Kendrion Kuhnke FIO Instruction Manual
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Kendrion Kuhnke FIO Instruction Manual

Ip20 ethercat i/o modules
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Instruction Manual
Kuhnke FIO
IP20 EtherCAT I/O Modules
E 747GB-V2
17 May 2021

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Summary of Contents for Kendrion Kuhnke FIO

  • Page 1 Instruction Manual Kuhnke FIO IP20 EtherCAT I/O Modules E 747GB-V2 17 May 2021...

  • Page 2: Table Of Contents

    Particular Sources of Interference ......................13 3 Introduction ..............................14 EtherCAT® — Ethernet Control Automation Technology ..............14 Kuhnke FIO (Fast Input / Output) ....................... 14 Kuhnke FIO — Ventura FIO ....................... 15 4 System Description ............................16 General Service Conditions ....................... 16 Mechanical Design ..........................
  • Page 3 5.7.3 CAN Master/Slave .......................... 427 Safety Modules ..........................442 5.8.1 Kuhnke FIO Safety PLC ......................... 442 5.8.2 Kuhnke FIO Safety SDI4 SDO2 ..................... 443 5.8.3 Kuhnke FIO Safety SDI8 SDO2 ..................... 444 5.8.4 Kuhnke FIO Safety SDI16 SDO4 ....................445 5.8.5 Kuhnke FIO Safety SDI16 ......................
  • Page 4 Offline Configuration ..........................451 Online Configuration ..........................454 8 Appendix ..............................457 Technical Data (Summarised) ......................457 System Properties of Kuhnke FIO ......................457 Kuhnke FIO I/O Modules (General) ......................458 Order Specifications ......................... 464 Kuhnke FIO Modules ..........................464 Kuhnke FIO Accessories .........................
  • Page 5 31 Aug 2017 Inserting a note for the AI-U modules 01 Dez 2017 Device "Kuhnke FIO DO8 2A" Order number 694.452.06 ID: 190485 added Revision of the complete manual with regard to the Low Voltage Directive. 02 Mar 2018 Renaming in chapter Bus Coupler DI16 / DO16 - U24_Load to undervoltage_load and U24_Logic to undervoltage_logic Mounting instructions for the potential distributor added.

  • 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) 17 May 2021...

  • 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

    Notes and information in the associated documentation apply at all times. 2.4 Transport and Storage At times of transport and storage, protect Kuhnke FIO Module against inadmissible exposure such as mechanical stress, temperature, humidity and/or aggressive atmospheres. Transport and store Kuhnke FIO Modules only in its original packaging if possible.

  • 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

    3.2 Kuhnke FIO (Fast Input / Output) Kuhnke FIO is a system of modules interconnecting via the backplane bus to make up a so-called EtherCAT network able to transfer process signals. For example, a Kuhnke FIO system may comprise a Kuhnke FIO controller or bus coupler plus any number of Kuhnke FIO I/O modules.

  • Page 15: Kuhnke Fio - Ventura Fio

    ETG (power engineering association of VDE). The revised modules are therefore referred to Kuhnke FIO or FIO V2. Kuhnke FIO and Ventura FIO are compatible if they share the same order number. If so they are interchangeable without having to modify the control programs.

  • Page 16: System Description

    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 457. Subsequent chapters explain the specific properties of each of the modules.

  • 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

    Stripped end [mm] / sleeve length [mm] NOTE Do not connect the power supply lines through from one Kuhnke FIO to the next. To ensure that there is as little interference as possible, install a central power supply point and establish a star topology of as short wires as possible between the central point and Kuhnke FIO.

  • Page 20: System Power Supply

    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 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: Status Leds

    Kendrion Kuhnke Automation GmbH System Description 4.4 Status LEDs LED "EtherCAT Run" An LED labelled "EtherCAT Run" is located on both the bus coupler and the I/O modules. It indicates the state of the EtherCAT ASIC. State LED flash code...

  • 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

    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 RAM / remanent memory 256 MB / flash storage Drives On-board flash memory, SD(HC) card slot ®...

