Page 1 Instruction Manual Kuhnke FIO IP20 EtherCAT I/O Modules E 747GB-V2 28 January 2020...
Page 2: Table Of Contents
Table of Contents Kendrion Kuhnke Automation GmbH 1 Preface ................................6 Imprint ..............................6 About this Manual ..........................6 Limitation of Liability ............................ 6 Terms of Delivery ............................6 Copyright ..............................6 Warranty ..............................6 Manual Objective and Organisation ......................7 2 Reliability, Safety .............................
Page 3 Kendrion Kuhnke Automation GmbH Table of Contents 5.1.1 Controller 113 ........................... 24 5.1.2 Controller 116 ........................... 25 Bus Coupler and Extender ......................26 5.2.1 Bus Coupler ............................26 5.2.2 Bus Coupler DI16/DO16 ........................29 5.2.3 Extender 2 Port ..........................32 Digital FIO Modules ..........................
Page 4 Table of Contents Kendrion Kuhnke Automation GmbH Technical Data ............................285 7 Configuration ............................... 286 CODESYS V3 (CODESYS Configurator) ..................286 Offline Configuration ..........................286 Online Configuration ..........................289 8 Appendix ..............................292 Technical Data (Summarised) ......................292 System Properties of Kuhnke FIO ......................292 Kuhnke FIO I/O Modules (General) ......................
Page 5 Kendrion Kuhnke Automation GmbH Modification History Modification history Date Comments / modifications 29 May 2015 Original version 31 Aug 2015 Plus chapters on AO, AI-U, AI-I 11 Nov 2015 Plus chapter on DI16/DO16 bus coupler 01 Mar 2016 Plus chapter on Counter/Posi2, new UL logo...
Page 6: Preface
CODESYS V3 © is a product of 3S-Smart Software GmbH. Warranty Warranty is subject to the provisions of the conditions of sale of Kendrion Kuhnke Automation GmbH or any contractual agreements between the parties. (E 747GB-V2) 28 January 2020...
Page 7: Manual Objective And Organisation
Kendrion Kuhnke Automation GmbH Preface Manual Objective and Organisation This manual describes the EtherCAT slave IO modules of Kuhnke FIO. These modules provide the EtherCAT master with the sensor details and operate the actuators. Other modules control the communication with other systems.
Page 8: Reliability, Safety
Reliability, Safety Kendrion Kuhnke Automation GmbH 2 Reliability, Safety 2.1 Intended Use For reasons of personal safety and to avoid material damages when working with or handling this Kuhnke product, you are advised to take heed of the notes and information contained in this instruction manual.
Page 9: Reliability
Kendrion Kuhnke Automation GmbH Reliability, Safety 2.5 Reliability Reliability of Kuhnke products is brought to the highest possible standards by extensive and cost-effective means in their design and manufacture. These include:  selecting high-quality components,  quality agreements with our suppliers, ...
Page 10: Hazard And Other Warnings
Reliability, Safety Kendrion Kuhnke Automation GmbH 2.6 Hazard and other Warnings Despite the actions described in section 2.4, the occurrence of faults or errors in electronic control units - even if most highly improbable - must be taken into consideration.
Page 11: Safety
Kendrion Kuhnke Automation GmbH Reliability, Safety 2.7 Safety Our products normally become part of larger systems or installations. The information below is intended to help you integrate the product into its environment without dangers to humans or material/equipment. DANGER Non-observance of the instruction manual Measures for the prevention of dangerous faults or errors may be rendered ineffective or new hazard sources created.
Page 12: Disposal
Reliability, Safety Kendrion Kuhnke Automation GmbH Disposal  When disposing of the FIO modules, ensure that the modules are disposed of in accordance with the applicable environmental regulations.  Treat the packaging as recyclable paper and cardboard. 2.8 Electromagnetic Compatibility...
Page 13: Location Of Installation
Kendrion Kuhnke Automation GmbH Reliability, Safety  DC voltages 60 V ... 400 V  AC voltages 25 V ... 400 V Joint laying of control circuits is allowed for:  shielded data signals  shielded analogue signals  unshielded digital I/O lines ...
Page 14: Introduction
Introduction Kendrion Kuhnke Automation GmbH 3 Introduction — Ethernet Control Automation Technology 3.1 EtherCAT® EtherCAT is the most powerful Ethernet-based fieldbus system currently available on the market. EtherCAT puts up the top speed mark, and its flexible topology and simple configuration make it the perfect means of controlling extremely fast processes.
Page 15: Kuhnke Fio - Ventura Fio
Kendrion Kuhnke Automation GmbH Introduction 3.3 Kuhnke FIO — Ventura FIO Regular product update cycles include successive revisions of the Ventura FIO modules since 2014. Revisions focused on improving the ESD properties and ensuring conformity with the guidelines of ETG (power engineering association of VDE). The revised modules are therefore referred to Kuhnke FIO or FIO V2.
Page 16: System Description
System Description Kendrion Kuhnke Automation GmbH 4 System Description 4.1 General Service Conditions This section describes the general requirements of installing, wiring and troubleshooting the Kuhnke FIO modules. For a list of System Properties of Kuhnke FIO refer to chapter 0, page 292.
Page 17: Installation
Kendrion Kuhnke Automation GmbH System Description Installation Kuhnke FIO I/Os mount on 35 mm x 7.5 mm rails to DIN EN 50022. Position Mount with rail horizontally with the modules' multiple socket connectors pointing away from the wall. To ensure that enough air gets in through the ventilation slots, leave at least 20 mm to the top and 35 mm to adjacent devices or cabinet surfaces.
Page 18 System Description Kendrion Kuhnke Automation GmbH To Snap on a Single Module  Push up the module against the mounting rail from below, allowing the metal spring to snap in between mounting rail and mounting area as illustrated. Push the top of the module against the mounting wall until it snaps in.
Page 19: System Power Supply
Kendrion Kuhnke Automation GmbH System Description 4.3 System Power Supply General Instructions Multi-connector plugs provide many connections in a tight space.  Unlock buttons make it easier to unplug larger connectors where there is little space.  Screw fittings reliably hold small connectors in place.
Page 20: System Power Supply
System Description Kendrion Kuhnke Automation GmbH System Power Supply A system connector supplies the Kuhnke FIO Safety I/O system with system power from an upstream bus coupler or a compact controller. This system power supply is used for the analysis circuitry and for bus communication only.
Page 21: Bus Coupler
Kendrion Kuhnke Automation GmbH System Description In special cases you may attach the earth wire straight to the module. Module earth connection options Information Earth wires should be short and have a large surface (copper mesh). Refer to http://de.wikipedia.org/wiki/ground_(electronics) for further details...
Page 22: Status Leds
System Description Kendrion Kuhnke Automation GmbH Spring-assisted connector with I/O module unlock button Two-row push-In connector with unlock button NOTE Externally turning off the I/O power supply (L+) can be used to trip all outputs. In that case, LED Power indicates that no voltage is being supplied.
Page 23: Led "In L/A", Led "Out L/A
Kendrion Kuhnke Automation GmbH System Description Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange LED "In L/A", LED "Out L/A" The "In L/A" and "Out L/A" LEDs are located on the bus coupler. They indicate the physical state of the Ethernet.
Page 24: Kuhnke Fio Modules
System Description Kendrion Kuhnke Automation GmbH 5 Kuhnke FIO Modules 5.1 Controller 5.1.1 Controller 113 Separate instruction manuals describe the FIO-series mini-IPC control units. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com Technical Data Type...
Page 25: Controller 116
Kendrion Kuhnke Automation GmbH Controller 116 5.1.2 Controller 116 Separate instruction manuals describe the FIO-series mini-IPC control units. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com Technical Data Type Kuhnke FIO Controller 116 Processor i.MX6 SoloX Freescale 800 MHz...
Page 26: Bus Coupler And Extender
Bus Coupler Kendrion Kuhnke Automation GmbH 5.2 Bus Coupler and Extender EtherCAT is an industrial real-time Ethernet and is suitable for hard and soft real-time requirements in automation technology. Please observe the following notes for the safe operation of an EtherCAT fieldbus system.
Page 27: Controller
Kendrion Kuhnke Automation GmbH Bus Coupler Connectors Module power supply 24 VDC EtherCAT Female IN RJ45 input (from previous EtherCAT station) Female OUT RJ45 output (to next EtherCAT station) Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 28 Bus Coupler Kendrion Kuhnke Automation GmbH Approval:............(E 747GB-V2) 28 January 2020...
Page 29: Bus Coupler Di16/Do16
Kendrion Kuhnke Automation GmbH Bus Coupler DI16/DO16 5.2.2 Bus Coupler DI16/DO16 The Kuhnke FIO bus coupler DI16/DO16 is an EtherCAT IO module providing the functions of the Kuhnke FIO bus coupler and Kuhnke FIO DI16/DO16 modules in a single unit. Its E-bus power has been reduced to 2 A to make it particularly fit for use in smaller blocks of modules.
Page 30 Bus Coupler DI16/DO16 Kendrion Kuhnke Automation GmbH Green, on Operational, unrestricted data exchange LED "IO" The LED labelled "IO" indicates the state of the module's I/Os. State LED flash code Explanation No error Red, flashing Short-circuited digital output NOTE The output drivers have a thermal fuse to automatically turn off any short-circuited outputs. In case the short circuit prevails, the outputs are allowed to cool down to be turned back on until the thermal fuse blows again.
Page 31 Kendrion Kuhnke Automation GmbH Bus Coupler DI16/DO16 Technical Data Function ............Connects a 100 Base-TX EtherCAT with the Kuhnke FIO I/O modules. Generates the LVDS system voltages (E-bus) ............. IO module Controller ............ASIC ET1100 Baud rate ............100 Mbit/s Cable type............
