXXX-3.0-04/2004



a HIGH-LOW edge at input IN2 / IN5 (A) and a HIGH level at inputIN3 / IN6 (B).


a HIGH-LOW edge at input IN2 / IN5 (A) and a LOW level at the inputIN3 / IN6 (B).

RES

B

A

Counter 00000000XXXX

TreH2d

TcIH

TdL2cIH TcIH2dH

TcIL

01 02 03 04 05 06 07 08 09 0A 0B 0C 0D 0E 0F 10 11 12

epm-t073







RES

B

A

Counter 00000000 FF FE FD FC FB FA F9 F8F8XXXX

TreH2d

F7 F6 F5 F4

TclL

TclH2dHTdL2clH

TclH

F3 F2 F1 F0 EF EE

epm-t074



Parameterising 2/4xcounter moduleMeasuring the pulse width, fref 50 kHz (mode 6)


12.412.4.5

l12.4-12 EDSPM-TXXX-3.0-04/2004

12.4.5 Measuring the pulse width, fref 50 kHz (mode 6)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

In1 (RES)

In2 (PULSE)

In3 (DIR)

Out0

In4 (RES)

In5 (PULSE)

In6 (DIR)

Out1

Counte

r0

Counte

r1

epm-t075


The pulse widths of the signals at input IN2 / IN5 (PULSE) are measured with aninternal time base.

The measuring process starts with a HIGH-LOW edge at input IN2 / IN5 (PULSE)and ends with the LOW-HIGH edge.

A LOW-HIGH edge of the measured signal stores the pulse width with the unit20 ms (corresponds to a clock frequency of fref = 50 kHz; the clock frequencycannot be changed). This result is available in the data output range and can beread out until the next new result.




Output OUT0 / OUT1 has no function.

Terminal assignment

PULSE signal

DIR signal

RES signal

OUT signal

Parameterising 2/4xcounter moduleMeasuring the pulse width, fref 50 kHz (mode 6)

12Parameter setting

12.412.4.5

l 12.4-13EDSPM-TXXX-3.0-04/2004

epm-t078


50kHz

Result

PULSE

TreH2d

XX 00 00 00 00 01 02 03 04 05 06 07 00 01

XX XXXX XXXX 07

RES

Counter

DIR

epm-t077


50kHz

TreH2d

XX

XX 0000 0000 FFF9

00 00 00 00 FF FE FD FC FB FA F9 00 FF

Result

RST

PULSE

DIR

Counter

epm-t076


Counter access


Parameterising 2/4xcounter module4 × 16 bit counter (modes 8 ... 11)


12.412.4.6

l12.4-14 EDSPM-TXXX-3.0-04/2004

12.4.6 4 × 16 bit counter (modes 8 ... 11)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

n.c.

In2 (CLK)

In3 (CLK)

n.c.

n.c.

In5 (CLK)

In6 (CLK)

n.c.

Counter 0.2

Counter 1.2

Counter 0.1

Counter 1.1

epm-t079

Fig. 12.4-20 Terminal assignment of the 2/4xcounter in the modes 8 ... 11

The modes 8 ... 11 offers four 16-bit counters which can be pre-assigned with astarting value.

The modules differ in having different counting directions:

Mode 8:

Counters 0.2 and 1.2 count up


Mode 9:

Counters 0.2 and 1.2 count down


Mode 10:



Mode 11:



Each LOW-HIGH edge at input IN2 / IN3 / IN5 / IN6 (CLK) causes the associatedcounter to count up and / or down, respectively.

Terminal assignment

CLK signal

Parameterising 2/4xcounter module4 × 16 bit counter (modes 8 ... 11)

12Parameter setting

12.412.4.6

l 12.4-15EDSPM-TXXX-3.0-04/2004

epm-t081

Fig. 12.4-21 Counter access of the 2/4xcounter in the modes 8 ... 11

CLK 0.1

Counter 0.1 FFFE

0001 0002 0003 0004 0005 0006 0007 0008

FFFF 0000 0001 0002 0003 0004 0005

TclH2d

TclH2d

Tt0H

Tt0H

Tt0L

Tt0L

CLK 0.2

Counter 0.2

epm-t080

Fig. 12.4-22 Signal characteristic of 2/4xcounter in mode 8 considering as example the counters0.1 and 0.2

Counter access


Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13)


12.412.4.7

l12.4-16 EDSPM-TXXX-3.0-04/2004

12.4.7 2 × 32 bit counter with GATE and RES level-triggered (mode 12 and 13)

epm-t082

Fig. 12.4-23 Terminal assignment of the 2/4xcounter in the modes 12 and 13

In the modes 12 and 13, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.

The modules differ in haveing different counting directions:

Mode 12: Upcounter.Mode 13: Downcounter

If a HIGH level is applied to input IN3 / IN6 (GATE), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.


Once the counter reaches the value loaded in the ”Compare” register, outputOUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuingits task.

Terminal assignment

GATE/CLK signal

RES signal

OUT signal


12Parameter setting

12.412.4.7

l 12.4-17EDSPM-TXXX-3.0-04/2004

epm-t084

Fig. 12.4-24 Counter access of the 2/4xcounter in the modes 12 and 13

Counter access



12.412.4.7

l12.4-18 EDSPM-TXXX-3.0-04/2004

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0000 0000 0001 0000 0002 0000 0003

RES

Gate

CLK

Counter 0

epm-t083

Fig. 12.4-25 Signal characteristic of 2/4xcounter in the mode 12


Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14 and 15)

12Parameter setting

12.412.4.8

l 12.4-19EDSPM-TXXX-3.0-04/2004

12.4.8 2 × 32 bit counter with GATE, RES level-triggered and auto reload (mode 14and 15)

epm-t082



These modes offer the function ”Auto Reload” . This means, that the Load Registercan be assigned with a value which is automatically loaded into the counter assoon as it reaches the comparison value set.



A HIGH level at input IN1 / IN4 (RES) sets the counter to zero.


The counter counts up to the value set in the compare register. With this lastLOW-HIGH edge the counter content is overwritten with the value set in the loadregister. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.

If an ”Auto Reload” occurs, the signal level at the output OUT0 / OUT1 changes.(A LOW-HIGH edge at the input IN1 / IN4 (RES) does not reset the outputOUT0 / OUT1.)

Terminal assignment

RES signal

GATE/CLK signal

OUT signal



12.412.4.8

l12.4-20 EDSPM-TXXX-3.0-04/2004

epm-t086


Counter access


12Parameter setting

12.412.4.8

l 12.4-21EDSPM-TXXX-3.0-04/2004

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0000 0000 0001 0000 0002 0000 0003 0000 0002 0000 0003

RES

Gate

CLK

Counter

0000 0004

Compare

0000 0002

Load

0000 0002 0000 0003

OUT 0

0000 0004

Compare

0000 0002

Load

0000 0004

Compare

0000 0002

Load

..04 ..04 ..04 0000 0002

epm-t085



Parameterising 2/4xcounter moduleMeasuring the frequency (modes 16 and 18)


12.412.4.9

l12.4-22 EDSPM-TXXX-3.0-04/2004

12.4.9 Measuring the frequency (modes 16 and 18)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

In1 (RES)

In2 (CLK)

In3 (START)

Out0

In4 (STOP)

n.c.

n.c.

