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Beckhoff EP6002 Documentation

Beckhoff EP6002 Documentation

Serial interface modules (rs232 or rs422/rs485)
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Documentation for
EP6001 and EP6002
Serial Interface Modules (RS232 or RS422/RS485)
Version:
Date:
2.1.0
2018-10-19

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Summary of Contents for Beckhoff EP6002

  • Page 1 Documentation for EP6001 and EP6002 Serial Interface Modules (RS232 or RS422/RS485) Version: 2.1.0 Date: 2018-10-19...

  • Page 3: Table Of Contents

    EP6001-0002 – Technical data .................. 13 2.3.3 EP6001-0002 - Process image.................. 14 EP6002-0002........................... 16 2.4.1 EP6002-0002 - Introduction.....................  16 2.4.2 EP6002-0002 – Technical data .................. 18 2.4.3 EP6002-0002 - Process image.................. 19 3 Mounting and connection ........................ 21 Mounting ............................ 21 3.1.1 Dimensions ........................ 21 3.1.2...
  • Page 4 EP6002-0002 - sample program 1 .................... 75 EP6002-0002 - Sample program 2 .................... 78 EP6002-0002 - Object overview ...................... 81 EP6002-0002 - Object description and parameterization .............. 90 5.10 EP6001-0002 - Object overview .................... 112 5.11 EP6001-0002 - Object description and parameterization .............. 117 5.12 Restoring the delivery state ...................... 132 6 Appendix .............................. 133...

  • Page 5: Foreword

    The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries. ® EtherCAT is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany. Copyright © Beckhoff Automation GmbH & Co. KG, Germany.

  • Page 6: Safety Instructions

    All the components are supplied in particular hardware and software configurations appropriate for the application. Modifications to hardware or software configurations other than those described in the documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG. Personnel qualification This description is only intended for trained specialists in control, automation and drive engineering who are familiar with the applicable national standards.

  • Page 7: Documentation Issue Status

    • EP600x-0002 - Interface modes updated • EP600x-0002 - Basic function principles updated • EP600x-0002 - Choice of the interface type updated • EP6002-0002 - Sample program 1 updated • EP6002-0002 - Sample program 2 updated • EP6001-0002 - Object overview added •...
  • Page 8 29 - week of production 29 YY - year of production 10 - year of production 2010 FF - firmware version 02 - firmware version 02 HH - hardware version 01 - hardware version 01 Version: 2.1.0 EP6001 and EP6002...

  • Page 9: Product Overview

    Product overview Product overview Module overview EP600x-0002 Module Signal connection Number of channels – serial interfaces Comment 4 x M12 Narrow housing EP6001-0002 [} 12] 4 x M12 Narrow housing EP6002-0002 [} 16] EP6001 and EP6002 Version: 2.1.0...

  • Page 10: Ethercat Box - Introduction

    • digital outputs with 0.5 or 2 A output current • analog inputs and outputs with 16 bit resolution • Thermocouple and RTD inputs • Stepper motor modules XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available. Version: 2.1.0 EP6001 and EP6002...

  • Page 11: Fig. 2 Ethercat Box With M8 Connections For Sensors/Actuators

    EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads. XML files You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our web- site (www.beckhoff.com) under Downloads, in the Configuration Files area. EP6001 and EP6002...

  • Page 12: Ep6001-0002 - Introduction

    In conjunction with the TwinCAT Virtual Serial COM Driver the EP6001-0002 can be used as a normal Windows COM interface. Version: 2.1.0 EP6001 and EP6002...

  • Page 13: Ep6001-0002 - Technical Data

    Permissible ambient temperature during -40…+85 °C storage Vibration / shock resistance conforms to EN 60068-2-6/EN 60068-2-27 EMC immunity / emission conforms to EN 61000-6-2/EN 61000-6-4 Protection class IP 65/66/67 (conforms to EN 60529) Weight app. 165 g Installation position variable CE, UL Approvals [} 42] EP6001 and EP6002 Version: 2.1.0...

  • Page 14: Ep6001-0002 - Process Image

    The TwinCAT System Manager displays the EP6001-0002 data in a tree structure. The tree shows: COM inputs: Channel input data COM outputs: Channel output data COM Inputs The tree shows: Status: Status bits of the channel Data In 0 to Data In 21: Channel input data Version: 2.1.0 EP6001 and EP6002...
  • Page 15 Product overview COM outputs The tree shows: Status: Control bits of the channel Data Out 0 to Data Out 21: Channel output data EP6001 and EP6002 Version: 2.1.0...

  • Page 16: Ep6002-0002 - Introduction

    EP6002-0002 - Introduction Dual-channel serial interface module: RS232 or RS422/RS485 The EP6002-0002 2-channel serial interface module enables the connection of devices with an RS232 or RS422/RS485 interface. The module transmits the data in a fully transparent manner to the higher-level automation device.
  • Page 17 Product overview Quick links Installation [} 21] Interface modes [} 56] Configuration [} 63] Sample programs [} 75] UL requirements [} 42] ATEX - Special conditions [} 43] EP6001 and EP6002 Version: 2.1.0...