  • 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: Bus Coupler

    Bus Coupler 5.2.1 Bus Coupler The Kuhnke FIO bus coupler converts the physical transfer technology (twisted pair) to LVDS (E-bus) and generates the system voltages required by the LVDS modules. The standard 100 Base Tx lines used for office network communications connect to the one side, the Ventura FIO I/O modules for the process signals connect to the other.
  • Page 28 Undervoltage BOOL Low voltage (supplied power < 19.2V) Technical Data Function ............Connects a 100 Base-TX EtherCAT with the Kuhnke FIO I/O modules. Generates the LVDS system voltages (E-bus) Controller ............ASIC ET1100 Baud rate ............100 Mbit/s Cable type............CAT5 Cable length ..........

  • Page 29: 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 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 31 Kendrion Kuhnke Automation GmbH Bus Coupler DI16/DO16 Module State Variable Data type Explanation undervoltage_load BOOL U24_Load undervoltage (supplied power < 19.2V) undervoltage_logic BOOL U24_Logic undervoltage (supplied power < 19.2V) ShortcutOutput BOOL Short-circuited digital output (E 747GB-V2) 17 May 2021...
  • Page 32 Bus Coupler DI16/DO16 Kendrion Kuhnke Automation GmbH 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 33: 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 34 Bus Coupler DI8/DO8 Kendrion Kuhnke Automation GmbH 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...
  • Page 35 Kendrion Kuhnke Automation GmbH Bus Coupler DI8/DO8 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 36: Extender 2 Port

    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 Port C E-bus out Port D Out 1 Technical Data Function ............Extends a Kuhnke FIO block or a Kuhnke FIO Control (embedded PC). Converts the physical transfer technology from LVDS (E-bus) to 100 Base-Tx. Controller ............ASIC ET1100 Baud rate ............100 Mbit/s Cable type ............

  • Page 38: Digital Fio Modules

    DI16/DO16 Kendrion Kuhnke Automation GmbH 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 39 E-bus connector ..........10-pole system plug in side wall Terminating module ........not required Power supply ..........24 VDC -20% +25% E-bus load............135 mA Part no. Kuhnke FIO DI16/DO16 5ms/0.5A ....694.450.01 Kuhnke FIO DI16/DO16 1ms/0.5A....694.450.03 Approval:............(E 747GB-V2) 17 May 2021...

  • Page 40: Di16/Do16 Ls (Low Side)

    DI16/DO16 LS Kendrion Kuhnke Automation GmbH 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 41 Kendrion Kuhnke Automation GmbH DI16/DO16 LS 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 42: Di16/Do8

    DI16/DO8 Kendrion Kuhnke Automation GmbH 5.3.3 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 43 Kendrion Kuhnke Automation GmbH DI16/DO8 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 44: Di8/Do8

    DI8/DO8 Kendrion Kuhnke Automation GmbH 5.3.4 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 45 E-bus connector ..........10-pole system plug in side wall Terminating module ........not required Power supply ..........24 VDC -20% +25% E-bus load............135 mA Part no. Kuhnke FIO DI8/DO8 5ms/0.5A ....694.450.04 Kuhnke FIO DI8/DO8 1ms/0.5A ....694.450.05 Approval:............(E 747GB-V2) 17 May 2021...

  • Page 46: Di16

    DI16 Kendrion Kuhnke Automation GmbH 5.3.5 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 47 Baud rate ............100 Mbit/s E-bus connector ..........10-pole system plug in side wall Terminating module ........not required Power supply ..........24 VDC -20% +25% E-bus load............100 mA Part no. Kuhnke FIO DI16, 1ms ........694.451.03 Approval:............(E 747GB-V2) 17 May 2021...