Out1

epm-t087


Modes 16 and 18 allow determination of the frequency of a signal at input IN2(CLK).

The modes differ in triggering the output Out0 / Out1 in different ways.

Note!For measuring the frequency the counter 0 and 1 are required. Forthis, both counters must be parameterised to mode 16 or 18.Different modes cannot be set.

With the PDO byte 7 (Data In)a reference frequency (fref) is transmitted to counter0 (see figure ”counter access”). The number ”n” of the reference frequency pulsesdetermines the gate time (period of time the counter 1 is to be released). ”n” canbe between 1 and 232-1 and is loaded into the compare register.

A LOW-HIGH edge at input IN1 (RES) sets the counter to zero.

A LOW-HIGH edge at input IN3 (START) starts the measuring process.

During the measuring process the counter 0 counts with the first LOW-HIGH edgeat the input IN2 (CLK) the pulses ”n” of the reference frequency. Simultaneouslythe counter 1 counts every LOW-HIGH edge at the input IN2 (CLK).

Both counters are stopped when

the counter 0 reading reaches the Compare value, or

input IN4 (STOP) receives a HIGH signal.

Terminal assignment

RES signal

START signal

CLK signal

STOP signal


12Parameter setting

12.412.4.9

l 12.4-23EDSPM-TXXX-3.0-04/2004

Mode 16:

The output OUT 0 is set to HIGH level when the measuring process starts, and isset to LOW level, when the measuring process is completed. The output OUT1indicates the output signal of OUT0 in an inverted way.

Mode 18:

The output OUT 0 is set to HIGH level when the counting process starts, and is setto LOW level, when the counting process is completed. The output OUT1 indicatesthe output signal of OUT0 in an inverted way.

f Frequency to be computed

ffref Reference frequency (see figure ”counter access”)

f=fref ⋅ m m Content, counter 1 (number of CLK pulses)f= ref

n n Number of reference frequency pulses in counter 0 (corresponds to Compareunless prematurely terminated by a HIGH signal at input IN4 (STOP)

Note!If the reference frequency [fref] and the number of referencefrequency pulses [n] are selected so that the wanted frequency [f]is exactly 1 Hz, the counter 1 directly displays this frequency.Example: m = 1,000,000; fref = 1 MHz.

OUT signal

Computing the frequency



12.412.4.9

l12.4-24 EDSPM-TXXX-3.0-04/2004

epm-t088


Counter access


12Parameter setting

12.412.4.9

l 12.4-25EDSPM-TXXX-3.0-04/2004

0 1 2 3

n

xxx

0xxx

RES

START

STOP

CLK

Counter 1

Counter 0

Out0

Out1

m

epm-t089


OUT0 = HIGH Measuring process in progress

epm-t093


OUT0 = HIGH Gate open



Parameterising 2/4xcounter moduleMeasuring the period (modes 17 and 19)


12.412.4.10

l12.4-26 EDSPM-TXXX-3.0-04/2004

12.4.10 Measuring the period (modes 17 and 19)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

In1 (RES)

In2 (CLK)

In3 (START)

Out0

In4 (STOP)

n.c.

n.c.

Out1

epm-t087


Modes 17 and 19 allow the determination of the average period of ”n” measuredperiod of signal at input IN2 (CLK).

The modes differ in triggering the output Out0 / Out 1 differently.

Note!For measuring the frequency of the period, the counters 0 and 1are required. For this, both counters must be parameterised tomode 17 or 19. Different modes cannot be set.

With the PDO byte 7 (Data In)a reference frequency (fref) is transmitted to counter1 (see figure ”counter access”). The number ”m” of the reference frequency pulsesdetermines the gate time (period of time the counter 1 is to be released). ”m” canbe between 1 and 232-1 and is loaded into the compare register.

A LOW-HIGH edge at input IN1 (RES) sets the counter to zero.

A LOW-HIGH edge at input IN3 (START) starts the measuring process.

During the measuring process the counter 1 counts with the first LOW-HIGH edgeat the input IN2 (CLK) the pulses ”m” of the reference frequency. Simultaneouslythe counter 0 counts every LOW-HIGH edge at the input IN2 (CLK).

Both counters are stopped when

the counter 0 reaches the Compare value, or

input IN4 (STOP) receives a HIGH signal.

Terminal assignment

RES signal

START signal

CLK signal

STOP signal


12Parameter setting

12.412.4.10

l 12.4-27EDSPM-TXXX-3.0-04/2004

Mode 17:

The output OUT 0 is set to HIGH level when the measuring process starts, and isset to LOW level, when the measuring process is completed. The output OUT1indicates the output signal of OUT0 in an inverted way.

Mode 19:

The output OUT 0 is set to HIGH level when the counting process starts, and is setto LOW level, when the counting process is completed. Theoutput OUT1 indicatesthe output signal of OUT0 in an inverted way.

T Average period

nfref Reference frequency (see figure ”counter access”)

T= nf ⋅ m m Content, counter 1 (number of reference frequency pulses)Tfref ⋅ m n Number of CLK pulses in counter 0 (corresponds to Compare unless prematurely

terminated by a HIGH signal at input IN4 (STOP)

epm-t092


OUT signal

Computing the period

Counter access



12.412.4.10

l12.4-28 EDSPM-TXXX-3.0-04/2004

0 1 2 3

m

xxx

0xxx

RES

START

STOP

CLK

Counter 0

Counter 1

Out0

Out1

n

epm-t091


OUT0 = HIGH Measuring process in progress

epm-t195


OUT0 = HIGH Gate open



Parameterising 2/4xcounter moduleMeasuring the pulse width, fref programmable (mode 20)

12Parameter setting

12.412.4.11

l 12.4-29EDSPM-TXXX-3.0-04/2004

12.4.11 Measuring the pulse width, fref programmable (mode 20)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

In1 (RES)

In2 (PULSE)

In3 (DIR)

Out0

In4 (RES)

In5 (PULSE)

In6 (DIR)

Out1

Counte

r0

Counte

r1

epm-t075


The pulse widths of the signal at the input IN2 / IN5 (PULSE) are measured with aprogrammable time base (fref, see figure “Counter access”).


A LOW-HIGH edge of the measured signal stores the pulse width with the unit1/fref. This result can be found and read out in the data output range until the nextresult appears.

The counting direction is determined via the signal level at input IN3 / IN6 (DIR).