  • Page 18: Ep6002-0002 - Technical Data

    Product overview 2.4.2 EP6002-0002 – Technical data Technical data EP6002-0002 EtherCAT Fieldbus [} 46] 2 x M8 socket (green) Fieldbus connection [} 25] Data transfer channels 2 (1/1), TxD and RxD, full duplex Data transfer rates 300...115,200 Baud; 9,600 Baud (8-bit, no parity, 1 stop bit)

  • Page 19: Ep6002-0002 - Process Image

    Product overview 2.4.3 EP6002-0002 - Process image The TwinCAT System Manager displays the EP6002-0002 data in a tree structure. The tree shows: • COM Inputs Channel 1: input data of the 1 channel • COM Inputs Channel 2: input data of the 2 channel •...
  • Page 20 • Status: Control bits of the 1 channel • Data Out 0 to Data Out 21: output data of the 1st channel COM Outputs Channel 2 The data of the 2 channel are structured identically to those of the 1 channel. Version: 2.1.0 EP6001 and EP6002...

  • Page 21: Mounting And Connection

    Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions app. 126 x 30 x 26.5 mm app. 126 x 60 x 26,5 mm (H x W x D) app. 150 x 60 x 26.5 mm (without 7/8", B17) EP6001 and EP6002 Version: 2.1.0...

  • Page 22: Fixing

    The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4 treads to fix 60 mm wide modules via their middle holes. Up to 14 narrow or 7 wide modules may be mixed mounted. Version: 2.1.0 EP6001 and EP6002...

  • Page 23: Nut Torque For Connectors

    ZB8800 is also a max. torque of 0.5 Nm permissible. Fig. 7: EtherCAT Box with M8 connectors M12 connectors It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm. Fig. 8: EtherCAT Box with M8 and M12 connectors EP6001 and EP6002 Version: 2.1.0...

  • Page 24: Additional Checks

    Fig. 9: 7/8" plug connectors Torque socket wrenches Fig. 10: ZB8801 torque socket wrench Ensure the right torque Use the torque socket wrenches available by Beckhoff to pull the connectors tight (ZB8800, ZB8801-0000)! 3.1.4 Additional checks The boxes have undergone the following additional tests:...

  • Page 25: Ethercat

    For the incoming and ongoing EtherCAT connection, • the EtherCAT Box (EPxxxx) has two M8 sockets, marked in green • the Coupler Box (FBB-x110) has two M12 sockets Fig. 11: EtherCAT Box: M8, 30 mm housing Fig. 12: EtherCAT Box: M860 mm housing (example: EP9214) EP6001 and EP6002 Version: 2.1.0...

  • Page 26: Fig. 13 Coupler Box: M12

    M8 connectors were changed to the colors of EN61918 (yellow, orange, white, blue).So different color coding exists. But the electrical properties are absolutely identical. EtherCAT connector The following connectors can be supplied for use in Beckhoff EtherCAT systems. Version: 2.1.0 EP6001 and EP6002...

  • Page 27: Ethercat - Fieldbus Leds

    EtherCAT statuses The various statuses in which an EtherCAT module may be found are described in the Basic Sys- tem Documentation for EtherCAT, which is available for download from our website (www.beck- hoff.com) under Downloads. EP6001 and EP6002 Version: 2.1.0...

  • Page 28: Power Supply

    Box Modules! This can damage the modules! Control voltage Us: 24 V Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the 24 V control voltage Us. The control voltage is electrically isolated from the fieldbus circuitry. Version: 2.1.0 EP6001 and EP6002...
  • Page 29 Us and Up can thus easily be transferred from EtherCAT Box to EtherCAT Box. NOTE Pay attention to the maximum permissible current! Pay attention also for the redirection of the supply voltages Us and Up, the maximum permissible current for M8 connectors of 4 A must not be exceeded! EP6001 and EP6002 Version: 2.1.0...

  • Page 30: Fig. 17 Ep92X4-0023, Connectors For Power In And Power Out

    EP9214 or EP9224 (with integrated data logging, see www.beckhoff.com/EP9224) is recommended. With these modules intelligent power distribution concepts with up to 2 x 16 A and a maximum of 2.5 mm²...

  • Page 31: Status Leds For Power Supply

    Us was switched off for all sensors fed from this. Up (Auxiliary voltage) The power supply voltage Up is not present green illuminated The power supply voltage Up is present EP6001 and EP6002 Version: 2.1.0...

  • Page 32: Power Cable Conductor Losses M8

    8 m power cable with 0.34 mm² cross-section has a voltage drop of 3.2 V at 4 A. EP92x4 Power Distribution Modules With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage supply are available. Further information may be found under www.beckhoff.com/EP9224. Version: 2.1.0 EP6001 and EP6002...

  • Page 33: Conductor Losses 7/8

    6 V. Variations in the output voltage from the power supply unit must also be taken into account. Fig. 21: ZK2030-xxxx-yyy - Conductor losses Alternatively, larger cable cross-section can be used, e.g. 2.5 mm EP6001 and EP6002 Version: 2.1.0...

  • Page 34: Signal Connection

    A linear bus with more than two devices can be set-up in RS485 mode. To prevent reflections dur- ing the data transmission, it is necessary to terminate the line ends of the bus cable with resistors (120 Ω). Version: 2.1.0 EP6001 and EP6002...

  • Page 35: Fig. 24 M12 Socket, A-Coded

    The signals are connected via M8 connectors (EPxxxx-0001) or M12 connectors (EPxxxx-0002). Fig. 25: Digital inputs M8 and M12 The sensors are supplied with a common maximum current of 0.5 A from the control voltage Us. Light emitting diodes indicate the signal state of the inputs. EP6001 and EP6002 Version: 2.1.0...