Page 32: Extender 2 Port
Two-port Extender Kendrion Kuhnke Automation GmbH 5.2.3 Bus Coupler DI8/DO8 The Kuhnke FIO bus coupler DI8/DO8 is an EtherCAT IO module providing the functions of the Kuhnke FIO bus coupler and Kuhnke FIO DI8/DO8 modules in a single unit. Its E- bus power has been reduced to 2 A to make it particularly fit for use in smaller blocks of modules.
Page 33 Kendrion Kuhnke Automation GmbH Two-port Extender Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange LED "IO" The LED labelled "IO" indicates the state of the module's I/Os. State LED flash code Explanation No error Red, flashing...
Page 34 Two-port Extender Kendrion Kuhnke Automation GmbH (E 747GB-V2) 28 January 2020...
Page 35 Kendrion Kuhnke Automation GmbH Two-port Extender Technical Data Function ............Connects a 100 Base-TX EtherCAT with the Kuhnke FIO I/O modules. Generates the LVDS system voltages (E-bus) ............. IO module Controller ............ASIC ET1100 Baud rate ............100 Mbit/s Cable type ............CAT5 Cable length...........
Page 36 Two-port Extender Kendrion Kuhnke Automation GmbH 5.2.4 Extender 2 Port Kuhnke's FIO Extender lets you extend a Kuhnke FIO block or a Kuhnke FIO Control (Embedded PC) by EtherCAT slaves equipped with a standard 100 Base Tx connection. The extender converts the physical transfer technology from LVDS (E-bus) to twisted pair.
Page 37 Kendrion Kuhnke Automation GmbH Two-port Extender Safe-Op Off/green, 5:1 Safe operation, inputs readable Green, on Operational, unrestricted data exchange (E 747GB-V2) 28 January 2020...
Page 38 Two-port Extender Kendrion Kuhnke Automation GmbH LED "Out2", LED "Out1" The "Out2" and "Out1" LEDs indicate the physical state of the Ethernet port they are allocated to. State LED flash code Explanation Not connected No Ethernet connection Connected Green, on...
Page 39: Digital Fio Modules
Kendrion Kuhnke Automation GmbH DI16/DO16 5.3 Digital FIO Modules 5.3.1 DI16/DO16 I/O connection Front view of DI16/DO16 I/O module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 40 DI16/DO16 Kendrion Kuhnke Automation GmbH LED "Power" The LED labelled "Power" indicates the state of the I/O module's I/O power supply. State LED flash code Explanation Green, on 24 VDC supply ok 24 VDC supply not ok Information The module is not monitored for low voltage states.
Page 41: Di16/Do16 Ls (Low Side)
Kendrion Kuhnke Automation GmbH DI16/DO16 LS 5.3.2 DI16/DO16 LS (Low Side) I/O connection Front view of DI16/DO16 LS I/O module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 42: Input Current
DI16/DO16 LS Kendrion Kuhnke Automation GmbH Function The DI16/DO16 LS module features 16 digital low-side inputs and 16 digital low-side outputs. NOTE The output drivers have a thermal fuse to automatically turn off any short-circuited outputs. In case the short circuit prevails, the outputs are allowed to cool down to be turned back on until the thermal fuse blows again.
Page 43: Di32
Kendrion Kuhnke Automation GmbH DI32 5.3.3 DI32 I/O connection Front view of DI32 I/O module Terminals Power supply to module I/Os Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State LED flash code...
Page 44 DI32 Kendrion Kuhnke Automation GmbH Technical Data Digital inputs ..........32 Rising delay ........... 1 ms (typically) -3V … 5V (EN 61131-3, type 1) Signal level ............ Off: 15V … 30V IO/power connection ........36-pin plug Controller ............ASIC ET1100 Baud rate ............
Page 45: Di16
Kendrion Kuhnke Automation GmbH DI16 5.3.4 DI16 I/O connection Front view of DI16 I/O module Terminals Power supply to module I/Os Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State LED flash code...
Page 46 DI16 Kendrion Kuhnke Automation GmbH Technical Data Digital inputs ..........16 Rising delay ........... 1 ms (typically) -3V … 5V (EN 61131-3, type 1) Signal level ............ Off: 15V … 30V IO/power connection ........18-pin plug Controller ............ASIC ET1200 Baud rate ............
Page 47: Di16/Do8
Kendrion Kuhnke Automation GmbH DI16/DO8 5.3.5 DI16/DO8 I/O connection Front view of DI16/DO8 I/O module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 48 DI16/DO8 Kendrion Kuhnke Automation GmbH LED "Power" The LED labelled "Power" indicates the state of the I/O module's I/O power supply. State LED flash code Explanation Green, on 24 VDC supply ok 24 VDC supply not ok Information The module is not monitored for low voltage states.
Page 49: Di8/Do8
Kendrion Kuhnke Automation GmbH DI8/DO8 5.3.6 DI8/DO8 I/O connection Front view of DI8/DO8 I/O module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 50 DI8/DO8 Kendrion Kuhnke Automation GmbH LED "Power" The LED labelled "Power" indicates the state of the I/O module's I/O power supply. State LED flash code Explanation Green, on 24 VDC supply ok 24 VDC supply not ok Information The module is not monitored for low voltage states.
Page 51: Do16
Kendrion Kuhnke Automation GmbH DO16 5.3.7 DO16 I/O connection Front view of DO16 I/O module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 52 DO16 Kendrion Kuhnke Automation GmbH LED "Power" The LED labelled "Power" indicates the state of the I/O module's I/O power supply. State LED flash code Explanation Green, on 24 VDC supply ok 24 VDC supply not ok Information The module is not monitored for low voltage states.
Page 53: Do8
Kendrion Kuhnke Automation GmbH 5.3.8 DO8 I/O connection Front view of DO8 I/O module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State...
Page 54 Kendrion Kuhnke Automation GmbH LED "Power" The LED labelled "Power" indicates the state of the I/O module's I/O power supply. State LED flash code Explanation Green, on 24 VDC supply ok 24 VDC supply not ok Information The module is not monitored for low voltage states.
Page 55: Do8 Relay No 24V
Kendrion Kuhnke Automation GmbH DO8 Relay 24VDC 5.3.9 DO8 Relay NO 24V I/O connection Front view of DO8 Relay NO 24V module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 56 DO8 Relay 24VDC Kendrion Kuhnke Automation GmbH Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...7) Reserved BOOL Unused output addresses Module State Variable Data type Explanation VoltageOK BOOL Low voltage (supplied power < 19.2V) NOTE In case of undervoltage the switching of the relays is prevented and already energized relays fall off.
Page 57: Do8 Relay No 230Vac
Kendrion Kuhnke Automation GmbH DO8 Relay 230VAC 5.3.10 DO8 Relay NO 230VAC 5.3.11 I/O connection Front view of DO8 Relay NO 230V module Terminals Power supply to module I/Os 24 VDC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
Page 58 DO8 Relay 230VAC Kendrion Kuhnke Automation GmbH Function The DO8 Relay NO 230 VDC module features 8 relay outputs. Variable Variable Data type Explanation DigitalOutputn BOOL Digital output (n=0...7) Reserved BOOL Unused output addresses Module State Variable Data type Explanation...
Page 59: Analogue Fio Modules
Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5.4 Analogue FIO Modules 5.4.1 AI4 12Bit / AO4 16Bit CoE I/O connection Front view of I/O AI4/AO4 modul Terminals Power supply to module I/Os 24 VDC Funktionserde / Schirm der Analogleitungen  Abschnitt Earth...
Page 60 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange...
Page 61 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Functions The module AI4 12Bit / AO4 16Bit has 4 analog inputs and 4 analog outputs. All channels can be parameterized almost independently of each other, giving the module a high degree of flexibility.
Page 62 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Input scaling Input values can be scaled channel by channel by specifying two set points or by specifying factor and offset. The scaled input values are output as process values (PV). These are output in a separately map able object.
Page 63 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Ausgangsmapping Depending on the configuration of the analog outputs, various predefined mappings are available. A basic distinction is made between the following display formats: Field Value Physical: Output value in [V] or [mA] as REAL...
Page 64 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Distributed Clocks Operation In order to acquire or output data in an EtherCAT network at a certain time on all participants simultaneously, all participants must work synchronously. For this purpose there is a local clock in the EtherCAT slave controllers, which is automatically synchronised by the EtherCAT master with the master clock in the EtherCAT network with an accuracy of less than 100ns.
Page 65 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit DC synchronous oversampling operation In oversampling mode, it is possible to acquire up to 5 measured values in one bus cycle, enabling the acquisition of rapidly changing measured values. For n-times oversampling, one of the DC synchronous operating modes with the desired factor n is selected in the EtherCAT slave setting.
Page 66 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Object dictionary Device Type 1000h Name Device Type 1000 Index VARIABLE Object Code No. of Elements UNSIGNED32 Data Type read only Access PDO Mapping Value Range Default Value 800A 0192 Additional Information [16] Bit 31…16...
Page 67 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Error Register 1001 Name Error Register Index 1001 Object Code VARIABLE No. of Elements Data Type UNSIGNED8 Access read only PDO Mapping Yes, TX-PDO Value Range Default Value In the event of an error, the corresponding error bit is set. If the error no longer exists, it is automatically resetted.
Page 68 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Manufacturer Hardware Version 1009 Name Manufacturer Hardware Version 1009 Index VARIABLE Object Code No. of Elements VISIBLE_STRING Data Type read only Access PDO Mapping Units Value Range 1.00 Default Value Subindex 0 of this object contains the length of the character string. As of subindex 1, the individual characters are contained.