Terminal assignment

PULSE signal

DIR signal

RES signal

OUT signal



12.412.4.11

l12.4-30 EDSPM-TXXX-3.0-04/2004

epm-t095


Counter access


12Parameter setting

12.412.4.11

l 12.4-31EDSPM-TXXX-3.0-04/2004

Result

Counter 00

TreH2d

00 00 00 01 02 03 04 05 06 07 07 00

0700000000

XX

XX

RES

PULSE

GATE

1fref

epm-t097


Result

PULSE

DIR

RES

Counter XX 00

TreH2d

00 00 00 FF FE FD FC FB FA F9 F9

FFF900000000XX

1fref

epm-t096



Parameterising 2/4xcounter moduleMeasuring the pulse width with GATE, fref programmable (modes 21 and 22)


12.412.4.12

l12.4-32 EDSPM-TXXX-3.0-04/2004

12.4.12 Measuring the pulse width with GATE, fref programmable (modes 21 and 22)

1

2

3

4

5

6

7

8

9

10 GND

+24 V DC

IN1 (RES)

IN2 (PULSE)

IN3 (GATE)

Out0

Counte

r0

Counte

r1

IN4 (RES)

IN5 (PULSE)

IN6 (GATE)

Out1

epm-t098


The pulse widths of the signal at the input IN2 / IN5 (PULSE) are measured with aprogrammable time base (fref, see figure “Counter access”).



The measuring process is enabled with a HIGH level at input IN3 / IN6 (GATE).


A LOW-HIGH edge of the measured signal stores the pulse width with the unit1/fref. This result can be found and read out in the data output range until the nextresult appears.



Note!The measuring process is terminated only if a HIGH level isapplied at input IN3 / IN6 (GATE) for the complete duration of themeasuring process.

Terminal assignment

GATE/CLK signal

PULSE signal

RES signal

OUT signal


12Parameter setting

12.412.4.12

l 12.4-33EDSPM-TXXX-3.0-04/2004

epm-t099


Result

Counter 00

TreH2d

00 00 00 01 02 03 04 05 06 06 00 01

0600000000

XX

XX

RES

PULSE

GATE

1fref

epm-t100


Counter access




12.412.4.12

l12.4-34 EDSPM-TXXX-3.0-04/2004


XXResult

Counter 00

TreH2d

00 00 00 FF FE FD FC FB FA FA 00 FF

FA00000000

XX

RES

PULSE

GATE

1fref

epm-t101


Parameterising 2/4xcounter module2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)

12Parameter setting

12.412.4.13

l 12.4-35EDSPM-TXXX-3.0-04/2004

12.4.13 2 × 32 bit counter with GATE and set/reset (modes 23 ... 26)

epm-t082


In the modes 23 to 26, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.

The modes differ in triggering the outputs Out0 / Out 1 differently (set or resetfunction) and the counting direction:

Modes 23 and 25: Upcounter.Modes 24 and 26: Downcounter



Modes 23 and 24 (set function):

The signal at output OUT0 / OUT1 is set to HIGH level on counter loading.

When reaching the value loaded in Compare, the output signal is set to LOWlevel. The counter continues to run.

Modes 25 and 26 (reset function):

The signal at output OUT0 / OUT1 is set to LOW level on counter loading.

When reaching the value loaded in Compare, the output signal is set toHIGH level (modes 25 and 26). The counter continues to run.

Terminal assignment

GATE/CLK signal

RES signal

OUT signal



12.412.4.13

l12.4-36 EDSPM-TXXX-3.0-04/2004

epm-t084


Counter access


12Parameter setting

12.412.4.13

l 12.4-37EDSPM-TXXX-3.0-04/2004

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0004 0000 0005 0000 0006 0000 0007

RES

GATE

CLK

Counter 0 0000 0008

Out0

epm-t102

Fig. 12.4-47 Signal characteristic of 2/4xcounter in the mode 23 (upcounter, set function)

Compare reached

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0009 0000 0008 0000 0007 0000 0006

RES

GATE

CLK

Counter 0 0000 0005

Out0

epm-t103

Fig. 12.4-48 Signal characteristic of 2/4xcounter in the mode 24 (downcounter, set function)

Compare reached

Tt0H Tt0L

TclH2dTreH2d

xxxx xxxx 0000 0004 0000 0005 0000 0006 0000 0007

RES

GATE

CLK

Counter 0 0000 0008

Out0

epm-t104

Fig. 12.4-49 Signal characteristic of 2/4xcounter in the mode 25 (upcounter, reset function)

OUT0 LOW activeLoad counterCompare reached






12.412.4.13

l12.4-38 EDSPM-TXXX-3.0-04/2004

epm-t105

Fig. 12.4-50 Signal characteristic of 2/4xcounter in the mode 26 (downcounter, reset function)

OUT0 LOW activeLoad counterCompare reached


Parameterising 2/4xcounter module2 x 32 bit counter with G/RES (mode 27)

12Parameter setting

12.412.4.14

l 12.4-39EDSPM-TXXX-3.0-04/2004

12.4.14 2 x 32 bit counter with G/RES (mode 27)

epm-t142


The mode 27 offers two 32-bit counters which can be assigned with a startingvalue.



If a HIGH level is applied to input IN3 / IN6 (G/RES), the counter is incremented ordecremented by 1 with each LOW/HIGH edge.

During the counting process a HIGH level must be applied to input IN1 / IN4(G/RES). With a LOW level the counter content is frozen. With a rising edge at theinput IN1 / IN4 (G/RES) the counter is deleted.

When the counter reaches zero, the output OUT0 / OUT1 is set to HIGH level forat least 100 ms, even if the counter continues to count. When the counter stopsat zero, the output OUT0 / OUT1 remains on the HIGH level.

Terminal assignment

DIR signal

CLK signal

G/RES signal

OUT signal

Parameterising 2/4xcounter module2 x 32 bit counter with G/RES (mode 27)


12.412.4.14

l12.4-40 EDSPM-TXXX-3.0-04/2004

epm-t143


epm-t146


epm-t147


Counter access


Parameterising 2/4xcounter moduleEncoder with G/RES (modes 28 ... 30)

12Parameter setting

12.412.4.15

l 12.4-41EDSPM-TXXX-3.0-04/2004

12.4.15 Encoder with G/RES (modes 28 ... 30)

epm-t144

Fig. 12.4-55 Terminal assignment of the 2/4xcounter in the modes 28 ...30

The modes 28 to 30 offer two encoders that can be pre-assigned with a startingvalue.




During the counting process a HIGH level must be applied to input IN1 / IN4(G/RES). With a LOW level the counter content is frozen. With a rising edge at theinput IN1 / IN4 (G/RES) the counter is deleted.