  • Page 36: Fig. 26 Digital Outputs M8 And M12

    The signals are connected via M8 connectors (EP2xxx-0001) or M12 connectors (EP2xxx-0002). Fig. 26: Digital outputs M8 and M12 The outputs are short-circuit proof and protected against inverse connection. LEDs indicate the signal state of the outputs. Version: 2.1.0 EP6001 and EP6002...

  • Page 37: Signal Connection Ep6002-0002

    Mounting and connection 3.4.2 Signal connection EP6002-0002 RS485/422 Fig. 27: M12 socket, A-coded Signal Connection for TxD- send data TxD+ send data RxD- receive data RxD+ receive data SHLD shield RS485 - Half Duplex Connection For half duplex connection under RS485 only one pair of wires is needed for data transmission.

  • Page 38: Ep6001-0002 - Status Leds

    Power supply Display Meaning The supply voltage, Us, is not present green The supply voltage, Us, is present illuminated The supply voltage, Up, is not present green The supply voltage, Up, is present illuminated Version: 2.1.0 EP6001 and EP6002...

  • Page 39: Ep6002-0002 - Status Leds

    Mounting and connection EP6002-0002 - Status LEDs Fig. 30: EP6002-0002 - Status LEDs Status LEDs at the M12 connectors Connector Display Meaning M12 socket no. 1-4 RX Serial port on this M12 connector not ready to receive data left green Serial port on this M12 connector ready to receive data...

  • Page 40: Cabling

    Mounting and connection Cabling A list of EtherCAT cables, power cables, sensor cables, Ethernet/EtherCAT connectors and field- configurable connectors can be found under the following link: https://beckhoff.de/english/fieldbus_box/ ethercat_box_accessories_overview.htm?id=25525466903389 The corresponding data sheets can be found under the following link: https://beckhoff.de/english/ethercat-box/ethercat_box_cables.htm?id=690338951657421 EtherCAT cables Fig. 31: ZK1090-3131-0xxx...

  • Page 41: Fig. 32 Zk2020-3132-0Xxx

    Mounting and connection Power cable Fig. 32: ZK2020-3132-0xxx Sensor cables Fig. 33: Selection of Beckhoff sensor cables EP6001 and EP6002 Version: 2.1.0...

  • Page 42: Ul Requirements

    To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature range of 0 to 55°C! Marking for UL All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label. Fig. 34: UL label Version: 2.1.0 EP6001 and EP6002...

  • Page 43: Atex Notes

    FF - firmware version HH - hardware version Beispiel mit Ser. Nr.: 29 10 02 01: 29 - week of production 29 10 - year of production 2010 02 - firmware version 02 01 - hardware version 01 EP6001 and EP6002 Version: 2.1.0...

  • Page 44: Bg2000-0000 - Ethercat Box Protection Enclosure

    Put the cables for EtherCAT, power supply and sensors/actuators through the hole of the BG2000-0000 protection enclosure. Fig. 35: BG2000-0000, putting the cables Fix the wires for EtherCAT, power supply and sensors/actuators to the EtherCAT Box. Version: 2.1.0 EP6001 and EP6002...

  • Page 45: Atex Documentation

    (ATEX) Pay also attention to the continuative documentationNotes about operation of EtherCAT Box Mod- ules (EPxxxx-xxxx) in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com! EP6001 and EP6002 Version: 2.1.0...

  • Page 46: Basics Communication - Ethercat

    The PDI watchdog monitors correct and timely process data communication with the ESC but from the application side. The SM and PDI watchdogs should be set separately for each slave in the TwinCAT System Manager: Version: 2.1.0 EP6001 and EP6002...

  • Page 47: Fig. 38 Ethercat Tab --> Advanced Settings --> Behavior --> Watchdog

    1 to 65535, this covers a watchdog period of 0 to ~170 seconds. Calculation Multiplier = 2498 → watchdog base time = 1 / 25 MHz * (2498 + 2) = 0.0001 seconds = 100 µs SM watchdog = 10000 → 10000 * 100 µs = 1 second watchdog monitoring time EP6001 and EP6002 Version: 2.1.0...
  • Page 48 OFF), depending on the SAFEOP and OP settings, and depending on the device and its settings. If this is prevented due to deactivation of watchdog monitoring in the module, outputs can be switched or remain set in device state SAFEOP. Version: 2.1.0 EP6001 and EP6002...

  • Page 49: Ethercat State Machine

    Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP- RAM areas of the EtherCAT slave controller (ECSC). EP6001 and EP6002 Version: 2.1.0...
  • Page 50 In the Boot state the slave firmware can be updated. The Boot state can only be reached via the Init state. In the Boot state mailbox communication via the file access over EtherCAT (FoE) protocol is possible, but no other mailbox communication and no process data communication. Version: 2.1.0 EP6001 and EP6002...

  • Page 51: Coe Interface

    CoE list. If a device has a CoE list, it is shown in the TwinCAT System Manager as a separate tab with a listing of the elements: EP6001 and EP6002 Version: 2.1.0...

  • Page 52: Fig. 40 Coe-Online Tab

    Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is re- placed with a new Beckhoff terminal, it will have the factory settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is pro- cessed whenever the EtherCAT fieldbus is started.