Page 69 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Identity Object 1018h Name Identity object 1018 Index RECORD Object Code No. of Elements IDENTITY Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access PDO Mapping...
Page 70 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH (E 747GB-V2) 28 January 2020...
Page 71 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Error Settings 10F1 Name Error Settings 10F1 Index RECORD Object Code No. of Elements Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access PDO Mapping Default Value...
Page 72 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1600 (Device Control) Name Drive Control 1600 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read write Access PDO Mapping...
Page 73 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 00000000 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access read write...
Page 74 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1601 (AO Field Value Physical) Name AO Field Value Physical 1601 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type 1602 , 1603 Exclude Highest sub index supported Name Subindex...
Page 75 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 4th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 6330 04 20 Name 5th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 76 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1602 (AO Field Value Increments) Name AO Field Value Increments 1602 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type 1601 , 1603 Exclude Highest sub index supported Name Subindex...
Page 77 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 4th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 7330 04 10 Name 5th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 78 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1603 (AO Process Value) Name AO Process Value 1603 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type 1601 , 1602 Exclude Highest sub index supported Name Subindex UNSIGNED8 Data type...
Page 79 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 4th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 6300 04 20 Name 5th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 80 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A00 (Error Field) Name Error Field 1A00 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access PDO Mapping...
Page 81 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 00000000 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access read write...
Page 82 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A01 (AI Field Value Pysical) Name AI Field Value Pysical 1A01 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only...
Page 83 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 00000000 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access read write...
Page 84 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A02 (AI Field Value Increments) Name AI Field Value Increments 1A02 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only...
Page 85 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Name 5th Object to be mapped Subindex Data type UNSIGNED32 Access read write PDO Mapping Default Value 00000000 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access read write...
Page 86 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A03 (AI Process Value) Name AI Process Value 1A03 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 87 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 00000000 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access read write...
Page 88 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A04 (Oversample FV AI1) Name Oversample FV AI1 1A04 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 89 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2101 05 10 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 90 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A05 (Oversample FV AI2) Name Oversample FV AI2 1A05 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 91 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2102 05 10 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 92 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A06 (Oversample FV AI3) Name Oversample FV AI3 1A06 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 93 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2103 05 10 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 94 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A07 (Oversample FV AI4) Name Oversample FV AI4 1A07 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 95 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2104 05 10 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 96 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A08 (Oversample PV AI1) Name Oversample PV AI1 1A08 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 97 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2131 05 20 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 98 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A09 (Oversample PV AI2) Name Oversample PV AI2 1A09 Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 99 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2132 05 20 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 100 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A0A (Oversample PV AI3) Name Oversample PV AI3 1A0A Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 101 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2133 05 20 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 102 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Mapping 1A0B (Oversample PV AI4) Name Oversample PV AI4 1A0B Index RECORD Object Code No. of Elements PDO_MAPPING Data Type Highest sub index supported Name Subindex Data type UNSIGNED8 read only Access...
Page 103 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping Default Value 2134 05 20 Name 6th Object to be mapped Subindex Data type UNSIGNED32 Access...
Page 104 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Channel Control 2001 Name AI Channel Control 2001 Index ARRAY Object Code No. of Elements UINT8 Data Type Highest sub index supported Name Subindex Data type UINT8 read only Access PDO Mapping...
Page 105 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit (E 747GB-V2) 28 January 2020...
Page 106 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH COMP SCAL ACT: 0 = Input inactive 1 = Input active (Default) SCAL: 0 = Input values scaled by factor and offset (Default) 1 = Input values scaled by set points COMP:...
Page 107 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Channel Status 3 Name Subindex Data type UINT8 read only Access PDO Mapping Yes, TX-PDO Default Value 00000000 Name AI Channel Status 4 Subindex Data type UINT8 Access read only...
Page 108 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Error Log 2003 Name Error Log 2003 Index RECORD Object Code No. of Elements UNSIGNED32 Data Type Number of errors Name Subindex Data type UNSIGNED8 read write Access PDO Mapping Default Value...
Page 109 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI1 Oversample Data FV 2101 Name AI1 Oversample Data FV 2101 Index ARRAY Object Code No. of Elements Name Highest sub index supported Subindex INT16 Data type Access read only PDO Mapping Default Value AI1 Sample N+0 ..
Page 110 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI3 Oversample Data FV 2103 Name AI3 Oversample Data FV 2103 Index ARRAY Object Code No. of Elements Name Highest sub index supported Subindex INT16 Data type Access read only PDO Mapping Default Value AI3 Sample N+0 ..
Page 111 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Calibration Gain 2125 Name AI Input Calibration Gain 2125 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only PDO Mapping...
Page 112 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI1 Oversample Data PV 2131 Name AI1 Oversample Data PV 2101 Index ARRAY Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only PDO Mapping Default Value AI1 Sample N+0 ..
Page 113 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI3 Oversample Data PV 2133 Name AI3 Oversample Data PV 2103 Index ARRAY Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only PDO Mapping Default Value AI3 Sample N+0 ..
Page 114 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Error Code 213F Name Error Code Index 213F Object Code VARIABLE No. of Elements Data Type UNSIGNED16 Access read only PDO Mapping Yes, TX-PDO Value Range Default Value 2320 AO0 Temperature to high...
Page 115 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Device Control 2201 Name Device Control Index 2201 Object Code VARIABLE No. of Elements Data Type UNSIGNED16 Access read write PDO Mapping Yes, RX-PDO Value Range Default Value RES: 0 = keine Aktion 1 = Reset Device durchführen...
Page 116 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input FV 6100 Name AI Input FV 6100 Index ARRAY Object Code No. of Elements REAL32 Data Type Highest sub index supported Name Subindex Data type REAL32 read only Access PDO Mapping...
Page 117 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Sensor Type 6110 Name AI Sensor Type 6110 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex UINT16 Data type Access read only PDO Mapping Default Value...
Page 118 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Sensor Type 4 Name Subindex Data type UINT16 read write Access PDO Mapping Default Value 00000000 Channel-dependent setting of the connected sensor: 42 = 0…10 V (Default) 52 = 0…20 mA 51 = 4…20 mA...
Page 119 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Scaling 1 FV 6120 Name AI Input Scaling 1 FV 6120 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only...
Page 120 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input Scaling 1 PV 6121 Name AI Input Scaling 1 PV 6121 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only...
Page 121 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Scaling 2 FV 6122 Name AI Input Scaling 2 FV 6122 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only...
Page 122 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input Scaling 2 PV 6123 Name AI Input Scaling 2 PV 6123 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only...
Page 123 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Offset 6124 Name AI Input Offset 6124 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only PDO Mapping Default Value...
Page 124 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Scaling Factor 6126 Name AI Scaling Factor 6126 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only PDO Mapping Default Value...
Page 125 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Scaling Offset 6127 Name AI Scaling Offset 6127 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only PDO Mapping Default Value...
Page 126 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input PV 6130 Name AI Input PV 6130 Index ARRAY Object Code No. of Elements REAL32 Data Type Highest sub index supported Name Subindex Data type REAL32 read only Access PDO Mapping...
Page 127 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit When oversampling is active, the average value of the sampled process input values is displayed. AI Filter Type 61A0 AI Filter Type Name 61A0 Index Object Code RECORD No. of Elements...
Page 128 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Filter Type 4 Name Subindex Data type ENUM read write Access PDO Mapping Default Value 00000000 Object for activating the input filter. 0 = No Filter active 1 = PT1 Filter...
Page 129 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Filter Constant 3 Name Subindex Data type UINT16 read write Access PDO Mapping Default Value 00000000 Name AI Filter Constant 4 Subindex Data type UINT16 Access read write PDO Mapping...
Page 130 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output PV 2 Name Subindex Data type REAL32 read only Access PDO Mapping Yes, TX-PDO Default Value 00000000 Name AO Output PV 3 Subindex Data type REAL32 Access read only Yes, TX-PDO...
Page 131 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AO Sensor Type 2 Name Subindex Data type UINT16 read write Access PDO Mapping Default Value 00000000 Name AO Sensor Type 3 Subindex Data type UINT16 Access read write PDO Mapping...
Page 132 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output Scaling 1 FV 1 Name Subindex Data type REAL32 read write Access PDO Mapping Default Value 00000000 Name AO Output Scaling 1 FV 2 Subindex Data type REAL32 Access read write...
Page 133 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Highest sub index supported Name Subindex Data type REAL32 read only Access PDO Mapping Default Value Name AO Output Scaling 1 PV 1 Subindex Data type REAL32 Access read write PDO Mapping...
Page 134 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Highest sub index supported Name Subindex Data type REAL32 read only Access PDO Mapping Default Value Name AO Output Scaling 2 FV 1 Subindex Data type REAL32 Access read write PDO Mapping...
Page 135 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AO Output Scaling 2 PV 6323 Name AO Output Scaling 2 PV 6323 Index RECORD Object Code No. of Elements Name Highest sub index supported Subindex REAL32 Data type Access read only...
Page 136 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output FV 6330 Name AO Output FV 6330 Index ARRAY Object Code No. of Elements REAL32 Data Type Highest sub index supported Name Subindex Data type REAL32 read only Access PDO Mapping...
Page 137 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit (E 747GB-V2) 28 January 2020...
Page 138 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input FV 7100 Name AI Input FV 7100 Index ARRAY Object Code No. of Elements INT16 Data Type Highest sub index supported Name Subindex Data type INT16 read only Access PDO Mapping...
Page 139 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AO Output FV 7330 Name AO Output FV 7330 Index ARRAY Object Code No. of Elements INT16 Data Type Highest sub index supported Name Subindex Data type INT16 read only Access...