Terminal assignment

A/B signal

G/RES signal

OUT signal



12.412.4.15

l12.4-42 EDSPM-TXXX-3.0-04/2004

epm-t145



epm-t148


epm-t149


Counter access



12Parameter setting

12.412.4.15

l 12.4-43EDSPM-TXXX-3.0-04/2004




epm-t150





epm-t151





12.412.4.15

l12.4-44 EDSPM-TXXX-3.0-04/2004






epm-t152







epm-t153



Parameterising 2/4xcounter module2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32)

12Parameter setting

12.412.4.16

l 12.4-45EDSPM-TXXX-3.0-04/2004

12.4.16 2 × 32 bit counter with GATE and RES edge-triggered (mode 31 and 32)

epm-t154


In the modes 31 to 32, two 32-bit counters are available, which are controlled viaa gate signal (gate). A starting value and a comparison value can be assigned toeach counter.



A LOW/HIGH edge at input IN1 / IN04 (RES ) clears the counter.


Once the counter reaches the value loaded in the ”Compare” register, outputOUT0 / OUT1 is set to HIGH level for at least 100 ms, with the counter continuingits task.

Terminal assignment

RES signal

GATE/CLK signal

OUT signal



12.412.4.16

l12.4-46 EDSPM-TXXX-3.0-04/2004

epm-t155


Counter access


12Parameter setting

12.412.4.16

l 12.4-47EDSPM-TXXX-3.0-04/2004

epm-t156



Parameterising 2/4xcounter module2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33 and 34)


12.412.4.17

l12.4-48 EDSPM-TXXX-3.0-04/2004

12.4.17 2 × 32 bit counter with GATE, RES edge-triggered and auto reload (mode 33and 34)

epm-t154



These modes offer the function ”Auto Reload” . This means, that the Load Registercan be assigned with a value which is automatically loaded into the counter assoon as it reaches the comparison value set.


Mode 33: UpcounterMode 34: Downcounter

A LOW/HIGH edge at input IN1 / IN04 (RES) clears the counter.


The counter counts up to the value set in the compare register. With this lastLOW-HIGH edge the counter content is overwritten with the value set in the loadregister. This is repeated until the input IN3 / IN6 (GATE) receives a LOW signal.

If an ”Auto Reload” occurs, the signal level at the output OUT0 / OUT1 changes.(A LOW-HIGH-edge at the output IN1 / IN4 (RES) does not reset the outputOUT0 / OUT1.)

Terminal assignment

RES signal

GATE/CLK signal

OUT signal


12Parameter setting

12.412.4.17

l 12.4-49EDSPM-TXXX-3.0-04/2004

epm-t158


Counter access



12.412.4.17

l12.4-50 EDSPM-TXXX-3.0-04/2004

epm-t159



Parameterising 2/4xcounter module2 x 32 bit counter with GATE (mode 35)

12Parameter setting

12.412.4.18

l 12.4-51EDSPM-TXXX-3.0-04/2004

12.4.18 2 x 32 bit counter with GATE (mode 35)

epm-t160


The mode 35 offers two 32-bit counters which can be assigned with a startingvalue.



Each LOW-HIGH edge at input IN2 / IN5 (CLK) increments and/or decrements thecounter by 1, respectively.

During the counting process, a HIGH level must be applied to input IN1 / IN4(GATE). With a LOW level the counter content is frozen.


Terminal assignment

DIR signal

CLK signal

GATE signal

OUT signal

Parameterising 2/4xcounter module2 x 32 bit counter with GATE (mode 35)


12.412.4.18

l12.4-52 EDSPM-TXXX-3.0-04/2004

epm-t161


epm-t162


epm-t163


Counter access


Parameterising 2/4xcounter moduleEncoder with GATE (modes 36 ... 38)

12Parameter setting

12.412.4.19

l 12.4-53EDSPM-TXXX-3.0-04/2004

12.4.19 Encoder with GATE (modes 36 ... 38)

epm-t164


The modes 36 to 38 offer two encoders that can be pre-assigned with a startingvalue.




During the counting process, a HIGH level must be applied to input IN1 / IN4(GATE). With a LOW level the counter content is frozen.


Terminal assignment

A/B signal

GATE signal

OUT signal



12.412.4.19

l12.4-54 EDSPM-TXXX-3.0-04/2004

epm-t165

Fig. 12.4-73 Counter access of the 2/4xcounter in the modes 36, 37 and 38


epm-t166



epm-t167


Counter access



12Parameter setting

12.412.4.19

l 12.4-55EDSPM-TXXX-3.0-04/2004




epm-t168





epm-t169





12.412.4.19

l12.4-56 EDSPM-TXXX-3.0-04/2004






epm-t170







epm-t171



Parameterising SSI interfaceParameter data

12Parameter setting

12.512.5.1

l 12.5-1EDSPM-TXXX-3.0-04/2004

12.5 Parameterising SSI interface


The following can be defined via the parameter data of the SSI interface:

Baud rate

Coding type

Evaluation of the combined E/A.0

For the SSI interface, four bytes of parameter data are available, which areassigned via SDOs.

Depending on the plug-in station, the SSI interface is parameterised via the indicesI3001h ... I3010h (max. 8 SSI interfaces). The parameter data are stored inthesubindex 1.

epm-t173

Fig. 12.5-1 Display of the parameter data of the SSI interface


Parameterising SSI interfaceParameter data


12.512.5.1

l12.5-2 EDSPM-TXXX-3.0-04/2004

The parameter data are assigned as follows:

Byte Assignment Lenze setting0 reserved1 reserved2 Baud rate 1) 00h = 300 kBaud 00h2 Baud rate

01h = 100 kBaud00h

02h = 300 kBaud03h = 600 kBaud04h ... FFh = 300 kBaud

3 Coding 2) Bit 0 0 Binary code 00h3 Coding Bit 01 Gray Code

00h

Bit 1 reservedHold function 3) Bit 2 0 DeactivateHold function Bit 2

1 ActivateBits 3 ... 7 reserved

1) Baud rate: The encoder connected to the SSI interface transmits serial data. Therefore the encoder is providedwith a clock pulse of the SSI interface. The clock pulse can be determined by you.

2) Coding: For data transmission you can select the binary code or the Gray code. Transmission errors are easier todetect with the Gray code since adjacent Gray-code figures differ in exactly one bit.

3) Hold function: When the hold function is activated, the current encoder value is frozen as soon as +24V areapplied to the input E/A.0 +24 V. The encoder value is only updated if the 24 V are not applied any more. Pleasenote, that E/A.0 only operates as an input when the Hold function is activated.

Note!The baud rate depends on the cable length and the SSI encoder.The cables must be twisted and shielded in pairs. The followingdata serve as a guideline:

Cable length Baud rate< 400 m 100 kBaud< 100 m 300 kBaud< 50 m 600 kBaud

Parameterising SSI interfaceInput data / output data

12Parameter setting

12.512.5.2

l 12.5-3EDSPM-TXXX-3.0-04/2004


epm-t172

Fig. 12.5-2 Data input /output of SSI interface

For data input / output, four bytes are available which are transmitted (Rx PDO)oroutput (Tx PDO) by PDOs.