  • Page 48: Di16 2-Wire

    DI16 2-wire Kendrion Kuhnke Automation GmbH 5.3.6 DI16 2-Wire I/O connection Front view of DI16 I/O module Terminals Power supply to module I/Os 24 V DC Status LEDs LED "EtherCAT Run" The LED labelled "EtherCAT Run" indicates the state of the EtherCAT ASIC.
  • Page 49 Kendrion Kuhnke Automation GmbH DI16 2-wire LEDs "Channel" State Explanation Green, on Input signal = TRUE Input signal = FALSE Function The DI16 module has 16 digital inputs and 16 24V outputs for decentralized supply of the two-wire connection without additional distribution terminal.
  • Page 50 Baud rate ............100 Mbit/s E-bus connector ..........10-pole system plug in side wall Terminating module ........not required Power supply ..........24 VDC -20% +25% E-bus load............110 mA Part no. Kuhnke FIO DI16, 1ms ........694.451.43 Approval:............(E 747GB-V2) 17 May 2021...

  • Page 51: Di32

    Kendrion Kuhnke Automation GmbH DI32 5.3.7 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 52 Baud rate ............100 Mbit/s E-bus connector ..........10-pole system plug in side wall Terminating module ........not required Power supply ..........24 VDC -20% +25% E-bus load............85 mA Part no. Kuhnke FIO DI32, 1ms ........694.451.02 Approval:............(E 747GB-V2) 17 May 2021...

  • 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: Do16

    Kendrion Kuhnke Automation GmbH DO16 5.3.9 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 56 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 57: Do16 2-Wire

    Kendrion Kuhnke Automation GmbH DO16 2-wire 5.3.10 DO16 2-Wire 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 58 DO16 2-wire 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 59: Do8 Relay No 24V

    Kendrion Kuhnke Automation GmbH DO8 Relay 24V 5.3.11 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 60 DO8 Relay 24V Kendrion Kuhnke Automation GmbH Function The DO8 Relay NO 24 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 61: Do8 Relay No 230Vac