  • Page 53: Fig. 41 Startup List In The Twincat System Manager

    ◦ the offline list from the ESI file is displayed. In this case modifications are not meaningful or possible. ◦ the configured status is shown under Identity ◦ no firmware or hardware version is displayed, since these are features of the physical device. ◦ Offline is shown in red EP6001 and EP6002 Version: 2.1.0...

  • Page 54: Fig. 42 Offline List

    ◦ the actual current slave directory is read. This may take several seconds, depending on the size and cycle time. ◦ the actual identity is displayed ◦ the firmware and hardware version of the equipment according to the electronic information is displayed. ◦ Online is shown in green Fig. 43: Online list Version: 2.1.0 EP6001 and EP6002...
  • Page 55 • Channel 1: parameter range 0x8010:00 ... 0x801F:255 • Channel 2: parameter range 0x8020:00 ... 0x802F:255 • … This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. EP6001 and EP6002 Version: 2.1.0...

  • Page 56: Commissioning/Configuration

    Flags Setting 80n0:07 Enable point-to- The module is used in a bus structure in accordance with the RS485 BOOLEAN point connec- standard. tion (RS422) The module is used for a point-to-point connection (RS422). Channel n Version: 2.1.0 EP6001 and EP6002...

  • Page 57: Fig. 46 2-Wire Connection In Bus Structure To Rs485 Device(S)

    80n0:06 Enable half du- Full duplex: transmitted data are monitored.  The bit has no effect in BOOLEAN plex RS232 and RS422 mode Half duplex: The reception of the data transmitted by the box itself is channel n suppressed EP6001 and EP6002 Version: 2.1.0...
  • Page 58 In this case, check the bus line! Also see about this 2 Configuration by means of the TwinCAT System Manager [} 70] Version: 2.1.0 EP6001 and EP6002...

  • Page 59: Ep600X-0002 - Basic Function Principles

    Commissioning/Configuration EP600x-0002 - Basic function principles The EP6002-0002 2-channel serial interface module enables the connection of two devices with an RS232 or RS485/RS422 interface. The EP6001-0002 1-channel serial interface module enables the connection of one device with an RS232 or RS485/RS422 interface and in addition the connection of digital inputs/outputs.

  • Page 60: Fig. 48 Level Of Rs232, Rs485/Rs422 Interfaces

    - Differentiation between online/offline dictionary, existence of current XML description - Use "CoE reload" for resetting changes The following CoE settings are possible from object 0x8000 of the EP6002-0002 and are shown here in the default settings: Version: 2.1.0...

  • Page 61: Fig. 49 Ep6002-0002 - Coe Settings On Object 0X8000 (Default)

    Commissioning/Configuration Fig. 49: EP6002-0002 - CoE settings on object 0x8000 (default) Process data description The process data are generated from CoE objects 0x6000 (Inputs) [} 107] and 0x7000 (Outputs) [} 109] and are described in chapter Object description and parameterization [} 90]. Transfer rates The EP boxes have a process image of 22 bytes of user data.
  • Page 62 Continuous transmission of data A continuous data stream is indispensable for many applications. For this purpose, the Beckhoff modules feature the "Enable send FIFO data continuous" setting in the Settings object. The internal transmit buffer (128 bytes) of the EP box can be filled first by setting this switch. After that the entire contents of the buffer can be transmitted without interruption.

  • Page 63: Insertion In The Ethercat Network

    This can be downloaded from the Beckhoff website (http://www.beckhoff.de/german/default.htm? download/elconfg.htm) and installed according to the installation instructions. The configuration tree in the Beckhoff TwinCAT System Manager can be created in 2 ways: • by scanning [} 63] of existing hardware (referred to as "online"), or •...

  • Page 64: Fig. 51 Appending A New I/O Device (I/O Devices-> Right-Click -> Append Device

    In the following dialog, select the device EtherCAT (Direct Mode), see following fig., and confirm with OK. Fig. 52: Selecting the device (EtherCAT) • Append a new box (see fig. below). Fig. 53: Appending a new box (Device -> right-click -> Append Box... ) ) Version: 2.1.0 EP6001 and EP6002...

  • Page 65: Fig. 54 Selection Of A Box

    Commissioning/Configuration • In the dialog shown, select the desired box and confirm with OK. Fig. 54: Selection of a box Fig. 55: Appended box in the TwinCAT tree EP6001 and EP6002 Version: 2.1.0...

  • Page 66: Configuration By Means Of The Twincat System Manager

    Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCAT device. Create symbols Access to this EtherCAT slave via ADS is only available if this checkbox is activated. Version: 2.1.0 EP6001 and EP6002...

  • Page 67: Fig. 58 Ethercat Tab

    Indicates the configuration of the process data. The input and output data of the EtherCAT slave are represented as CANopen process data objects (PDO). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function. EP6001 and EP6002 Version: 2.1.0...

  • Page 68: Fig. 59 Process Data Tab

    (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected first. Version: 2.1.0 EP6001 and EP6002...
  • Page 69 It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list. EP6001 and EP6002 Version: 2.1.0...

  • Page 70: Fig. 60 Startup Tab

    (CoE) protocol. This dialog lists the content of the object directory of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions. Version: 2.1.0 EP6001 and EP6002...