Page 140 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output FV 2 Name Subindex Data type INT16 read only Access Yes, TX-PDO PDO Mapping Default Value 00000000 Name AO Output FV 3 Subindex INT16 Data type Access read only PDO Mapping...
Page 141 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Technical data Analog inputs Analoge Eingänge ......... 4 Resolution ............12 Bit Start AD-Wandlung ........DC-synchronous, SM-synchronous Oversampling ..........2..5 Intrinsic error ..........±0,2% Temperature error ......... ±0,005%/K Internal resistance ......... < 300Ω...
Page 142 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Analog Outputs Analog Outputs ..........4 Resolution ............16 Bit Output rate ............. SM-/DC-synchronous, Intrinsic error ..........±0,2% Temperature error ......... ±0,005%/K Destruction limit against external stresses ....... 15V Voltage: Output range ..........0 … 10V, ± 10V Short circuit protection ........
Page 143: Ao4-U/I - 12-Bit
AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5.4.2 AO4-U/I - 12-Bit Channel0 0 Channel1 2 Channel2 4 Kanal3 I/O connection Front view of AO4 I/O module Terminals Power supply to module I/Os 24 VDC Information Module 694 442 02 Kuhnke FIO AO4 12-Bit is the successor module (see below for exception) compatible with module 694 442 02 Ventura FIO AO4 12-Bit.
Page 144 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange...
Page 145 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Function The AO4 module has 4 analogue outputs. Every channel can be separately set to the unipolar or bipolar output of voltages or currents. Table "Analogue voltage/current values" Measured value Variable value Unipolar ±10...
Page 146 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Module Options The following options are available for module AO4: Variable Data type Explanation Enables channel n. Channel_n_On BOOL (set to high impedance to disable) Channel_n_Current BOOL Sets channel n to current output mode...
Page 147 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Technical Data Analogue outputs ........... 4 Resolution ............12 bit Output frequency ........... Free run Intrinsic error ..........±0.2% Temperature error ......... ±0.005%/K Destruction limit (external voltages) ......... 15V Voltage: Measuring range ..........0 … 10V, ± 10V Short circuit protection ........
Page 148: Ao4-U/I - 16-Bit Coe
AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH 5.4.3 AO4-U/I - 16-Bit CoE Channel0 0 Channel1 2 Channel2 4 Channel3 6 I/O connection Front view of AO4 I/O module Terminals Power supply to module I/Os 24 VDC Information Module 694 442 52 Kuhnke FIO AO4 16-Bit is the successor module NOT compatible with module 694 442 02 Ventura FIO AO4 12-Bit.
Page 149 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH The process data objects stored as variables in the EtherCAT master's control program are used to access the output values and the module state. Service data objects (SDO) are available for details and settings.
Page 150 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Click/tap on "Add…", choose an object, and set the appropriate value. (E 747GB-V2) 28 January 2020...
Page 151 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange...
Page 152 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Function The AO4 module has 4 analogue outputs. Every channel can be separately set to the unipolar or bipolar output of voltages or currents. To output voltage or current readings (measured values) to the analogue outputs, verify that the associated output variables contain these values in the 2-byte two's complement format.
Page 153 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Name Explanation Output 2 Open If there is no current in Current mode Output 3 Open If there is no current in Current mode Analogue Outputs Write the output values into the following variables:...
Page 154 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 2000, 4 Properties Output 3 UINT8 0-10V Off, 0-10V, +-10V, 0-20mA, 4-20mA, 0-24mA 2001 ErrorBehavior Output 0 Array 2001, 0 Number of Entries UINT8 2001, 1...
Page 155 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 7001, 0 Number of Entries UINT8 7001, 1 Reset Error BOOL RW P RO=read-only, RW= read/write, P=process image Technical Data Analogue outputs ........... 4 Resolution ............16 bit Output frequency ...........
Page 156: Ai4/8-U
AI 4/8-U Kendrion Kuhnke Automation GmbH 5.4.4 AI4/8-U I/O connection Front view of AI4/8-U I/O module Terminals The module needs no separate 24V connector. Power is supplied to the module through the E-bus connector. Operative earth / shielding of analogue wires  section 0...
Page 157 Kendrion Kuhnke Automation GmbH AI 4/8-U State LED flash code Explanation process data differs from that in the module Defective Red, on Module defective LED "Power" There is no LED labelled "Power" because a separate power feed is not required.
Page 158 AI 4/8-U Kendrion Kuhnke Automation GmbH Information If the inputs are not used but switched on, the measured values displayed in the I / O image are floated. To prevent this, you should deactivate the measurement channel at the start parameters or set the input to ground (short-circuit when measuring differential signals).
Page 159 Kendrion Kuhnke Automation GmbH AI 4/8-U Service data objects (SDO) are available for details and settings. You may run the configuration tool offline and choose the "Startup Parameters" to change some settings of module AI4/8U 16-Bit (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module.
Page 160 AI 4/8-U Kendrion Kuhnke Automation GmbH ConfigError Mismatch of Sync Manager's quantity structure 4-15 not used Analogue Inputs Check the following variables for the digitised input values: Variable Data type Explanation Value of channel n (n=0…7). Inputn ControlWord The control word contains a bit for acknowledging errors.
Page 161 Kendrion Kuhnke Automation GmbH AI 4/8-U Index Name Type Default Min Max Access +-5V (2) +-10V (3) +-2.5V (4) 2000, 5 Input 4 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 6 Input 5 UINT8 Off (0),...
Page 162 AI 4/8-U Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 6401, 4 Analog Input 3 UINT16 RO P 6401, 5 Analog Input 4 UINT16 RO P 6401, 6 Analog Input 5 UINT16 RO P 6401, 7 Analog Input 6...
Page 163 Kendrion Kuhnke Automation GmbH AI 4/8-U Technical Data Analogue inputs ..........8 single-ended or 4 differential Measuring range ..........0 …10V, ± 5V, ± 10V, ± 2,5V Resolution ............13 bit Start AD conversion ........synchronised with DC / SM Conversion time ..........
Page 164: Ai8/16-U
AI 8/16-U Kendrion Kuhnke Automation GmbH 5.4.5 AI8/16-U I/O connection Front view of AI8/16-U I/O module Terminals The module needs no separate 24V connector. Power is supplied to the module through the E-bus connector. Operative earth / shielding of analogue wires  section 0...
Page 165 Kendrion Kuhnke Automation GmbH AI 8/16-U State LED flash code Explanation Red, 4x EtherCAT watchdog control Configuration error (E-bus pre-operational), no. of Red, 7x process data differs from that in the module Defective Red, on Module defective LED "Power" There is no LED labelled "Power" because a separate power feed is not required.
Page 166 AI 8/16-U Kendrion Kuhnke Automation GmbH Information If the inputs are not used but switched on, the measured values displayed in the I / O image are floated. To prevent this, you should deactivate the measurement channel at the start parameters or set the input to ground (short-circuit when measuring differential signals).
Page 167 Kendrion Kuhnke Automation GmbH AI 8/16-U The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state. Service data objects (SDO) are available for details and settings.
Page 168 AI 8/16-U Kendrion Kuhnke Automation GmbH StateWord The state word is indicative of the module state: Name Explanation ResetErrorAck Acknowledges "Reset Error" in Module Control not used EtherCATError Sync Manager Watchdog ConfigError Mismatch of Sync Manager's quantity structure 4-15 not used...
Page 169 Kendrion Kuhnke Automation GmbH AI 8/16-U Index Name Type Default Min Max Access +-5V (2) +-10V (3) +-2.5V (4) 2000, 4 Input 3 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 5 Input 4 UINT8 Off (0),...
Page 170 AI 8/16-U Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 2000, 13 Input 12 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4) 2000, 14 Input 13 UINT8 Off (0), 0-10V (1), +-5V (2) +-10V (3) +-2.5V (4)
Page 171 Kendrion Kuhnke Automation GmbH AI 8/16-U Index Name Type Default Min Max Access 2003, 10 Input 9 Average UINT8 1..255 2003, 11 Input 10 Average UINT8 1..255 2003, 12 Input 11 Average UINT8 1..255 2003, 13 Input 12 Average UINT8 1..255...
Page 172 AI 8/16-U Kendrion Kuhnke Automation GmbH Technical Data Analogue inputs ..........16 single-ended or 8 differential Measuring range ..........0 …10V, ± 5V, ± 10V, ± 2,5V Resolution ............13 bit Start AD conversion ........synchronised with DC / SM Conversion time ..........
Page 173: Ai4-I
Kendrion Kuhnke Automation GmbH AI 4-I 5.4.6 AI4-I I/O connection Front view of AI4-I I/O module Terminals The 24 V connector supplies power to the sensors. Power is supplied to the module through the E-bus connector. Operative earth / shielding of analogue wires  section 0...
Page 174 AI 4-I Kendrion Kuhnke Automation GmbH State LED flash code Explanation Defective Red, on Module defective LED "Power" The LED labelled "Power" indicates the state of the power supplied to the I/O module's I/O sensors. State LED flash code Explanation...
Page 175 Kendrion Kuhnke Automation GmbH AI 4-I Measured & variable values and state of AI4-I CoE To Set up the Options Conversion of the analogue values can be synchronised with DC (Distributed Clocks) or SM (Sync Manager). The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state.
Page 176 AI 4-I Kendrion Kuhnke Automation GmbH Service data objects (SDO) are available for details and settings. You may run the configuration tool offline and choose the "Startup Parameters" to change some settings of module AI4-I 12-Bit (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module.
Page 177 Kendrion Kuhnke Automation GmbH AI 4-I Options You can set up the following options for every channel: Name Value Explanation Off (default) InputProperties 4-20mA 0-20mA Average n=1..255 Inputn= average after n cycles (default=1) StateWord The state word (DWORD) is indicative of the module state:...