    Kendrion Kuhnke Automation GmbH DO8 Relay 230VAC 5.3.12 DO8 Relay NO 230VAC 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 62 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 63: 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 64 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 65 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 66 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 67 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 68 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 69 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 70 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Object dictionary Device Type 1000h Device Type Name 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 71 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 72 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Manufacturer Hardware Version 1009 Manufacturer Hardware Version Name 1009 Index VARIABLE Object Code No. of Elements Data Type VISIBLE_STRING read only Access PDO Mapping Units Value Range Default Value 1.00 Subindex 0 of this object contains the length of the character string. As of subindex 1, the individual characters are contained.
  • Page 73 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Identity Object 1018h Identity object Name 1018 Index RECORD Object Code No. of Elements Data Type IDENTITY Highest sub index supported Name Subindex UNSIGNED8 Data type read only Access PDO Mapping...
  • Page 74 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Error Settings 10F1 Error Settings Name 10F1 Index RECORD Object Code No. of Elements Data Type Highest sub index supported Name Subindex UNSIGNED8 Data type read only Access PDO Mapping Default Value...
  • Page 75 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1600 (Device Control) Drive Control Name 1600 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read write Access PDO Mapping...
  • Page 76 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 00000000 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write Access PDO Mapping...
  • Page 77 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1601 (AO Field Value Physical) AO Field Value Physical Name 1601 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING 1602 , 1603 Exclude Highest sub index supported Name...
  • Page 78 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 4th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 6330 04 20 Default Value 5th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 79 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1602 (AO Field Value Increments) AO Field Value Increments Name 1602 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING 1601 , 1603 Exclude Highest sub index supported Name...
  • Page 80 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 4th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 7330 04 10 Default Value 5th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 81 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1603 (AO Process Value) AO Process Value Name 1603 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING 1601 , 1602 Exclude Highest sub index supported Name Subindex UNSIGNED8...
  • Page 82 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 4th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 6300 04 20 Default Value 5th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 83 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A00 (Error Field) Error Field Name 1A00 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only Access PDO Mapping...
  • Page 84 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 00000000 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write Access PDO Mapping...
  • Page 85 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A01 (AI Field Value Pysical) AI Field Value Pysical Name 1A01 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type...
  • Page 86 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 00000000 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write Access PDO Mapping...
  • Page 87 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A02 (AI Field Value Increments) AI Field Value Increments Name 1A02 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type...
  • Page 88 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 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 PDO Mapping...
  • Page 89 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A03 (AI Process Value) AI Process Value Name 1A03 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 90 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 00000000 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write Access PDO Mapping...
  • Page 91 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A04 (Oversample FV AI1) Oversample FV AI1 Name 1A04 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 92 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2101 05 10 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 93 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A05 (Oversample FV AI2) Oversample FV AI2 Name 1A05 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 94 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2102 05 10 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 95 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A06 (Oversample FV AI3) Oversample FV AI3 Name 1A06 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 96 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2103 05 10 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 97 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A07 (Oversample FV AI4) Oversample FV AI4 Name 1A07 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 98 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2104 05 10 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 99 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A08 (Oversample PV AI1) Oversample PV AI1 Name 1A08 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 100 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2131 05 20 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 101 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A09 (Oversample PV AI2) Oversample PV AI2 Name 1A09 Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 102 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2132 05 20 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 103 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A0A (Oversample PV AI3) Oversample PV AI3 Name 1A0A Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 104 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2133 05 20 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 105 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Mapping 1A0B (Oversample PV AI4) Oversample PV AI4 Name 1A0B Index RECORD Object Code No. of Elements Data Type PDO_MAPPING Highest sub index supported Name Subindex UNSIGNED8 Data type read only...
  • Page 106 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 5th Object to be mapped Name Subindex Data type UNSIGNED32 read write Access PDO Mapping 2134 05 20 Default Value 6th Object to be mapped Name Subindex UNSIGNED32 Data type read write...
  • Page 107 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Channel Control 2001 AI Channel Control Name 2001 Index ARRAY Object Code No. of Elements Data Type UINT8 Highest sub index supported Name Subindex UINT8 Data type read only Access...