Note!Input and output data get lost when the mains supply is switchedoff/on; they are not stored!

The input data, which serve to control the outputs (I/O.0 and I/O.1) depending onthe encoder value, are located in the first Rx PDO.

Byte Assignment0 Control Bits 0..1 Setpoint selection0 Control Bits 0..1

00: No setpoint selection01: Setpoint selection for output I/O.010: Setpoint selection for output I/O.111: Setpoint selection for outputs I/O.0 and I/O.1

Bit 2 reservedBit 3 Condition for outputBit 3

0: If SSI encoder value is higher than setpoint1: If SSI encoder value is lower than setpoint

Bits 4..7 reserved1 Comparison value (HIGH byte) Bits 0 ... 7 Binary code or Gray code, depending on the parameter2 Comparison value (MID byte)

Bits 0 ... 7 Binary code or Gray code, depending on the parametersetting

3 Comparison value (LOW byte)

g

The output data supplied by your encoder is located in the first Tx PDO:

Byte Assignment0 Status Bit 0 Status I/O.00 Status

Bit 1 Status I/O.1Bits 2 ... 7 reserved

1 SSI encoder value (HIGH byte) Bits 0 ... 7 Binary code or Gray code, depending on the parameter2 SSI encoder value (MID byte)

Bits 0 ... 7 Binary code or Gray code, depending on the parametersetting

3 SSI encoder value (LOW byte)

g

Input data

Output data



12.512.5.2

l12.5-4 EDSPM-TXXX-3.0-04/2004

epm-t187

Fig. 12.5-3 Counter access SSI interface, Hold function deactivated

epm-t191

Fig. 12.5-4 Counter access SSI interface, Hold function activated

Counter access


12Parameter setting

12.512.5.2

l 12.5-5EDSPM-TXXX-3.0-04/2004

The station consists of a CAN gateway and an SSI interface. An encoder with a24-bit resolution and Gray code is used.

Output I/O.0 is to switch with count value of > 1000, output I/O.1 with a count valueof > 2000. The figures are given in a hexadecimal format to provide a simplerrepresentation.

SelectionNode address 2Coding (I3001/1) Gray CodeHold function (I3001/1) Deactivated

1. Assigning parameter data

epm-t188

Fig. 12.5-5 Example - How to assign parameter data when using SSI interface

2. Assigning comparison value for channel 0

epm-t189

Fig. 12.5-6 Example - How to assign a comparison value to channel 0 when using SSI interface

3. Assigning comparison value for channel 1

epm-t190

Fig. 12.5-7 Example - How to assign a comparison value to channel 1 when using SSI interface

Example

Parameterising 1xcounter/16xdigital input moduleParameter data

12Parameter setting

12.612.6.1

l 12.6-1EDSPM-TXXX-3.0-04/2004

12.6 Parameterising 1xcounter/16xdigital input module


The mode of operation of the internal counter can be determined by assigning amode via the parameter data.

For the 1xcounter/16xdigital input one byte of parameter data is available, whichis assigned via SDOs.

Depending on the plug-in station, the module is parameterised via the indices3001h ... 3010xh (max. 8 counter modules). The parameter data are stored in thesubindex 1.

epm-t176

Fig. 12.6-1 Display of the parameter data of 1xcounter/16xdigital input

The parameter data follow the assignment below:

Byte Assignment Lenze setting0 Counter mode 00h Encoder with 4 edges 00h

01h 32-bit counterh

02h Clock up/clock down evaluation

03h Measuring the frequency

04h Measuring the period

05h...FFh reserved


Parameterising 1xcounter/16xdigital input moduleInput data / output data


12.612.6.2

l12.6-2 EDSPM-TXXX-3.0-04/2004


epm-t192

Fig. 12.6-2 Data input / data output 1xcounter/16xdigital input

For data input / output, six bytes are available which are transmitted via a PDO tothe counter (Rx PDO) or output by the counter (Tx PDO).

Note!Input and output data get lost when the mains supply is switchedoff/on; they are not stored!


12Parameter setting

12.612.6.2

l 12.6-3EDSPM-TXXX-3.0-04/2004

The inputs E.0 and E.1 are used as counter inputs and digital inputs.

The counter starting value is located in the first Rx PDO in the bytes 0 to 3 (DataIn). If a starting value is loaded, the counter counts upwards or downwards,starting with this value.

The counting range lies between 0 and +4.294.967.295. As soon as the upper limit(when counting upwards) has been reached, the count value jumps to the lowercount limit. The moment, the lower count limit (when counting downwards) hasbeen reached, the count value jumps to the upper count limit.

The counter is controlled via byte 4 (control). It is assigned as follows:

Byte Assignment4 Control byte Bit 0 1 = Start counter (software gate is open) 1)4 Control byte

Bit 1 1 = Stop counter (software gate is closed) 1)

Bit 2 1 = Counter is loaded with starting value /comparison value

Bit 3 1 = Count value is deletedBits 4 ... 7 reserved

1) If start bit and stop bit = HIGH, ”stop” is active. If both bits are LOW, the state of the bit that has been set last, isactive.

Via byte 5 the reference frequency for the modes 3 (frequency measurement)and4 (period measurement) can be set. It is assigned as follows:

Byte Assignment5 Reference frequency 00h 16 MHz5 Reference frequency

01h 8 MHz02h 4 MHz03h 1 MHz04h 100 kHz05h 10 kHz06h 1 kHz07h 100 Hz08h...FFh not permissible

The current count value is located in the first Tx PDO in the bytes 0 to 3 (Data Out)and can be read out there. Bytes 4 and 5 contain the control signals (E.0 ... E.15).

Input data

Output data



12.612.6.2

l12.6-4 EDSPM-TXXX-3.0-04/2004

epm-t175

Fig. 12.6-3 Counter access - 1xcounter/16xdigital input

Counter access

Parameterising 1xcounter/16xdigital input moduleEncoder (mode 0)

12Parameter setting

12.612.6.3

l 12.6-5EDSPM-TXXX-3.0-04/2004

12.6.3 Encoder (mode 0)

In the mode 0, the rising and falling edges of signal A and B are evaluated. Thecounter can be pre-assigned with a starting value via the Rx PDO.


A HIGH level in byte 4 (Control), bit 3 (Clear) sets the counter to zero.

When bit 2 (Load) changes from LOW to HIGH in byte 4 (Control), the counter ispre-assigned with the starting value from byte 0 to 3 (Data In).

The software gate which releases the counting process, is opened, when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.