Page 178 AI 4-I Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1018, 2 Product Code UINT32 185339 1018, 3 Revision Number UINT32 1018, 4 Serial Number UINT32 2000 Analog Input Properties Array 2000, 0 Number of Entries UINT8...
Page 179 Kendrion Kuhnke Automation GmbH AI 4-I Index Name Type Default Min Max Access 6500, 3 EtherCAT Error BOOL RO P 6500, 4 ConfigError BOOL RO P 7001 Module Control Array 7001, 0 Number of Entries UINT8 7001, 1 Reset Error...
Page 180: Ai8-I
AI 4-I Kendrion Kuhnke Automation GmbH 5.4.7 AI8-I I/O connection Front view of AI8-I I/O module Terminals The 24 V connector supplies power to the sensors. Power is supplied to the module through the E-bus connector. Operative earth / shielding of analogue wires  section 0...
Page 181 Kendrion Kuhnke Automation GmbH AI 8-I State LED flash code Explanation Inoperative if E-bus LED = Off Red, 4x EtherCAT watchdog control Configuration error (E-bus pre-operational), no. of Red, 7x process data differs from that in the module Defective Red, on Module defective LED "Power"...
Page 182 AI 8-I Kendrion Kuhnke Automation GmbH Measured & variable values and state of AI8-I CoE To Set up the Options Conversion of the analogue values can be synchronised with DC (Distributed Clocks) or SM (Sync Manager). The process data objects stored as variables in the EtherCAT master's control program are used to acces the input values and the module state.
Page 183 Kendrion Kuhnke Automation GmbH AI 8-I Service data objects (SDO) are available for details and settings. You may run the configuration tool offline and choose the "Startup Parameters" to change some settings of module AI8-I 12-Bit (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module.
Page 184 AI 8-I Kendrion Kuhnke Automation GmbH Options You can set up the following options for every channel: Name Value Explanation Off (default) InputProperties 4-20mA 0-20mA Average n=1..255 Inputn= average after n cycles (default=1) StateWord The state word (DWORD) is indicative of the module state:...
Page 185 Kendrion Kuhnke Automation GmbH AI 8-I Object Dictionary Index Name Type Default Min Max Access 1000 Device Type UINT32 0x40191 1001 Error Register UINT8 1008 Device Name String AI8-I 12-Bit 1009 Hardware Version String 1.00 100A Software Version String 1.00...
Page 186 AI 8-I Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 6401 Analogue input Array 6401, 0 Number of Entries UINT8 6401, 1 Analog Input 0 UINT16 RO P 6401, 2 Analog Input 1 UINT16 RO P 6401, 3...
Page 187 Kendrion Kuhnke Automation GmbH AI 8-I Technical Data Analogue inputs ..........8 Measuring range ..........0…20mA, 4…20mA (final value: 20mA) Resolution ............12 bit Start AD conversion ........synchronised with DC / SM Conversion time ..........290 µs (if all channels are active) Internal resistance .........
Page 188: Ai4-Pt/Ni/Tc
AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH 5.4.8 AI4-Pt/Ni/TC I/O connection Front view of I/O module AI4-Pt/Ni/Tc Terminals The module needs no separate 24V connector. Power is supplied to the module through the E-bus connector. Operative earth / shielding of analogue wires  section 0...
Page 189 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc State LED flash code Explanation Malfunction of module if E-bus LED = On Error Inoperative if E-bus LED = Off Red, 4x EtherCAT watchdog control Configuration error (E-bus pre-operational), no. of Red, 7x...
Page 190 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state. Service data objects (SDO) are available for details and settings.
Page 191 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc Options You can set up the following options for every channel: Name Value Explanation Off (default) Internal (mV) Pt100 Pt1000 SensorType Ni100 Ni1000 (DIN43760) Thermo K Thermo J 0.1°C Ω / V InputFormat...
Page 192 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Name Value Explanation 20 readings per second plus +60 Hz filter Average n=1..255 Inputn= average after n cycles (default=1) StateWord The state word (DWORD) is indicative of the module state: Name Explanation ResetErrorAck Acknowledges "Reset Error"...
Page 193 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc Object Dictionary Index Name Type Default Min Max Access 1000 Device Type UINT32 0x40191 1001 Error Register UINT8 1008 Device Name String AI4_Pt/Ni/Thermo 1009 Hardware Version String 1.00 100A Software Version String 1.00...
Page 194 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 2001, 1 Input0Format UINT8 0.1°C 0.1°C (0), Ω / V (1) Raw (2) 2001, 2 Input1Format UINT8 0.1°C 0.1°C, Ω / V 2001, 3 Input2Format UINT8 0.1°C...
Page 195 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc Index Name Type Default Min Max Access 90 PLC 45 PLC 20 PLC 20 PLC+50&60Hz 20 PLC + 50Hz 20 PLC + 60Hz 2003 Average Array 2003, 0 Number of Entries UINT8 2003, 1...
Page 196 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Technical Data Analogue inputs ..........4 Resolution ............16 bit Input filter cutoff frequency ......typ. 0.33 Hz Conversion time ..........50 ms (adjustable) Measuring error ..........<±0.54% (of final measuring range value) Temperatur drift ..........
Page 197: Ai8-Pt/Ni/Tc
Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc 5.4.9 AI8-Pt/Ni/TC I/O connection Front view of I/O module AI8-Pt/Ni/TC Terminals The module needs no separate 24V connector. Power is supplied to the module through the E-bus connector. Operative earth / shielding of analogue wires  section 0...
Page 198 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH State LED flash code Explanation Green, on No error Malfunction of module if E-bus LED = On Error Inoperative if E-bus LED = Off Red, 4x EtherCAT watchdog control Configuration error (E-bus pre-operational), no. of...
Page 199 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc The process data objects stored as variables in the EtherCAT master's control program are used to access the input values and the module state. Service data objects (SDO) are available for details and settings.
Page 200 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Options You can set up the following options for every channel: Name Value Explanation Off (default) Internal (mV) Pt100 Pt1000 SensorType Ni100 Ni1000 (DIN43760) Thermo K Thermo J InputFormat 0.1°C Ω / V...
Page 201 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Name Value Explanation 20 readings per second plus +60 Hz filter n=1..255 Inputn= average after n cycles (default=1) StateWord The state word (DWORD) is indicative of the module state: Name Explanation ResetErrorAck Acknowledges "Reset Error" in Module Control...
Page 202 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH It can only be calibrated once because the calibration values are kept on memory. The calibration objects (2010:n; 2011:n and 2012:n) in the Startup Parameters are intended for internal use only. Object Dictionary...
Page 203 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Index Name Type Default Min Max Access NI1000, Thermo_K, Thermo_J, 2000, 5 Sensor4 UINT8 Off, Internal, PT100, PT1000, NI100, NI1000, Thermo_K, Thermo_J, 2000, 6 Sensor5 UINT8 Off, Internal, PT100, PT1000, NI100, NI1000, Thermo_K,...
Page 204 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access Ω / V 2001, 5 Input4Format UINT8 0.1°C 0.1°C, Ω / V 2001, 6 Input5Format UINT8 0.1°C 0.1°C, Ω / V 2001, 7 Input6Format UINT8 0.1°C 0.1°C,...
Page 205 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Index Name Type Default Min Max Access 600 PLC 330 PLC 175 PLC 90 PLC 45 PLC 20 PLC 20 PLC+50&60Hz 20 PLC + 50Hz 20 PLC + 60Hz 2002, 5 Input4DataRateAndFilter UINT8...
Page 206 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 20 PLC + 50Hz 20 PLC + 60Hz 2003 Average Array 2003, 0 Number of Entries UINT8 2003, 1 Input 0 Average UINT8 1..255 2003, 2...
Page 207 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Index Name Type Default Min Max Access 6500, 1 EtherCAT Error BOOL RO P 6500, 3 ConfigError BOOL RO P 6500, 4 Module Control Array 7001 Number of Entries UINT8 7001, 0 Reset Error...
Page 208 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Technical Data Analogue inputs ..........8 Resolution ............16 bit Input filter cutoff frequency ......typ. 0.33 Hz Conversion time ..........50 ms (adjustable) Measuring error ..........<±0.54% (of final measuring range value) Temperatur drift ..........
Page 209: Counter / Posi / Drive / Cam Modules
Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 5.5 Counter / Posi / Drive / CAM Modules 5.5.1 Counter/Posi2 5V, Counter2 5V Pin wiring of Counter/Posi2 Front view of I/O module Counter/Posi2 Pin wiring of Counter2 Front view of I/O module Counter2 Terminals Trm.
Page 210 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH Status LEDs "EtherCAT" LED The LED labelled "EtherCAT" indicates the state of the EtherCAT ASIC. State LED flash code Explanation Init Initialising, no data exchange Pre-Op Off/green, 1:1 Pre-operational, no data exchange Safe-Op Off/green, 5:1...
Page 211 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Function Module Counter2 features 2 identical channels. Every channel features ports for 1 incremental encoder, 4 digital inputs and 1 digital output. Module Counter/Posi2 also has an extra analogue output. The variables are put into groups.
Page 212 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH To Control and Monitor the Entire Module The module is controlled by the variables of group "Module Control“. The state of the settings is contained in the variables of group "Module State". Module Control For the time being, this module has no global module options.
Page 213 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Counter 1 Options The module provides you with various options of how to operate Counter 1. The module uses control bit "SetOptions_1" (refer to Counter 1 Control) to set the options which are retained until the settings are changed the next time.