  • Page 108 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 109 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Channel Status 3 Name Subindex Data type UINT8 read only Access Yes, TX-PDO PDO Mapping 00000000 Default Value AI Channel Status 4 Name Subindex UINT8 Data type read only Access...
  • Page 110 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH Error Log 2003 Error Log Name 2003 Index RECORD Object Code No. of Elements Data Type UNSIGNED32 Number of errors Name Subindex UNSIGNED8 Data type read write Access PDO Mapping Default Value...
  • Page 111 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI1 Oversample Data FV 2101 AI1 Oversample Data FV Name 2101 Index ARRAY Object Code No. of Elements Highest sub index supported Name Subindex INT16 Data type read only Access PDO Mapping Default Value AI1 Sample N+0 ..
  • Page 112 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI3 Oversample Data FV 2103 AI3 Oversample Data FV Name 2103 Index ARRAY Object Code No. of Elements Highest sub index supported Name Subindex INT16 Data type read only Access PDO Mapping Default Value AI3 Sample N+0 ..
  • Page 113 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Calibration Gain 2125 AI Input Calibration Gain Name 2125 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping...
  • Page 114 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI1 Oversample Data PV 2131 AI1 Oversample Data PV Name 2101 Index ARRAY Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping Default Value AI1 Sample N+0 ..
  • Page 115 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI3 Oversample Data PV 2133 AI3 Oversample Data PV Name 2103 Index ARRAY Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping Default Value AI3 Sample N+0 ..
  • Page 116 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 117 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 118 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input FV 6100 AI Input FV Name 6100 Index ARRAY Object Code No. of Elements Data Type REAL32 Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping...
  • Page 119 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Sensor Type 6110 AI Sensor Type Name 6110 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex UINT16 Data type read only Access PDO Mapping Default Value...
  • Page 120 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Sensor Type 4 Name Subindex UINT16 Data type Access read write PDO Mapping 00000000 Default Value Channel-dependent setting of the connected sensor: 42 = 0…10 V (Default) 52 = 0…20 mA 51 = 4…20 mA...
  • Page 121 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Scaling 1 FV 6120 AI Input Scaling 1 FV Name 6120 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only...
  • Page 122 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input Scaling 1 PV 6121 AI Input Scaling 1 PV Name 6121 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access...
  • Page 123 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Scaling 2 FV 6122 AI Input Scaling 2 FV Name 6122 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only...
  • Page 124 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input Scaling 2 PV 6123 AI Input Scaling 2 PV Name 6123 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access...
  • Page 125 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input Offset 6124 AI Input Offset Name 6124 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping Default Value...
  • Page 126 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Scaling Factor 6126 AI Scaling Factor Name 6126 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping Default Value...
  • Page 127 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Scaling Offset 6127 AI Scaling Offset Name 6127 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping Default Value...
  • Page 128 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Input PV 6130 AI Input PV Name 6130 Index ARRAY Object Code No. of Elements Data Type REAL32 Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping...
  • Page 129 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 RECORD Object Code No. of Elements...
  • Page 130 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AI Filter Type 4 Name Subindex ENUM Data type Access read write PDO Mapping 00000000 Default Value Object for activating the input filter. 0 = No Filter active 1 = PT1 Filter...
  • Page 131 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Filter Constant 3 Name Subindex Data type UINT16 read write Access PDO Mapping 00000000 Default Value AI Filter Constant 4 Name Subindex UINT16 Data type read write Access PDO Mapping...
  • Page 132 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output PV 2 Name Subindex Data type REAL32 read only Access Yes, TX-PDO PDO Mapping 00000000 Default Value AO Output PV 3 Name Subindex REAL32 Data type read only Access PDO Mapping...
  • Page 133 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AO Sensor Type 2 Name Subindex Data type UINT16 read write Access PDO Mapping 00000000 Default Value AO Sensor Type 3 Name Subindex UINT16 Data type read write Access PDO Mapping...
  • Page 134 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 00000000 Default Value AO Output Scaling 1 FV 2 Name Subindex REAL32 Data type read write...
  • Page 135 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit Highest sub index supported Name Subindex Data type REAL32 read only Access PDO Mapping Default Value AO Output Scaling 1 PV 1 Name Subindex REAL32 Data type read write Access PDO Mapping...
  • Page 136 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 AO Output Scaling 2 FV 1 Name Subindex REAL32 Data type read write Access PDO Mapping...
  • Page 137 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AO Output Scaling 2 PV 6323 AO Output Scaling 2 PV Name 6323 Index RECORD Object Code No. of Elements Highest sub index supported Name Subindex REAL32 Data type read only...
  • Page 138 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output FV 6330 AO Output FV Name 6330 Index ARRAY Object Code No. of Elements Data Type REAL32 Highest sub index supported Name Subindex REAL32 Data type read only Access PDO Mapping...
  • Page 139 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AI Input FV 7100 AI Input FV Name 7100 Index ARRAY Object Code No. of Elements Data Type INT16 Highest sub index supported Name Subindex INT16 Data type read only Access...
  • Page 140 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH AO Output FV 7330 AO Output FV Name 7330 Index ARRAY Object Code No. of Elements Data Type INT16 Highest sub index supported Name Subindex INT16 Data type read only Access PDO Mapping...
  • Page 141 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit AO Output FV 2 Name Subindex INT16 Data type Access read only Yes, TX-PDO PDO Mapping 00000000 Default Value AO Output FV 3 Name Subindex Data type INT16 read only Access...
  • Page 142 AO4 U/I – 12-Bit Kendrion Kuhnke Automation GmbH 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 143 Kendrion Kuhnke Automation GmbH AI4 12Bit / AO4 16Bit General information Baud rate ............100 Mbit/s Controller ............ASIC ET1200 E-bus connector ..........10-pole system plug in side wall Terminating module ........not required IO/power connection ........36-pin plug Power supply ..........24 VDC -20% +25% E-bus load............