With the software gate open: Every rising or falling edge of signal A (E.0)and B (E.1)increments or decrements the count value. The counting direction depends onwhich signal is leading.

epm-t177

Fig. 12.6-4 Counter access of 1xcounter/16xdigital input in the mode 0

Clear signal

Load signal

Start/stop signal

A/B signal

Counter access

Parameterising 1xcounter/16xdigital input moduleEncoder (mode 0)


12.612.6.3

l12.6-6 EDSPM-TXXX-3.0-04/2004


a LOW-HIGH edge of signal B and a LOW level of signal A.

a HIGH-LOW edge of signal A and a HIGH level of signal B.

a LOW-HIGH edge of signal A and a HIGH level of signal B.

a HIGH-LOW edge of signal B and a LOW level of signal A.

epm-t178

Fig. 12.6-5 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (upcounter)

The counter is decremented by 1 with

a LOW-HIGH edge of signal A and a HIGH level of signal B.

a HIGH-LOW edge of signal A and a LOW level of signal B.

a LOW-HIGH edge of signal B and a LOW level of signal A.

a HIGH-LOW edge of signal B and a HIGH level of signal A.

epm-t179

Fig. 12.6-6 Signal characteristic of 1xcounter/16xdigital input in the mode 0 (downcounter)


Parameterising 1xcounter/16xdigital input module32 bit counter (mode 1)

12Parameter setting

12.612.6.4

l 12.6-7EDSPM-TXXX-3.0-04/2004

12.6.4 32 bit counter (mode 1)

In the mode 1 the counter operates as an 32-bit counter. The counter can bepre-assigned with a starting value via the Rx PDO.





With the software gate open: With every rising edge of signal A (E.0) the counteris either incremented or decremented by 1.

The counting direction is determined via the level of signal B (E.1):


epm-t177


Clear signal

Load signal

Start/stop signal

A/B signal

Counter access

Parameterising 1xcounter/16xdigital input module32 bit counter (mode 1)


12.612.6.4

l12.6-8 EDSPM-TXXX-3.0-04/2004

epm-t180

Fig. 12.6-8 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (upcounter)

epm-t181

Fig. 12.6-9 Signal characteristic of 1xcounter/16xdigital input in the mode 1 (downcounter)


Parameterising 1xcounter/16xdigital input module32 bit counter with clock up/down evaluation (mode 2)

12Parameter setting

12.612.6.5

l 12.6-9EDSPM-TXXX-3.0-04/2004

12.6.5 32 bit counter with clock up/down evaluation (mode 2)

In the mode 1 the counter operates as a clock-up/clock-down counter. Thecounter can be pre-assigned with a starting value via the Rx PDO.





With the software gate open: With every rising edge of the signal A (E.0)thecounteris incremented by 1. With every rising edge of the signal B (E.1) the counter isdecremented by 1.

epm-t177


Clear signal

Load signal

Start/stop signal

A/B signal

Counter access

Parameterising 1xcounter/16xdigital input module32 bit counter with clock up/down evaluation (mode 2)


12.612.6.5

l12.6-10 EDSPM-TXXX-3.0-04/2004

epm-t182

Fig. 12.6-11 Signal characteristic of 1xcounter/16xdigital input in the mode 2


Parameterising 1xcounter/16xdigital input moduleMeasuring the frequency (mode 3)

12Parameter setting

12.612.6.6

l 12.6-11EDSPM-TXXX-3.0-04/2004

12.6.6 Measuring the frequency (mode 3)

In mode 3, the counter operates as a frequency meter. For this purpose thecountercounts the number of rising edges of signal A of a specified time slot.

The time slot can be determined by selecting a starting value (Data In) and areference frequency (Ref. Freq.) in the Rx PDO.



1Tw Time slot

TW=1f⋅ n fref Reference frequency (is transmitted in byte 5)TW frefn

n Starting value (is transmitted in bytes 0 ... 3)



When the software gate is open:

The reference counter is started by the first rising edge of signal A (E.0) andthen incremented with every rising edge of the reference clock.

When the reference counter reaches the starting value (time Tw has elapsed),the current count value is shifted into the Tx PDO in byte 0 ... 3 (Data Out).

Then, the counter and reference counter are automatically reset and the nextfrequency measurement starts with the next rising edge of signal A.

If two rising edges do not occur in the signal A within the time slot Tw, thecount value for this measurement is interpreted with zero.

The counter can be cleared at any time via a HIGH level in byte 4 (Control), bit 3(Clear). The loaded value remains valid unti a new value is loaded.

Reference frequency

Time slot calculation

Load signal

Start/stop signal

A signal

Clear signal

Parameterising 1xcounter/16xdigital input moduleMeasuring the frequency (mode 3)


12.612.6.6

l12.6-12 EDSPM-TXXX-3.0-04/2004

f Frequency of signal A

f f m fref Reference frequencyf= fref ⋅

mn m Count valuen

n Starting value

Example: Reference frequency fref = 1 MHz, starting value n = 1,000,000, countvalue m = 10,000

f= 1 MHz ⋅ 100001000000

= 10 kHz

epm-t183


epm-t185


Frequency calculation

Counter access


Parameterising 1xcounter/16xdigital input moduleMeasuring the period (mode 4)

12Parameter setting

12.612.6.7

l 12.6-13EDSPM-TXXX-3.0-04/2004

12.6.7 Measuring the period (mode 4)

In mode 4 the counter operates as a permanent period meter. The counter countsthe number of rising edges of a reference counter between two rising edges ofsignal A (E.0).

The frequency of a reference counter can be preset in the Rx PDO in byte 5 (Ref.Freq.).



The software gate which releases the counting process, is opened when bit 0(Start) in the byte 4 (Control)has HIGH level. It is closed as soon as bit 1 (Stop)hasHIGH level.

When the software gate is open:

The reference counter is started by the first rising edge of signal A and thenincremented with every rising edge of the reference clock.

The next rising edge of signal A stops the reference counter.

The counter can be cleared at any time via a HIGH level in byte 4 (Control), bit 3(Clear). Then the measuring process is restarted with the next rising edge of signalA.

1T Period

T= 1f⋅ n fref Reference frequencyT

frefn

n Count value

Example: Reference frequency fref = 1 MHz, count value n = 10,000

T= 11 MHz

⋅ 10000= 10 ms

Note!The count value remains valid until the next measurement iscompleted or the counter is reset via the clear signal; this meansthat you do not get the current count value but the one from theprevious measurement if a measurement has not been completed,e.g. because no second rising edge of signal A has occurred.

Reference frequency

Start/stop signal

A signal

Clear signal

Period calculation

Parameterising 1xcounter/16xdigital input moduleMeasuring the period (mode 4)


12.612.6.7

l12.6-14 EDSPM-TXXX-3.0-04/2004

epm-t184


epm-t186


Counter access


Transmitting parameter data

12Parameter setting

12.7

l 12.7-1EDSPM-TXXX-3.0-04/2004


If you change parameters (e. g. monitoring times in the index I2400h), the newsettings must be saved non-volatilely via index I2003h. The settings continue toexist after disconnecting the supply voltage.