Page 214 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH Counter 1 State The status variables indicate the state of the counter. This applies to  events and  notifications that settings are being applied. Variable Data type Explanation Counting_1 BOOL Counter enabled Reference function has been run.
Page 215 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Variable Data type Explanation Selects the value of Counter1 to be shown in variable "SelectedValue". None Reference value (Compare) Preset value (Preset) Select_1 USINT Final value (Max) (default: 2.147.483.647) Captured value (Capture) Counting pulses per second...
Page 216 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH Digital I/Os Counter 1 - Digital Inputs These variables indicate the state of the digital inputs. Variable Data type Explanation Input_0_0 BOOL Digital input 0 Input_0_1 BOOL Digital input 1 Input_0_2 BOOL Digital input 2...
Page 217 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Digital Input Frame Variable Time stamp TRUE Time stamp (n) FALSE Time stamp (n+1) Digital Outputs The variables define the state of the digital outputs. Variable Data type Explanation Output_0_0 BOOL Digital output 0 Output delay (underway) This variable defines the time at which the output is set.
Page 218 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH If synchronised with DC: Digital Output Frame Variable Output delay TRUE Output delay (n) FALSE Output delay (n+1) Analogue Outputs (Counter/Posi2.5V only) These variables define the voltage reading of the analogue outputs. Variable Data type Explanation...
Page 219 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Examples Enable Counter The counter remains enabled for as long as variable "EnableCounter_1" is TRUE. Term2_EnableCounter_1:=TRUE; (*Enables the counter*) Term2_Counting_1; (*TRUE if the counter is enabled*) Term2_Clockwise_1; (*TRUE if counting up*) Set / Clear Counter A rising edge of "SetCounter_1"...
Page 220 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH Set Preset Value A rising edge of "SetPreset_1" accepts the value of "SetValue_1" as the preset value. "PresetSet_1=TRUE" indicates that the function is running. Returning "SetPreset_1" to FALSE also returns "PresetSet_1" to FALSE. Term2_SetValue_1:=diPresetValue ;...
Page 221 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Every Ref signal is to set the counter to the preset value (2000). The counter is to count down to 0 within one encoder revolution. (The incremental encoder's sense of rotation sets the counting direction.) PROGRAM Referencing bInit: BOOL := TRUE ;...
Page 222 Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH Term2_EnableReferencing_1:=FALSE; Step:=0; (*Restart referencing at next revolution.*) END_IF END_CASE END_IF Capture Mode (Capture) A falling edge of digital input 1 can be used to trigger writing the current counter reading. Status bit "Captured_1" indicates the capture event. Use "ResetCaptured_1" to reset and enable "Captured_1"...
Page 223 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 Technical Data Counter2 5V Encoder* ............2 A, B, Ref *Connect unused encoder signals to +5V Encoder type ..........RS422, 5V, 24VDC Counting frequency ........RS422: 200 kHz. 24V: 200 kHz Digital inputs ..........8 Rising delay ...........
Page 224: Kuhnke Fio Drive Control
Counter2, Counter/Posi2 Kendrion Kuhnke Automation GmbH 5.5.2 Kuhnke FIO Drive Control There is a separate instruction manual available for Kuhnke FIO Drive Control from the FIO range. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com/de...
Page 225: Kuhnke Fio Cam Control
Kendrion Kuhnke Automation GmbH Drive Control 5.5.3 Kuhnke FIO CAM Control There is a separate instruction manual available for Kuhnke FIO CAM Control from the FIO range. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com/de...
Page 226: Mixed Modules
Mix 02 Kendrion Kuhnke Automation GmbH 5.6 Mixed Modules 5.6.1 MIX 02 I/O connection Front view of I/O module MIX 02 Terminals IO Connection, Male 36-pin Side Trm. Signal Explanation 0..15 DO8..DO23 digital outputs 8..23 left 16, 17 +24VDC, 0V module power supply to CPU 0..7...
Page 227 Kendrion Kuhnke Automation GmbH Mix 02 RS484 Port Female 4-pin Molex Micro Fit Pin Signal Explanation DGND data earth potential (reference potential of TxD/RxD) earth potential RxD/TxD-P Data + RxD/TxD-N Data - Status LEDs LED "RN" The LED labelled "RN" indicates the state of the EtherCAT ASIC.
Page 228 Mix 02 Kendrion Kuhnke Automation GmbH The process data objects stored as variables in the EtherCAT master's control program are used to access the IOs and the module state. Service data objects (SDO) are available for details and settings. You may run the configuration tool offline to change some settings of module MIX 02 (such as the RS485 baud rate).
Page 229 Kendrion Kuhnke Automation GmbH Mix 02 You can also use the SDO transfer components available for the EtherCAT master to change settings at runtime and to handle RS485 data transfer. Inputs The following input values apply to group Inputs: Variable...
Page 230 Mix 02 Kendrion Kuhnke Automation GmbH AnalogIn2_Sample0 UINT Analogue input 2, sample n AnalogIn2_Sample1 UINT Analogue input 2, sample n+1 AnalogIn2_Sample2 UINT Analogue input 2, sample n+2 AnalogIn2_Sample3 UINT Analogue input 2, sample n+3 AnalogIn2_Sample4 UINT Analogue input 2, sample n+4...
Page 231 Kendrion Kuhnke Automation GmbH Mix 02 Variable Data type Explanation DigitalOutput24 BOOL Digital output 24 Object Dictionary Index Name Type Default Access 1000 Device Type UINT32 0xF0191 1008 Device Name String MIX 02 1009 Hardware Version String 100A Software Version String 2.00...
Page 232 Mix 02 Kendrion Kuhnke Automation GmbH synchronised with DC (DC=Distributed Clocks) Analogue Inputs / Oversampling Synchronised with SM The module measures 4 analogue values per millisecond and adds or does not add them to the process image, depending on what the Oversampling parameter (Object Index 0x2000) is set to. The default is 5.
Page 233 Kendrion Kuhnke Automation GmbH Mix 02 Thus, analogue samples are read and added to Sample 0 of the process image every millisecond. Sample1 to 4 stay 0. The SampleCycleCounter increments after 1 ms. RS485 Object 0x2001 sets the RS485 baud rate.
Page 234 Mix 02 Kendrion Kuhnke Automation GmbH Reading are or are not added to the process image, depending on what the oversampling parameter is set to. The default is 5. This setting refreshes the entire set of analogue values in the process images after 5 ms (check how the counter in the StateWord increments).
Page 235 Kendrion Kuhnke Automation GmbH Mix 02 Technical Data Digital inputs ..........4 (8) DI0..3 0.1ms DI5..7 0.001ms Counter (DI5) ..........500kHz (up to 1 MHz)2 Digital outputs ..........24 DO0..7: 0.5A DO8..23: 0.1A Analogue inputs ..........4 x 0..10V Resolution ............12 bit Sampling rate..........
Page 236: Interface And Communication Modules
1-port RS485 Kendrion Kuhnke Automation GmbH 5.7 Interface and Communication Modules 5.7.1 RS485 1 Port Pin wiring Front view of the RS485 module The module provides a RS485 interface accessible by EtherCAT. Run CoE (CODESYS configuration tool) to set the parameters. The process image is the medium of data interchange.
Page 237 Kendrion Kuhnke Automation GmbH 1-port RS485 LED "IO" The LED labelled "IO" indicates the state of the module's I/Os. State LED flash code Explanation Green, on No error Red, 4x EtherCAT watchdog Red, 5x Transmit queue overflow Error Red, 6x...
Page 238 1-port RS485 Kendrion Kuhnke Automation GmbH Input Data (IO -> PLC, 0..160 Bytes) Name Size Source StateData 8 bytes RxData1[0..7] 8 bytes … … … RxData19[0..7] 8 bytes StateData: Name Format Source TxCounterCon Word The gateway shows the TxCounter again to confirm the new out- queue data.
Page 239 Kendrion Kuhnke Automation GmbH 1-port RS485 Now go to ComParameter and change the Baud Rate or other settings as appropriate or enable/disable data synchronisation. Your settings are then displayed on tab "Startparameter" (startup parameters). (E 747GB-V2) 28 January 2020...
Page 240 Sample Program The example below illustrates how a program works. It does not use library available for the communication module. Visit Kendrion Kuhnke's Product Finder to download a sample project and the library. Link: http://productfinder.kuhnke.kendrion.com Run your development environment (e.g. CODESYS) to set the interface parameters, including the baud rate, parity, stop bits, etc.
Page 241 Kendrion Kuhnke Automation GmbH 1-port RS485 Response to Errors  EtherCAT error. Sync Manager watchdog. LED "Error" flashes 4x. Unit changes from Op to Safe-Op. Use "Reset Error" to acknowledge the error.  Out-queue overflow (COM_TxQueueOvr). Failure to send the data fast enough.
Page 242 1-port RS485 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1600, 4 Subindex 004h UINT32 0x71100101 1600, 5 Subindex 005h UINT32 0x0000000F 1601 ReceivePDO1 Mapping Array Parameter 1601, 0 Number of Entries UINT8 1601, 1 Subindex 001h...
Page 243 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access [160D] ReceivePDO13 Mapping Array Parameter 160, 0 Number of Entries UINT8 160, 1 Subindex 001h UINT32 0x700D0040 160E ReceivePDO14 Mapping Array Parameter 160 * E 0 Number of Entries...
Page 244 1-port RS485 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access Parameter 1A01, 0 Number of Entries UINT8 1A01, 1 Subindex 001h UINT32 0x75010040 Receive PDO2 Mapping 1A02 Array Parameter 1A02, 0 Number of Entries UINT8 1A02, 0...