  • Page 71: Fig. 61 Coe - Online Tab

    Commissioning/Configuration Fig. 61: CoE - Online tab EP6001 and EP6002 Version: 2.1.0...

  • Page 72: Fig. 62 Advanced Settings - Dictionary

    Offline - via EDS File If this option button is selected, the list of the objects included in the object directory is read from an EDS file provided by the user. Version: 2.1.0 EP6001 and EP6002...

  • Page 73: Fig. 63 Online Tab

    A carrier signal is available at the port, but the port is closed. File Access over EtherCAT Download With this button a file can be written to the EtherCAT device. Upload With this button a file can be read from the EtherCAT device. EP6001 and EP6002 Version: 2.1.0...

  • Page 74: Ep600X-0002 - Selection Of The Interface Type

    Click on the objects 0xF800:01 [} 92] and 0xF800:02 [} 92] and select the interface type for both interfaces. Fig. 65: Set Value Dialog Index 0xF800:01 Interface Type Ch. 1 EP6002-0002 - assignment of the connections Depending on the interface type you must use the corresponding M12 connection.

  • Page 75: Ep6002-0002 - Sample Program 1

    Connection of a serial bar code scanner https://infosys.beckhoff.com/content/1033/EP6001_EP6002/Resources/zip/2200499211.zip In this example, a barcode reader will be connected to the EP6002-0002. Characters will be read by the reader until the ASCII character 0x0D (13 , CR) is received.

  • Page 76: Fig. 66 Searching The Ethernet Adapter

    Configuration, I/O Devices, Device (EtherCAT); then select the appropriate adapter on the "Adapter" tab, "Search..." and confirm (see the following two figures) Fig. 66: Searching the Ethernet adapter Fig. 67: Selection and confirmation of the Ethernet adapter Activation of the configuration and confirmation (see the following two figures) Version: 2.1.0 EP6001 and EP6002...

  • Page 77: Fig. 68 Activation Of The Configuration

    • Confirm new variable mapping, restart in RUN mode (see the following two figures) Fig. 70: Generating variable mapping Fig. 71: Restarting TwinCAT in RUN mode • In TwinCAT PLC under the "Project" menu, select "Rebuild all" to compile the project (see following figure) EP6001 and EP6002 Version: 2.1.0...

  • Page 78: Fig. 72 Build Project

    • After the character 0x13 has been received, the barcode is stored in "LastBarcode". Fig. 74: Received barcode EP6002-0002 - Sample program 2 Using the sample programs This document contains sample applications of our products for certain areas of application. The application notes provided here are based on typical features of our products and only serve as ex- amples.
  • Page 79 If the serial telegram from the gateway is placed cyclically to the bus, the time of the first bit can often be interpreted as a PPS signal. In the function block in this example, this information would be lost; only the absolute time information is evaluated. EP6001 and EP6002 Version: 2.1.0...
  • Page 80 The NMEA block is linked in the example. The baud rate of the terminal must be set to match your transmitter. References: • www.beuth.de.de, IEC61162: based on NMEA2000 • www.gpsinformation.net/, private, via NMEA, many formats: http://www.gpsinformation.org/dale/ nmea.htm http://www.nmea.de/nmea0183datensaetze.html • https://www.meinberg.de/german/info/irig.htm, IRIG codes Documents about this 2 el6001_nmea_demo.zip (Resources/zip/2200502155.zip) Version: 2.1.0 EP6001 and EP6002...

  • Page 81: Ep6002-0002 - Object Overview

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 82 1601:16 SubIndex 022 0x7010:20, 8 1601:17 SubIndex 023 0x7010:21, 8 1601:18 SubIndex 024 0x7010:22, 8 1601:19 SubIndex 025 0x7010:23, 8 1601:1A SubIndex 026 0x7010:24, 8 1601:1B SubIndex 027 0x7010:25, 8 1601:1C SubIndex 028 0x7010:26, 8 Version: 2.1.0 EP6001 and EP6002...
  • Page 83 1804:0 [} 99] 1804:06 Exclude TxPDOs 00 1A Subindex COM TxPDO-Par Inputs Ch.2 0x06 (6 1805:0 [} 99] 1805:06 Exclude TxPDOs 01 1A Subindex COM TxPDO-Map Inputs Ch.1 0x1F (31 1A00:0 [} 100] 1A00:01 SubIndex 001 0x6000:01, 1 EP6001 and EP6002 Version: 2.1.0...
  • Page 84 1A01:15 SubIndex 021 0x6010:1C, 8 1A01:16 SubIndex 022 0x6010:1D, 8 1A01:17 SubIndex 023 0x6010:1E, 8 1A01:18 SubIndex 024 0x6010:1F, 8 1A01:19 SubIndex 025 0x6010:20, 8 1A01:1A SubIndex 026 0x6010:21, 8 1A01:1B SubIndex 027 0x6010:22, 8 Version: 2.1.0 EP6001 and EP6002...
  • Page 85 Subindex Sync manager type 0x04 (4 1C00:0 [} 103] 1C00:01 SubIndex 001 0x01 (1 1C00:02 SubIndex 002 0x02 (2 1C00:03 SubIndex 003 0x03 (3 1C00:04 SubIndex 004 0x04 (4 Subindex RxPDO assign 0x02 (2 1C12:0 [} 104] EP6001 and EP6002 Version: 2.1.0...
  • Page 86 Data In 10 0x00 (0 6000:1C Data In 11 0x00 (0 6000:1D Data In 12 0x00 (0 6000:1E Data In 13 0x00 (0 6000:1F Data In 14 0x00 (0 6000:20 Data In 15 0x00 (0 Version: 2.1.0 EP6001 and EP6002...
  • Page 87 Data Out 5 0x00 (0 7000:17 Data Out 6 0x00 (0 7000:18 Data Out 7 0x00 (0 7000:19 Data Out 8 0x00 (0 7000:1A Data Out 9 0x00 (0 7000:1B Data Out 10 0x00 (0 EP6001 and EP6002 Version: 2.1.0...
  • Page 88 Enable XON/XOFF supported tx data 0x00 (0 8010:03 Enable XON/XOFF supported rx data 0x00 (0 8010:04 Enable send FIFO data continuous 0x00 (0 8010:05 Enable transfer rate optimization 0x01 (1 8010:07 Enable point to point connection (RS422) 0x00 (0 Version: 2.1.0 EP6001 and EP6002...
  • Page 89 F800:0 [} 92] F800:01 Interface Type Ch 1 0x00 (0 F800:02 Interface Type Ch 2 0x00 (0 Flags: RO (Read Only): This object can only be read. RW (Read/Write): This object can be read and written to. EP6001 and EP6002 Version: 2.1.0...