Step Action Note1. Save changes Set index I2003h = 1

Loading default setting

12Parameter setting

12.8

l 12.8-1EDSPM-TXXX-3.0-04/2004

12.8 Loading default setting

Via index I2100hex all parameter changes are reset to the default setting. Changesmade by you are deleted from the EEPROM of the distributed I/O system

Step Action Note1. Loading factory setting Set index I2100h = 12. Reset Node Set index I2358h = 1 The changes are accepted.3. Save changes Set index I2003h = 1

Contents

13Troubleshooting and fault elimination

13.1

l 13.1-1EDSPM-TXXX-3.0-04/2004

13 Troubleshooting and fault elimination

13.1 Contents

13.2 Fault messages 13.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Fault messages

13Troubleshooting and fault elimination

13.2

l 13.2-1EDSPM-TXXX-3.0-04/2004

13.2 Fault messages

Module Fault Display Cause RemedyCAN gateway No data transmission No LED is lit No supply voltage Make sure that the module is

supplied 24 V DC

Incorrect data transmission tothe backplane bus

LED ”ER” is lit No module contact with thebackplane bus.

Place module on DIN rail, turndownward until it audiblyengages with the DIN rail.Then restart the module byswitching the supply voltageoff and on again.

No process data aretransmitted

LED ’BA’ is blinking System bus in Pre-Operationalstatus

Transmit telegram 00 01 00from master to change into theOperational status.

Parameter changes were notsaved after supply voltagedisconnection.

– Parameter changes were notsaved

Save all settings via indexI2003h

8×digital input16×digital input1×counter/16×digital input8×digital input / output

HIGH signal at a digital input isnot transmitted/indicated.

The green status LED of theoutput is not on.

High signal lacks referencepotential (GND) via pin 10.

Establish reference potential

8×digital output 1A16×digital output 1A8×digital output 2A8×digital input / output

No HIGH level output at thedigital output

The red status LED ’F’ is lit Short circuit at a digital outputdue to incorrect wiring.The output remains off until theerror has been eliminated.

Check wiring

8×digital input / outputConnected load defective Check load

Digital output overload asload’s current consumption istoo high.

Select load with lower currentconsumption.When using the module8×digital output 1A, exchangeit, if possible, by a module8×digital output 2A.

4×relay Relay contact does not open – Excess load has lead to relaycontact fusing.

Replace module and reduceload on the relay contact.

4×analog input4×analog input / output

Signal at analog input is nottransmitted

The red LED of thecorresponding input is lit

Open circuit within measuringrange 4 ... 20 mA

Check wiring4×analog input / output transmitted corresponding input is lit

No sensor connected. Connect sensor.Short-circuit the plus andminus terminals of an input if itis not to be used.

The red LED of the associatedinput is blinking

Input current >40 mA Reduce input current

2/4×counter After a reset via the digitalinput IN1 / IN4 the value 0 isnot transmitted to the master.It is only transmitted with thenext count value.

– Process data transmission tothe master (PDO-Tx) isevent-controlled.

Setting cyclic process datachange (I1800h ... I1809h)

Contents

14Appendix

14.1

l 14.1-1EDSPM-TXXX-3.0-04/2004

14 Appendix

14.1 Contents

14.2 Index table 14.2-1. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Index table

14Appendix

14.2

l 14.2-1EDSPM-TXXX-3.0-04/2004

14.2 Index table

The indices are numbered in ascending sequence for reference purposes.

How to read the index table:

Column Abbreviation MeaningIndex Ixxxxh Index IxxxxhIndex

1 Subindex 1 of Ixxxxh2 Subindex 2 of Ixxxxh

Ixxxxh* Index parameter is permanently stored in the EEPROM.Name Index nameLenze Lenze setting, setting on deliverySelection 1 % 99 Min. value (unit) max. valueImportant – Brief, important explanationsImportant

Page x Reference to detailed explanations



Lenze Selection

I1000h Device type Display onlyType

I1001h Error register Display only 9.11-2h g

Bit 0 Generic An unspecified error has occurred(flag set on each error message)

Bit 1 reserved

Bit 2 reserved

Bit 3 reserved

Bit 4 Comm. Communication error (Overrun CAN)

Bit 5 reserved

Bit 6 reserved

Bit 7 ManSpec. Manufacturer-specific error Is shown in detail in I1003hI1003h Display only

1 Actual errors

p y yFault memory

I1004h Number ofsupported PDOs

Display only

1 Number ofsynchronous PDOssupported

2 Number ofsynchronous PDOssupported

I1005h Sync COB-ID 128 128 1 2047

I1006h Sync interval 0 0 1 65535 Sync transmit window

I1007h Sync windowlength

0 0 1 ms 65535 If no sync signal arrives during the syncinterval set (I1006h), the I/O system IP20switches to the Pre-Operational mode.Function is deactivated: I1007h = 0

I1008h DIS: Device name Display onlydevice name

I1009h DIS: Hardwareversion

Display onlyHardware version

Index table

14 Appendix

14.2

l14.2-2 EDSPM-TXXX-3.0-04/2004

Index ImportantPossible settingsName

SelectionLenze

I100Ah DIS: Softwareversion

Display onlySoftware version

I100Bh Node ID 0 0 1 63 Display onlySystem bus node address


9.7-1


9.7-1



9.7-1

I1010h Store parameter 0 Store in accordance with CANopen(communication protocol DS301/DS401)

I1011h Restore parameter 0 Load factory setting in accordance withCANopen(communication protocolDS301/DS401)


9.11-2

I1016h Heartbeatconsumer time

Data contents The I/O system IP20 can monitor up to fivenodes (subindex 1 5)

9.8-1consumer time

Heartbeat time Node ID reservednodes (subindex 1 ... 5).If the monitored node does not respond,




9.8-1

Node ID 0 0 1 255










9.8-1



I1018h Display only

1 Vendor ID

p y ydevice identifier

2 Product code

3 Revision number

I1027h Type of Display only 9.11-3

1 Module no. 1

p y ymodule listS bindices 1 32 Mod le identifiers of2 Module no. 2 Subindices 1 ... 32 Module identifiers ofthe plugged modules

... ...the plugged modules

32 Module no. 32

Index table

14Appendix

14.2

l 14.2-3EDSPM-TXXX-3.0-04/2004


SelectionLenze

I1029h Error behavior 0123

Pre-OperationalNo state changedStoppedRESET

Error behaviour

1 CommunicationError

0 The I/O system IP20 switches to the statusset if the communication with the masterfails or ”node guarding”, ”heartbeat”, orthe output monitoring have been activated.

2 ManufacturerSpecific Error

0 Only available for the compact system.If a digital output has a short circuit andthe time set in I2410h has been exceeded,the module switches to the status set.