Page 245 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access 1A0D, 1 Subindex 001h UINT32 0x750D0040 1A0E Receive PDO14 Mapping Array Parameter 1A0E, 0 Number of Entries UINT8 1A0E, 1 Subindex 001h UINT32 0x750E0040 1A0F Receive PDO15 Mapping...
Page 246 1-port RS485 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1C12, 17 SubIndex 017 UINT16 0x1610 1C12, 18 SubIndex 018 UINT16 0x1611 1C12, 19 SubIndex 019 UINT16 0x1612 1C12, 20 SubIndex 020 UINT16 0x1613 1C13 TxPDO assign...
Page 247 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access 1C33, 6 Calc and Copy Time UINT32 1C33, 8 Cycle Time UINT16 1C33, 9 Delay Time UINT32 1C33, 10 Sync0 Cycle Time UINT32 1C33, 11 SM-Event Missed...
Page 248 1-port RS485 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 7002 TxData2 UINT64 RW P 7003 TxData3 UINT64 RW P 7004 TxData4 UINT64 RW P 7005 TxData5 UINT64 RW P 7006 TxData6 UINT64 RW P 7007 TxData7...
Page 249 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access 7508 RxData8 UINT64 RO P 7509 RxData9 UINT64 RO P 750A RxData10 UINT64 RO P 750B RxData11 UINT64 RO P [750C] RxData12 UINT64 RO P [750D] RxData13...
Page 250: Rs232 2 Port
2-port RS232 Kendrion Kuhnke Automation GmbH 5.7.2 RS232 2 Port Pin wiring Front view of the RS232 module The module provides 2 RS232 interfaces accessible by EtherCAT. Run CoE (CODESYS configuration tool) to set the parameters. The process image is the medium of data interchange.
Page 251 Kendrion Kuhnke Automation GmbH 2-port RS232 LED "IO" The LED labelled "IO" indicates the state of the module's I/Os. State LED flash code Explanation Green, on No error Red, 4x EtherCAT watchdog Red, 5x Transmit queue overflow Error Red, 6x...
Page 252 2-port RS232 Kendrion Kuhnke Automation GmbH Input Data (IO -> PLC, 0..160 Bytes) Name Size Source StateData 8 bytes RxData1[0..7] 8 bytes … … … RxData19[0..7] 8 bytes StateData: Name Format Source TxCounterCon Word The gateway shows the TxCounter again to confirm the new out- queue data.
Page 253 Kendrion Kuhnke Automation GmbH 2-port RS232 Configuration Run CoE to configure the RS232 module. You can directly set the startup parameters. Select the module and go to "Startparameter" (startup parameters) and "Hinzufügen" (add). Now go to ComParameter and change the Baud Rate or other settings as appropriate or enable/disable data synchronisation.
Page 254 Sample Program The example below illustrates how a program works. It does not use library available for the communication module. Visit Kendrion Kuhnke's Product Finder to download a sample project and the library. Link: http://productfinder.kuhnke.kendrion.com Run your development environment (e.g. CODESYS) to set the interface parameters, including the baud rate, parity, stop bits, etc.
Page 255 Kendrion Kuhnke Automation GmbH 2-port RS232 Response to Errors  EtherCAT error. Sync Manager watchdog. LED "Error" flashes 4x. Unit changes from Op to Safe-Op. Use "Reset Error" to acknowledge the error.  Out-queue overflow (COM1_TxQueueOvr, COM2_TxQueueOvr). Failure to send the data fast enough.
Page 256 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1600, 3 Subindex 003h UINT32 0x71020010 1600, 4 Subindex 004h UINT32 0x71100101 1600, 5 Subindex 005h UINT32 0x0000000E 1600, 6 Subindex 006h UINT32 0x71101001 1601 ReceivePDO1 Mapping...
Page 257 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access 160C, 0 Number of Entries UINT8 160C, 1 Subindex 001h UINT32 0x700C0040 [160D] ReceivePDO13 Mapping Array Parameter 160, 0 Number of Entries UINT8 160, 1 Subindex 001h...
Page 258 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1A00, 17 SubIndex 017 UINT32 0x65001001 1A01 Receive PDO1 Mapping Array Parameter 1A01, 0 Number of Entries UINT8 1A01, 1 Subindex 001h UINT32 0x75010040 1A02 Receive PDO2 Mapping...
Page 259 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access Parameter 1A0D, 0 Number of Entries UINT8 1A0D, 1 SubIndex 001 UINT32 0x750D0040 Receive PDO14 Mapping 1A0E Array Parameter 1A0E, 0 Number of Entries UINT8 1A0E, 1...
Page 260 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1C12, 15 SubIndex 015 UINT16 0x160E 1C12, 16 SubIndex 016 UINT16 0x160F 1C12, 17 SubIndex 017 UINT16 0x1610 1C12, 18 SubIndex 018 UINT16 0x1611 1C12, 19 SubIndex 019...
Page 261 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access supported 1C33, 5 Cycle Time UINT32 1C33, 6 Calc and Copy Time UINT32 1C33, 8 Cycle Time UINT16 1C33, 9 Delay Time UINT32 1C33, 10 Sync0 Cycle Time...
Page 262 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 6500, 6 unused0 BOOL RO P 6500, 7 COM2_TxQueueOvr BOOL RO P 6500, 8 COM2_RxQueueOvr BOOL RO P 6500, 9 COM1_CtrlErr BOOL RO P 6500, 10 COM2_ CtrlErr...
Page 263 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access 7110, 9 unused7 BOOL RW P 7110, 10 unused8 BOOL RW P 7110, 11 unused9 BOOL RW P 7110, 12 unused10 BOOL RW P 7110, 13 unused11...
Page 264: Can Master/Slave
In CODESYS 3, the module provides a CANbus port that further configurations can be connected to. A device description available for CODESYS 3 contains all the required details. Mind that you also need the device driver (CAN Mini Driver). Visit Kendrion Kuhnke's Product Finder to download the data you need. Please note the installation instructions. Link: http://productfinder.kuhnke.kendrion.com...
Page 265 Kendrion Kuhnke Automation GmbH CAN Master/Slave Terminals IO Connection, 18-pin, Male Trm. Signal Explanation CAN-H CAN-High Signal CAN-L CAN-Low Signal CAN-GND earth potential CAN-H Term. Bus termination CAN-H CAN-L Term. Bus termination CAN-L 5..15 Not used Status LEDs LED "EtherCAT Run"...
Page 266 CAN Master/Slave Kendrion Kuhnke Automation GmbH Output Data (PLC -> IO, 0-160 Bytes) Name Size Source ControlData 8 bytes TxData1[0..7] 8 bytes … … … TxData19[0..7] 8 bytes The CAN data in this data range are superposed. The data range can hold up to 9 CAN messages. If so, Rx/TxData19 stays blank.
Page 267 Kendrion Kuhnke Automation GmbH CAN Master/Slave Input Data (IO -> PLC, 0..160 Bytes) Name Size Source StateData 8 bytes RxData1[0..7] 8 bytes … … … RxData19[0..7] 8 bytes StateData: Name Format Source TxCounterCon Word The gateway shows the TxCounter again to confirm the new out- queue data.
Page 268 CAN Master/Slave Kendrion Kuhnke Automation GmbH Byte Name Explanation Data[4] Data[5] Data[6] Data[7] Configuration To set the baud rate, go down the device tree and find the CAN node immediately underneath the Kuhnke FIO CAN Master/Slave module. Information The Kuhnke FIO CAN Master/Slave module does NOT support all CODESYS baud rates (refer to the object dictionary).
Page 269 Kendrion Kuhnke Automation GmbH CAN Master/Slave Your settings are then displayed on tab "Startparameter" (startup parameters). (E 747GB-V2) 28 January 2020...
Page 270 CAN Master/Slave Kendrion Kuhnke Automation GmbH Response to Errors  EtherCAT error. Sync Manager watchdog. LED "Error" flashes 4x. Unit changes from Op to Safe-Op. Use "Reset Error" to acknowledge the error.  Out-queue overflow (CanTxQueueOvr). Failure to send the data fast enough across the CAN bus.
Page 271 Kendrion Kuhnke Automation GmbH CAN Master/Slave Index Name Type Default Min Max Access 1600 Receive PDO0 Mapping Array Parameter 1600, 0 Number of Entries UINT8 1600, 1 SubIndex 001 UINT32 0x71000010 1600, 2 Subindex 002h UINT32 0x71010010 1600, 3 Subindex 003h...
Page 272 CAN Master/Slave Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 160B ReceivePDO11 Mapping Array Parameter 160B0 Number of Entries UINT8 160B0 SubIndex 001 UINT32 0x700B0040 [160C] ReceivePDO12 Mapping Array Parameter 160C, 0 Number of Entries UINT8 160C, 1...
Page 273 Kendrion Kuhnke Automation GmbH CAN Master/Slave Index Name Type Default Min Max Access 1A00, 10 SubIndex 010 UINT32 0x65010701 1A00, 11 SubIndex 011 UINT32 0x00000006 1A00, 12 SubIndex 012 UINT32 0x65010E01 1A00, 13 SubIndex 013 UINT32 0x00000002 1A01 Receive PDO1 Mapping...
Page 274 CAN Master/Slave Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1A0C Receive PDO12 Mapping Array Parameter 1A0C, 0 Number of Entries UINT8 1A0C, 1 SubIndex 001 UINT32 0x750C0040 1A0D Receive PDO13 Mapping Array Parameter 1A0D, 0 Number of Entries...
Page 275 Kendrion Kuhnke Automation GmbH CAN Master/Slave Index Name Type Default Min Max Access 1C12, 8 SubIndex 008 UINT16 0x1607 1C12, 9 SubIndex 009 UINT16 0x1608 1C12, 10 SubIndex 010 UINT16 0x1609 1C12, 11 SubIndex 011 UINT16 0x160A 1C12, 12 SubIndex 012...