  • Page 144: Ao4-U/I - 12-Bit

    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. That is to say, the modules are interchangeable within the same FIO block without having to modify the device description in the EtherCAT master's control program.
  • Page 145 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 146 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 147 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 148 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 149: Ao4-U/I - 16-Bit Coe

    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. The module complies with ETG guidelines. Before replacing a Ventura/Kuhnke FIO AO4 12-Bit module (694 442 02) with a Kuhnke FIO AO4 16-Bit module (694 442 52), you must modify the EtherCAT master's control program.
  • Page 150 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 151 AO4 U/I – 16-Bit Kendrion Kuhnke Automation GmbH Click/tap on "Add…", choose an object, and set the appropriate value. (E 747GB-V2) 17 May 2021...
  • Page 152 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 153 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 154 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 155 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 156 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 157: Ai4/8-U

    694 441 02 Ventura FIO AI4 8-U. The module complies with ETG guidelines. Before replacing a Ventura/Kuhnke FIO AI4 8-U module (694 441 02) with a Kuhnke FIO AI4 8-U module (694 441 52), you must modify the EtherCAT master's control program.
  • Page 158 AI 4/8-U Kendrion Kuhnke Automation GmbH 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 159 Kendrion Kuhnke Automation GmbH AI 4/8-U 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 160 AI 4/8-U 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 AI4/8U 16-Bit (such as the properties of each of the inputs). The EtherCAT master will apply the settings when starting up the module.
  • Page 161 Kendrion Kuhnke Automation GmbH AI 4/8-U 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 162 AI 4/8-U Kendrion Kuhnke Automation GmbH 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 163 Kendrion Kuhnke Automation GmbH AI 4/8-U 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 164 AI 4/8-U Kendrion Kuhnke Automation GmbH 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 165: Ai8/16-U

    Operative earth / shielding of analogue wires  section 0 Information Module 694 441 53 Kuhnke FIO AI8/16-U is the successor module NOT compatible with module 694 441 03 Ventura FIO AI8/16-U. The module complies with ETG guidelines. Before replacing a Ventura/Kuhnke FIO AI8/16-U module (694 441 03) with a Kuhnke FIO AI8/16-U module (694 441 53), you must modify the EtherCAT master's control program.
  • Page 166 AI 8/16-U Kendrion Kuhnke Automation GmbH 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 167 Kendrion Kuhnke Automation GmbH AI 8/16-U 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 168 AI 8/16-U 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 169 Kendrion Kuhnke Automation GmbH AI 8/16-U 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 170 AI 8/16-U Kendrion Kuhnke Automation GmbH 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 171 Kendrion Kuhnke Automation GmbH AI 8/16-U 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 172 AI 8/16-U Kendrion Kuhnke Automation GmbH 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 173 Kendrion Kuhnke Automation GmbH AI 8/16-U 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 174: Ai4-I

    Operative earth / shielding of analogue wires  section 0 Information Module 694 441 51 Kuhnke FIO AI4-I 12-Bit is the successor module NOT compatible with module 694 441 01 Ventura FIO AI4-I 12-Bit. The module complies with ETG guidelines.
  • Page 175 State LED flash code Explanation Green, on Channel enabled Channel disabled Added to the CoE variant (694 441 51 Kuhnke FIO AI4-I 12-Bit) Red, 1x Current > 20.5 mA Error Red, 2x Current < 3.5 mA (4..20 mA mode) Function The AI4-I module has four analogue current signal inputs.
  • Page 176 AI 4-I Kendrion Kuhnke Automation GmbH 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 177 Kendrion Kuhnke Automation GmbH AI 4-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 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 178 AI 4-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 179 Kendrion Kuhnke Automation GmbH AI 4-I Index Name Type Default Min Max Access 1018, 1 Vendor Id UINT32 0x0048554B 1018, 2 Product Code UINT32 185339 1018, 3 Revision Number UINT32 1018, 4 Serial Number UINT32 2000 Analog Input Properties Array...
  • Page 180 AI 4-I Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 6500, 1 ResetErrorAck BOOL RO P 6500, 3 EtherCAT Error BOOL RO P 6500, 4 ConfigError BOOL RO P 7001 Module Control Array 7001, 0 Number of Entries...