  • Page 90: Ep6002-0002 - Object Description And Parameterization

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 91 0x05 0x09 0x0A 0x0B 0x0C  8E2 0x0D 8000:1A Rx buffer full notifica- The value specifies the number of data in the receive UINT16 0x0360 (864 tion FIFO, from which the bit "buffer full" is set. EP6001 and EP6002 Version: 2.1.0...
  • Page 92 0x03 (3 F800:01 Interface Type Ch 1 0x00 RS232 BIT1 0x00 (0 0x01 RS485/422 F800:02 Interface Type Ch 2 0x00 RS232 BIT1 0x00 (0 0x01 RS485/422 Objects for regular operation The EP6002 has no such objects. Version: 2.1.0 EP6001 and EP6002...
  • Page 93 PDO Parameter RxPDO 1 UINT8 0x06 (6 Outputs Ch.1 1400:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob- OCTET- 04 16 jects) that must not be transferred together with Rx- STRING[2] PDO 1 EP6001 and EP6002 Version: 2.1.0...
  • Page 94 PDO Parameter RxPDO 6 UINT8 0x06 (6 Outputs Ch.2 1405:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob- OCTET- 01 16 jects) that must not be transferred together with Rx- STRING[2] PDO 6 Version: 2.1.0 EP6001 and EP6002...
  • Page 95 27. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:25, 8 Ch.1), entry 0x25 (Data Out 20)) 1600:1C SubIndex 028 28. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:26, 8 Ch.1), entry 0x26 (Data Out 21)) EP6001 and EP6002 Version: 2.1.0...
  • Page 96 27. PDO Mapping entry (object 0x7010 (COM Outputs UINT32 0x7010:25, 8 Ch.2), entry 0x25 (Data Out 20)) 1601:1C SubIndex 028 28. PDO Mapping entry (object 0x7010 (COM Outputs UINT32 0x7010:26, 8 Ch.2), entry 0x26 (Data Out 21)) Version: 2.1.0 EP6001 and EP6002...
  • Page 97 22. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:25, 8 Ch.1), entry 0x25 (Data Out 20)) 1604:17 SubIndex 023 23. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:26, 8 Ch.1), entry 0x26 (Data Out 21)) EP6001 and EP6002 Version: 2.1.0...
  • Page 98 COM TxPDO-Par PDO parameter TxPDO 1 UINT8 0x06 (6 Inputs Ch.1 1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- 04 1A jects) that must not be transferred together with TxPDO STRING[2] Version: 2.1.0 EP6001 and EP6002...
  • Page 99 COM TxPDO-Par PDO parameter TxPDO 6 UINT8 0x06 (6 Inputs Ch.2 1805:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- 01 1A jects) that must not be transferred together with TxPDO STRING[2] EP6001 and EP6002 Version: 2.1.0...
  • Page 100 30. PDO Mapping entry (object 0x6000 (COM Inputs UINT32 0x6000:25, 8 Ch.1), entry 0x25 (Data In 20)) 1A00:1F SubIndex 031 31. PDO Mapping entry (object 0x6000 (COM Inputs UINT32 0x6000:26, 8 Ch.1), entry 0x26 (Data In 21)) Version: 2.1.0 EP6001 and EP6002...
  • Page 101 30. PDO Mapping entry (object 0x6010 (COM Inputs UINT32 0x6010:25, 8 Ch.2), entry 0x25 (Data In 20)) 1A01:1F SubIndex 031 31. PDO Mapping entry (object 0x6010 (COM Inputs UINT32 0x6010:26, 8 Ch.2), entry 0x26 (Data In 21)) EP6001 and EP6002 Version: 2.1.0...
  • Page 102 22. PDO Mapping entry (object 0x6000 (COM Inputs UINT32 0x6000:25, 8 Ch.1), entry 0x25 (Data In 20)) 1A04:17 SubIndex 023 23. PDO Mapping entry (object 0x6000 (COM Inputs UINT32 0x6000:26, 8 Ch.1), entry 0x26 (Data In 21)) Version: 2.1.0 EP6001 and EP6002...
  • Page 103 Sync-Manager Type Channel 2: Mailbox Read UINT8 0x02 (2 1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write UINT8 0x03 (3 (Outputs) 1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In- UINT8 0x04 (4 puts) EP6001 and EP6002 Version: 2.1.0...
  • Page 104 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A04 (6660 ated TxPDO mapping object) 1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ- UINT16 0x1A05 (6661 ated TxPDO mapping object) Version: 2.1.0 EP6001 and EP6002...
  • Page 105 0x0000 (0 counter and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) EP6001 and EP6002 Version: 2.1.0...
  • Page 106 UINT16 0x0000 (0 as 1C32:13 [} 105] counter 1C33:20 Sync error BOOLEAN 0x00 (0 as 1C32:32 [} 105] Profile-specific objects (0x6000-0xFFFF) The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001. Version: 2.1.0 EP6001 and EP6002...
  • Page 107 Data In 21 Input data UINT8 0x00 (0 Index 6001 Status Ch.1 Index (hex) Name Meaning Data type Flags Default 6001:0 Status Ch.1 UINT8 0x01 (1 6001:01 Status Status word for compatible process image UINT16 0x0000 (0 EP6001 and EP6002 Version: 2.1.0...
  • Page 108 Data In 21 Input data UINT8 0x00 (0 Index 6011 Status Ch.2 Index (hex) Name Meaning Data type Flags Default 6011:0 Status Ch.2 UINT8 0x01 (1 6011:01 Status Status word for compatible process image UINT16 0x0000 (0 Version: 2.1.0 EP6001 and EP6002...
  • Page 109 Data Out 21 Output data UINT8 0x00 (0 Index 7001 Ctrl Ch.1 Index (hex) Name Meaning Data type Flags Default 7001:0 Ctrl Ch.1 UINT8 0x01 (1 7001:01 Ctrl Control word for compatible process image UINT16 0x0000 (0 EP6001 and EP6002 Version: 2.1.0...
  • Page 110 A000:11 Data bytes in send Number of data bytes in the send FIFO UINT16 0x0000 (0 buffer A000:21 Data bytes in re- Number of data bytes in the receive FIFO UINT16 0x0000 (0 ceive buffer Version: 2.1.0 EP6001 and EP6002...
  • Page 111 Code word UINT32 0x00000000 (0 Index F010 Module list Index (hex) Name Meaning Data type Flags Default F010:0 Module list UINT8 0x02 (2 F010:01 SubIndex 001 UINT32 0x00000258 (600 F010:02 SubIndex 002 UINT32 0x00000258 (600 EP6001 and EP6002 Version: 2.1.0...