Page 276 CAN Master/Slave Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1C32, 11 SM-Event Missed UINT16 1C32, 12 Cycle Time too small UINT16 1C32, 32 Sync Error BOOL 1C33 SM Input Parameter RECORD 1C33, 0 Number of Entries...
Page 277 Kendrion Kuhnke Automation GmbH CAN Master/Slave Index Name Type Default Min Max Access 7001 TxData1 UINT64 RW P 7002 TxData2 UINT64 RW P 7003 TxData3 UINT64 RW P 7004 TxData4 UINT64 RW P 7005 TxData5 UINT64 RW P 7006 TxData6...
Page 278 CAN Master/Slave Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 7506 RxData6 UINT64 RO P 7507 RxData7 UINT64 RO P 7508 RxData8 UINT64 RO P 7509 RxData9 UINT64 RO P 750A RxData10 UINT64 RO P 750B RxData11...
Page 279: Safety Modules
Kendrion Kuhnke Automation GmbH Safety PLC 5.8 Safety Modules 5.8.1 Kuhnke FIO Safety PLC There is a separate instruction manual available for the Kuhnke FIO Safety PLC. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com...
Page 280: Kuhnke Fio Safety Sdi4/Sdo2
Safety SDI4 SDO2 Kendrion Kuhnke Automation GmbH 5.8.2 Kuhnke FIO Safety SDI4 SDO2 There is a separate instruction manual available for Kuhnke FIO Safety I/O. For further information, please click the link below. Link to the documentation: http://productfinder.kuhnke.kendrion.com Technical Data...
Page 281 Kendrion Kuhnke Automation GmbH Safety SDIx SDOx Kommentiert [BC1]: Einzeln? 5.8.3 Kuhnke FIO Safety SDI8 SDO2 / SDI16 SDO4 / SDI16 There is a separate instruction manual available for Kuhnke FIO Safety I/O. For further information, please click the link below.
Page 282: Accessories
Accessories Kendrion Kuhnke Automation GmbH 6 Accessories 6.1 Power Distributor 2 x 16 Power connectors Front view of power distributor Terminals The power distribution module 2 x 16 has two separate power lines. It picks up the potential fed to connections L1 and L2 (0 VDC or 24 VDC, to the operator's discretion) and distributes its among the connections 0 to 15 along the same line.
Page 283: Mounting
Kendrion Kuhnke Automation GmbH Accessories Mounting When mounting, you should make sure that you do not mount several potential distributors next to each other to prevent possible EMC problems. Please note the following connection example: Technical Data Power Distributor 2 x 16 Power connection ..........
Page 284: Shield Terminal
Accessories Kendrion Kuhnke Automation GmbH 6.2 Shield Terminal Shield terminal 1x14mm Dimensions Shield terminal 2x8mm Dimensions Terminals The shield terminal assembly consists of the actual shield terminal, the terminal bracket, tweo M3x5 screws, 2 washers, and 2 spring washers. Use the 2 screws, washers and spring washers to mount the terminal bracket on the housing mount of the Kuhnke FIO module.
Page 285: Technical Data
Kendrion Kuhnke Automation GmbH Accessories Technical Data Shield Terminal 2x8mm Shield terminals, 8mm........2 pcs: Part no............694.412.01 Shield Terminal 14mm Shield terminals, 14mm......... 1 pcs: Part no............694.412.02 (E 747GB-V2) 28 January 2020...
Page 286: Configuration
Configuration Kendrion Kuhnke Automation GmbH 7 Configuration The EtherCAT master needs to be configured to drive the EtherCAT network. One major part of the configuration is to specify the EtherCAT slave stations. There are two ways of documenting the properties of an EtherCAT slave.
Page 287  Go down the list of devices, pick "EtherCAT_Master (EtherCAT Master)", and add Kuhnke Automation's "FIO Controller".  Go down the list of devices, pick "E-Bus (FIO Controller)", and add Kendrion Kuhnke Automation's "AO4 16Bit". (E 747GB-V2) 28 January 2020...
Page 288 Configuration Kendrion Kuhnke Automation GmbH  Now highlight "Kuhnke_FIO_AO4_16Bit" in the list of devices and make the appropriate settings on the right-hand side (see section "AO4 16Bit").  Keep repeating the last two steps until your configuration is complete. If the configuration is complete and all devices are connected to the programming PC, you can log in and run the configuration tool to test your Kuhnke FIO modules.
Page 289: Online Configuration
Kendrion Kuhnke Automation GmbH Configuration Online Configuration EtherCAT allows you to scan the stations connected to an Ethernet line. The example below illustrates how to identify the actual configuration of an I/O unit consisting of a Kuhnke Controller 113, a Kuhnke FIO AI8-I module, and a Kuhnke FIO AI8-Pt/Ni/Tc module.
Page 290 Configuration Kendrion Kuhnke Automation GmbH  Select "Device (…..Kuhnke FIO Controller 113)" and choose "Netzwerk durchsuchen" (search network). The software now scans the Ethernet network and finds the CoDeSys3 control unit connected to it.  Now select "EtherCAT_Master" and choose "Netzwerk durchsuchen" (search network).
Page 291 Kendrion Kuhnke Automation GmbH Configuration  Test the EtherCAT IOs. DANGER Set outputs only if you are sure that this will cause no harm. (E 747GB-V2) 28 January 2020...
Page 292: Appendix
Appendix Kendrion Kuhnke Automation GmbH 8 Appendix 8.1 Technical Data (Summarised) System Properties of Kuhnke FIO Fieldbus ............EtherCAT 100 Mbit/s Dimensions ............ 25mm x 120mm x 90mm (W x H x D) Housing mount ..........aluminium Shield ............. connects directly to the module housing Installation ............
Page 293: Kuhnke Fio I/O Modules (General)
Kendrion Kuhnke Automation GmbH Appendix Extension ............connection to first Kuhnke FIO I/O module integrated in side panel of module Diagnostics ............ LED: EtherCAT module state, EtherCAT In/Out state I/O state (summarised) state of every I/O Digital inputs ..........16, 3 ms delay Digital outputs ..........
Page 294 Appendix Kendrion Kuhnke Automation GmbH Extender Kuhnke FIO Extender 2 Port Part no............694.400.02 Ports 2x RJ45 Controller Kuhnke FIO Controller 113 http://productfinder.kuhnke.kendrion.com Kuhnke FIO Controller 116 http://productfinder.kuhnke.kendrion.com Digital FIO Modules Kuhnke FIO DI16/DO16 1ms/0.5A Part no............694.450.03 Digital inputs ..........
Page 295 Kendrion Kuhnke Automation GmbH Appendix Digital outputs ..........8, load: 0,5 A, high-side semiconductor Kuhnke FIO DI8/DO8 5ms/0.5A Part no............694.450.04 Digital inputs ..........8, 5 ms delay Digital outputs ..........8, load: 0,5 A, high-side semiconductor Kuhnke FIO DO16 0.5A Part no.
Page 296 Appendix Kendrion Kuhnke Automation GmbH Resolution ............16 bit Output signal ..........0..10V, +/- 10V, (at loads > 1kΩ, <1µF) 0..20mA, 4..20mA, 0..24mA, (at loads < 500Ω, <1mH) (channels configure separately), Output frequency ........... synchronised with DC / SM Kuhnke FIO AO4, 12-Bit Part no.
Page 297 Kendrion Kuhnke Automation GmbH Appendix Kuhnke FIO AI8-Pt/Ni/TC 16-Bit Part no............694.443.52 Analogue inputs ..........8 Resolution ............16 bit Measuring range ........... mV, Pt100, Pt1000, Ni100, Ni1000DIN43760, thermalcouple types K, J Conversion time ..........50 ms (adjustable) Mixed I/O Modules Kuhnke FIO MIX 02 Part no.
Page 298 Appendix Kendrion Kuhnke Automation GmbH Interface and Communication Modules Kuhnke FIO RS485 1 Port Part no............694.455.02 Serial interface ..........RS485, electrically insulated Baud rate ............2400…115200 Bit/s Payload data ..........max. 152 bytes In/Out Kuhnke FIO RS232 2 Port Part no.
Page 299: Order Specifications
Kendrion Kuhnke Automation GmbH Appendix 8.2 Order Specifications Kuhnke FIO Modules Link to the Product Finder Part no. ID no. Power / IO connector Controller Kuhnke FIO Controller 113 694.300.13 178.445 3-pin, 10-pin Kuhnke FIO Controller 116 694.300.16 187.320 3-pin, 10-pin...
Page 300: Kuhnke Fio Accessories
Appendix Kendrion Kuhnke Automation GmbH Link to the Product Finder Part no. ID no. Power / IO connector Counter2 5V 694.444.01 182.634 36-pin Kuhnke FIO Counter/Posi2 5V 694.454.01 182.636 36-pin Kuhnke FIO Drive Control 694.454.16 178.789 36-pin Stepper / BLDC Kuhnke FIO CAM Control 694.444.11...
Page 301 Kendrion Kuhnke Automation GmbH Appendix Information The 2, 18 and 36-pin IO/Power connectors are included in the module package and part of the delivery. D-SUB connectors are not included but sold separately. Name Part no. ID no. Type Kuhnke FIO Connector (black plug, black unlock button) Ventura FIO connector, 2-pin, 1x 694.102.02.01...
Page 302: Sales & Service
Sales & Service Kendrion Kuhnke Automation GmbH 9 Sales & Service Please visit our Internet site to find a comprehensive overview of our sales and service network including all the relevant addresses. Feel free to also contact us at our headquarters in...

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