  • Page 181: Ai8-I

    Operative earth / shielding of analogue wires  section 0 Information Module 694 441 54 Kuhnke FIO AI8-I 12-Bit is the successor module NOT compatible with module 694 441 04 Ventura FIO AI8-I 12-Bit. The module complies with ETG guidelines.
  • Page 182 LED flash code Explanation Green, on Channel enabled Channel disabled Added to the CoE variant (694 441 51 Kuhnke FIO AI4-I 12-Bit) Current > 20.5 mA Error Current < 3.5 mA (4..20 mA mode) Function The AI8-I module has eight analogue current signal inputs. Their measuring range can be set separately for every channel, i.e.
  • Page 183 Kendrion Kuhnke Automation GmbH AI 8-I 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 184 AI 8-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 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 185 Kendrion Kuhnke Automation GmbH AI 8-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 186 AI 8-I Kendrion Kuhnke Automation GmbH 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 187 Kendrion Kuhnke Automation GmbH AI 8-I Index Name Type Default Min Max Access 2003, 8 Input 7 Average UINT8 1..255 6401 Analogue input Array 6401, 0 Number of Entries UINT8 6401, 1 Analog Input 0 UINT16 RO P 6401, 2...
  • Page 188 AI 8-I Kendrion Kuhnke Automation GmbH 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 189: Ai4-Pt/Ni/Tc

    Before replacing a Ventura FIO AI4-Pt/Ni100 or 694 443 03 Ventura FIO AI4-Pt/Ni1000 or 694 443 05 Ventura FIO AI4-TE (694 443 01) with a Kuhnke FIO AI4-Pt/Ni/TC module (694 443 57), you must modify the EtherCAT master's control program.
  • Page 190 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH 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 191 Kendrion Kuhnke Automation GmbH AI 4 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 192 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Options You can set up the following options for every channel: Name Value Explanation Off (default) Internal (Cold junction) Pt100 Pt1000 SensorType Ni100 Ni1000 (DIN43760) Thermo K Thermo J 0.1°C Ω / V...
  • Page 193 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc 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 194 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH 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 195 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc 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 196 AI 4 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 90 (4) 45 (5) 20 (6) 20+50&60Hz (7) 20 + 50Hz (8) 20 + 60Hz (9) 2003 Average Array 2003, 0 Number of Entries UINT8 2003, 1...
  • Page 197 Kendrion Kuhnke Automation GmbH AI 4 Pt/Ni/Tc 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 198: Ai8-Pt/Ni/Tc

    Before replacing a Ventura FIO AI8-Pt/Ni100 (694 443 02) or Ventura FIO AI8-Pt/Ni1000 (694 443 04) or Ventura FIO AI4-TE (694 443 06) with a Kuhnke FIO AI8-Pt/Ni/TC module (694 443 58), you must modify the EtherCAT master's control program.
  • Page 199 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc 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 200 AI 8 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 201 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Options You can set up the following options for every channel: Name Value Explanation Off (default) Internal (Cold junction) Pt100 Pt1000 SensorType Ni100 Ni1000 (DIN43760) Thermo K Thermo J InputFormat 0.1°C Ω / V...
  • Page 202 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH 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 203 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc 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 204 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 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, Thermo_J,...
  • Page 205 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Index Name Type Default Min Max Access 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, Ω / V...
  • Page 206 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 330 (2) 175 (3) 90 (4) 45 (5) 20 (6) 20+50&60Hz (7) 20 + 50Hz (8) 20 + 60Hz (9) 2002, 5 Input4DataRateAndFilter UINT8 1000 (0)
  • Page 207 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc Index Name Type Default Min Max Access 20 + 60Hz (9) 2003 Average Array 2003, 0 Number of Entries UINT8 2003, 1 Input 0 Average UINT8 1..255 2003, 2 Input 1 Average UINT8 1..255...
  • Page 208 AI 8 Pt/Ni/Tc Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 6500, 3 ConfigError BOOL RO P 6500, 4 Module Control Array 7001 Number of Entries UINT8 7001, 0 Reset Error BOOL RW P 7001, 1 RO=read-only, RW= read/write, P=process image...
  • Page 209 Kendrion Kuhnke Automation GmbH AI 8 Pt/Ni/Tc 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 210: Counter / Posi / Drive / Cam Modules

    Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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 211 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 212 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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 213 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 214 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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 215 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 216 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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)
  • Page 217 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 218 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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...
  • Page 219 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 220 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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 221 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 222 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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 223 Kendrion Kuhnke Automation GmbH Counter2, Counter/Posi2 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 224 Counter/Posi2 5V, Counter 2 5V Kendrion Kuhnke Automation GmbH 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 ..........