  • Page 112: Ep6001-0002 - Object Overview

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 113 1A00:13 SubIndex 019 0x6000:1A, 8 1A00:14 SubIndex 020 0x6000:1B, 8 1A00:15 SubIndex 021 0x6000:1C, 8 1A00:16 SubIndex 022 0x6000:1D, 8 1A00:17 SubIndex 023 0x6000:1E, 8 1A00:18 SubIndex 024 0x6000:1F, 8 1A00:19 SubIndex 025 0x6000:20, 8 EP6001 and EP6002 Version: 2.1.0...
  • Page 114 Minimum delay time 0x00000384 (900 1C32:08 Command 0x0000 (0 1C32:09 Maximum Delay time 0x00000384 (900 1C32:0B SM event missed counter 0x0000 (0 1C32:0C Cycle exceeded counter 0x0000 (0 1C32:0D Shift too short counter 0x0000 (0 Version: 2.1.0 EP6001 and EP6002...
  • Page 115 0x26 (38 7000:0 [} 130] 7000:01 Transmit request 0x00 (0 7000:02 Receive accepted 0x00 (0 7000:03 Init request 0x00 (0 7000:04 Send continuous 0x00 (0 7000:09 Output length 0x00 (0 7000:11 Data Out 0 0x00 (0 EP6001 and EP6002 Version: 2.1.0...
  • Page 116 0x00000000 (0 F008 [} 131] Subindex Module list 0x02 (2 F010:0 [} 131] F010:01 SubIndex 001 0x00000258 (600 F010:02 SubIndex 002 0x00000118 (280 Subindex COM Settings 0x03 (3 F800:0 [} 118] F800:01 Interface Type Ch 1 0x00 (0 Version: 2.1.0 EP6001 and EP6002...