I1200h Server SDOparameter 1

Display onlyCurrent identifiers for SDO communication

1 SDO1-Rx 1536 (basic identifier) + node address

2 SDO1-Tx 1408 (basic identifier) + node address

I1201h Server SDOparameter 2

Display onlyCurrent identifiers for SDO communication

1 SDO2-Rx 1600 (basic identifier) + node address

2 SDO2-Tx 1472 (basic identifier) + node address


9.4-3








9.4-3



2 Transmission type 255 0 1 255 Defining the transmission mode

0 Sync-controlled receive The input data are accepted on synctelegram transmission.




9.4-3







Index table

14 Appendix

14.2

l14.2-4 EDSPM-TXXX-3.0-04/2004


SelectionLenze


9.4-3



2 Transmisson type 255 0 1 255 Defining the transmission mode





9.4-3








9.4-3








9.4-3








9.4-3







Index table

14Appendix

14.2

l 14.2-5EDSPM-TXXX-3.0-04/2004


SelectionLenze


9.4-3








9.4-3







I1600h* Mapping parameters for receive PDOs

0 Number of mappedRxPDO1

0 1 255 8 bit value

1 1st mapped object 00000000h 1 FFFFFFFFh 32 bit value

2 2nd mapped object 00000000h 1 FFFFFFFFh 32 bit value

3 3rd mapped object 00000000h 1 FFFFFFFFh 32 bit value

4 4th mapped object 00000000h 1 FFFFFFFFh 32 bit value






9.4-3










Index table

14 Appendix

14.2

l14.2-6 EDSPM-TXXX-3.0-04/2004


SelectionLenze


9.4-3




0 Sync-controlled transmit The output data are accepted on synctelegram transmission.









9.4-3













9.4-3












Index table

14Appendix

14.2

l 14.2-7EDSPM-TXXX-3.0-04/2004


SelectionLenze


9.4-3













9.4-3













9.4-3












Index table

14 Appendix

14.2

l14.2-8 EDSPM-TXXX-3.0-04/2004


SelectionLenze


9.4-3













9.4-3













9.4-3












Index table

14Appendix

14.2

l 14.2-9EDSPM-TXXX-3.0-04/2004


SelectionLenze

I1A00h Mapping parameters for receive PDOs

0 Number of mappedTxPDO1

0 1 255 8 bit value

1 1st mapped object 00000000h 1 FFFFFFFFh 32 bit value

2 2nd mapped object 00000000h 1 FFFFFFFFh 32 bit value

3 3rd mapped object 00000000h 1 FFFFFFFFh 32 bit value





8 8th mapped object 00000000h 1 FFFFFFFFh 32 bit valueI2001h CAN baud rate 1 0 1 255 Display onlyh

012345678



I2003h Save 0 0 No function Parameter changes are savedl il l i I2003

h

1 Save

gnon-volatilely via I2003h

I2100h Default setting 0 0 No function Loading factory setting 12.8-1h g

1 Default setting

g y gThe EEPROM content is cleared

I2358h CAN reset node 0 0 No function Reset node 9.9-1h

1 CAN reset nodeI2359h CAN state 0 1 3 Display only 9.11-3h

0123




9.10-1

1 PD01 0




4 PD04 0

5 PD05 0

6 PD06 0

7 PD07 0

8 PD08 0

9 PD09 0

10 PD10 0

I2410h Timeout shortcircuit monitoring

2 0 1 ms 65535 Only available for the compact system.If a digital output has a short circuit andthe time set has been exceeded, themodule switches to the status set inI1029h, Subindex 2.

I2500h Dummy object forPDO mapping

Display onlyIndex is only available in the compactsystem

Index table

14 Appendix

14.2

l14.2-10 EDSPM-TXXX-3.0-04/2004


SelectionLenze

I3001h* Configanalog/countermodule 1

00000000h 1h FFFFFFFFh Configures analog or counter module inslot 1Index is only available in the modular

12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

Index table

14Appendix

14.2

l 14.2-11EDSPM-TXXX-3.0-04/2004


SelectionLenze



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

I300Ah* Configanalog/countermodule 10


12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

I300Bh* Configanalog/countermodule 11


12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

I300Ch* Configanalog/countermodule 12


12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

I300Dh* Configanalog/countermodule 13


12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

I300Eh* Configanalog/countermodule 14


12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h

Index table

14 Appendix

14.2

l14.2-12 EDSPM-TXXX-3.0-04/2004


SelectionLenze

I300Fh* Configanalog/countermodule 15


12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h



12.3-112.4-112.5-1

1 0h


12.5 112.6-1

2 0h3 0h4 0h


1 Module 1


2 Module 2

... ...

32 Module 32

I6002h* Change polaritydigital input

0 1 255 Inverts digital input signals 12.2-1

1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0


1 Module 1


2 Module 2

... ...

32 Module 32

I6202h Change polaritydigital output

0 1 255 Inverts digital output signals 12.2-1

1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0I6206h Error mode digital



9.10-2



1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0

Index table

14Appendix

14.2

l 14.2-13EDSPM-TXXX-3.0-04/2004


SelectionLenzeI6207h Error value digital 0 0 1 255 Configures the individual digital output 9.10-2h g



Bit value0


Bit value1


1 Module 1 0

2 Module 2 0

... ... ...

32 Module 32 0


1 Channel 1


... ...system

36 Channel 36


1 Channel 1


... ...system

36 Channel 36

I6421h* Trigger selection 0 1 255 Enables interrupt for analog inputs/outputs

1 Channel 1 0

p g p pIndex is only available in the modularsystem

2 Channel 2 0system

... ... ...

36 Channel 36 0

I6424h* Upper limit analoginput

00000000h 1 FFFFFFFFh Index is only available in the modularsystem

1 Channel 1 0

y

2 Channel 2 0

... ... ...

36 Channel 36 0

I6425h* Lower limit analoginput


1 Channel 1 0

y

2 Channel 2 0

... ... ...

36 Channel 36 0

I6426h* Delta limit analoginput


1 Channel 1 0

y

2 Channel 2 0

... ... ...

36 Channel 36 0I6443h* Error mode analog



9.10-3



1 Channel 1 0

2 Channel 2 0

... ... ...

36 Channel 36 0

Index table

14 Appendix

14.2

l14.2-14 EDSPM-TXXX-3.0-04/2004


SelectionLenze



9.10-3

1 Channel 1 0



... ... ...system

36 Channel 36 0

1 Preface

2 Guide

3 Safety instructions

4 Technical data




8 Electrical installation


10 Networking via CANopen

11 Commissioning


13 Troubleshooting and fault elimination

14 Appendix

EDSPM-TXXX!Qz&

System ManualI/O system IP20EPM-T110, EPM-T2xx, EPM-T3xx, EPM-T4xx,EPM-T83x, EPM-T9xx

Lenze Drive Systems GmbHPostfach 10135231763 Hameln

2004 Lenze Drive Systems GmbH

Documents

Ä!Qz&ä System Manual