  • Page 117: Ep6001-0002 - Object Description And Parameterization

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.
  • Page 118 Index F800 COM Settings Index (hex) Name Meaning Data type Flags Default F800:0 COM Settings UINT8 0x01 (1 F800:01 Interface Type Ch 1 0x00 RS232 BIT1 0x00 (0 Objects for regular operation The EP6002 has no such objects. Version: 2.1.0 EP6001 and EP6002...
  • Page 119 COM RxPDO-Par PDO Parameter RxPDO 1 UINT8 0x06 (6 Outputs 1400:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob- OCTET- 04 16 jects) that must not be transferred together with Rx- STRING[2] PDO 1 EP6001 and EP6002 Version: 2.1.0...
  • Page 120 COM RxPDO-Par PDO Parameter RxPDO 2 UINT8 0x06 (6 Outputs 1404:06 Exclude RxPDOs Specifies the RxPDOs (index of RxPDO mapping ob- OCTET- 00 16 jects) that must not be transferred together with Rx- STRING[2] PDO 5 Version: 2.1.0 EP6001 and EP6002...
  • Page 121 27. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:25, 8 Ch.1), entry 0x25 (Data Out 20)) 1600:1C SubIndex 028 28. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:26, 8 Ch.1), entry 0x26 (Data Out 21)) EP6001 and EP6002 Version: 2.1.0...
  • Page 122 0x01 (Digital Output 1)) 1608:02 SubIndex 002 2. PDO Mapping entry (object 0x7010 (DIG Outputs), UINT32 0x7010:02, 1 entry 0x02 (Digital Output 2)) 1608:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 0x0000:00, 14 Version: 2.1.0 EP6001 and EP6002...
  • Page 123 1804:0 COM TxPDO-Par PDO parameter TxPDO 2 UINT8 0x06 (6 Inputs 1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob- OCTET- 00 1A jects) that must not be transferred together with TxPDO STRING[2] EP6001 and EP6002 Version: 2.1.0...
  • Page 124 30. PDO Mapping entry (object 0x6000 (COM Inputs UINT32 0x6000:25, 8 Ch.1), entry 0x25 (Data In 20)) 1A00:1F SubIndex 031 31. PDO Mapping entry (object 0x6000 (COM Inputs UINT32 0x6000:26, 8 Ch.1), entry 0x26 (Data In 21)) Version: 2.1.0 EP6001 and EP6002...
  • Page 125 0x01 (Digital Input 1)) 1A08:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (DIG Inputs), en- UINT32 0x6010:02, 1 try 0x02 (Digital Input 2)) 1A08:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 0x0000:00, 14 EP6001 and EP6002 Version: 2.1.0...
  • Page 126 Flags Default 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x02 (2 1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associ- UINT16 0x1A04 (6660 ated TxPDO mapping object) 1C13:02 Subindex 002 2. reserved UINT16 Version: 2.1.0 EP6001 and EP6002...
  • Page 127 0x0000 (0 counter and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) EP6001 and EP6002 Version: 2.1.0...
  • Page 128 UINT16 0x0000 (0 as 1C32:13 [} 127] counter 1C33:20 Sync error BOOLEAN 0x00 (0 as 1C32:32 [} 127] Profile-specific objects (0x6000-0xFFFF) The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001. Version: 2.1.0 EP6001 and EP6002...
  • Page 129 Flags Default 6010:0 DIG Inputs UINT8 0x02 (2 6010:01 Digital Input 1 BOOLEAN 0x00 (0 6010:02 Digital Input 1 BOOLEAN 0x00 (0 6010:03 Init Accepted The initialization is carried out from the terminal BOOLEAN 0x00 (0 EP6001 and EP6002 Version: 2.1.0...
  • Page 130 A000:11 Data bytes in send Number of data bytes in the send FIFO UINT16 0x0000 (0 buffer A000:21 Data bytes in re- Number of data bytes in the receive FIFO UINT16 0x0000 (0 ceive buffer Version: 2.1.0 EP6001 and EP6002...
  • Page 131 Code word UINT32 0x00000000 (0 Index F010 Module list Index (hex) Name Meaning Data type Flags Default F010:0 Module list UINT8 0x02 (2 F010:01 SubIndex 001 UINT32 0x00000258 (600 F010:02 SubIndex 002 UINT32 0x00000118 (280 EP6001 and EP6002 Version: 2.1.0...

  • Page 132: Restoring The Delivery State

    Alternative restore value In some older terminals / boxes the backup objects can be switched with an alternative restore value: Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164 An incorrect entry for the restore value has no effect. Version: 2.1.0 EP6001 and EP6002...

  • Page 133: Appendix

    (ph-Value > 12) > 40°C: not resistant Acetic acid not resistant Argon (technical clean) resistant • resistant: Lifetime several months • non inherently resistant: Lifetime several weeks • not resistant: Lifetime several hours resp. early decomposition EP6001 and EP6002 Version: 2.1.0...

  • Page 134: Ethercat Box- / Ethercat P Box - Accessories

    ZB8801-0003 torque cable key, M12 field assembly/wrench size 13, for torque wrench ZB8801-0000 Further accessories Further accessories may be found at the price list for Beckhoff fieldbus components and at the inter- net under https://www.beckhoff.com Version: 2.1.0 EP6001 and EP6002...

  • Page 135: Support And Service

    Beckhoff's branch offices and representatives Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: http://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 136 Fig. 27 M12 socket, A-coded ........................Fig. 28 M12 socket, A-coded ........................Fig. 29 EP6001-0002 - Status LEDs......................Fig. 30 EP6002-0002 - Status LEDs......................Fig. 31 ZK1090-3131-0xxx ........................Fig. 32 ZK2020-3132-0xxx ........................Fig. 33 Selection of Beckhoff sensor cables.................... Fig. 34 UL label............................
  • Page 137 2-wire connection with external bridge in bus structure to RS485 device(s) ....... Fig. 48 Level of RS232, RS485/RS422 interfaces................... Fig. 49 EP6002-0002 - CoE settings on object 0x8000 (default)............. Fig. 50 Scanning in the EtherCAT configuration (I/O Devices-> right-click -> Scan Devices....Fig. 51 Appending a new I/O device (I/O Devices->...

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