  • Page 225: Counter / Encoder

    Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 5.5.2 Counter / Encoder Front view and I/O connection I/O connection Front view I/O-Modul Counter / Encoder (E 747GB-V2) 17 May 2021...
  • Page 226 Counter / Encoder (694 454 53) 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...
  • Page 227 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Status LEDs of IOs The status LEDs of the IOs are indicative of the state of each of the digital I/Os. Kanal Kanal Beschreibung A+/CLK+ A+/CLK+ Incremental encoder: A-/CLK- A-/CLK- The LEDs indicate the signal status of the incremental encoder track.
  • Page 228 Kendrion Kuhnke Automation GmbH Function The Kuhnke FIO MIX 04 module has 4 analogue inputs for recording current or voltage values and 4 analogue outputs for outputting analogue current or voltage values. Furthermore the Kuhnke FIO Mix 04 module has 2 counter / encoder interfaces for the connection of incremental encoders or absolute value position encoders with SSI or EnDat interface.
  • Page 229 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Encoder interface The universal encoder interface offers a wide range of possibilities for the acquisition of angles, positions and pulses to be counted. The following encoders can be connected: ...
  • Page 230 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Encoder interface configuration – SSI Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 65 SSI (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...
  • Page 231 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Encoder interface configuration – ENDAT Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 69 EnDat (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...
  • Page 232 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Encoder interface configuration – Event counter Object overview Slot Object Explanation 80 event counter (Is assigned automatically via the Enc1 0x2100 Enc1 Digital Interface Type module) Enc2 Sub 01 (Level): 0=HTL, 1=TTL...
  • Page 233 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Encoder interface configuration – User-defined units Besides the output of the position value in increments, the position value can also be output in user-defined units in REAL format. This applies to the use of incremental, SSI and ENDAT encoders.
  • Page 234 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Object dictionary The Kuhnke FIO MIX 04 is divided into 3 virtual devices. The objects are structured as follows 0x1000 … 0x1FFF Device specific 0x2000 … 0x23FF Manufacture specific: Counter / Encoder 1 0x2800 …...
  • Page 235 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1000 Device type Object Code Variable 0x00 Name Device type Data Type UNSIGNED32 Access Defaultvalue 5001 (0x1389) PDO Mapping 5001 = Modular Device Profile 0x1001 Error register Object Code Variable...
  • Page 236 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1003 Pre-defined error field Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Standard error field 1 Data Type...
  • Page 237 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x05 Name Standard error field 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Pre-definederrorfield[4] 0x06 Name Standard error field 6 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Pre-definederrorfield[5]...
  • Page 238 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Error Register Error Origin Sub-Number Error Code Error Register [31 … 24] Copy of object 0x1001 after triggering the error Error Origin [23 … 20] Error source in the device...
  • Page 239 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1008 Manufacturer device name Object Code Variable 0x00 Name Manufacturer device name Data Type VISIBLE_STRING Access Defaultvalue Counter/Encoder (694.454.53) PDO Mapping 0x1009 Manufacturer hardware version Object Code Variable 0x00 Name...
  • Page 240 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1018 Identity object Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue 0x04 PDO Mapping 0x01 Name Vendor-ID Data Type UNSIGNED32 Access Defaultvalue 0x48554B PDO Mapping...
  • Page 241 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x10f1 Error Settings Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 242 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1601 Digital Interface Control Encoder 1 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 243 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1602 Digital Interface Control Encoder 2 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 244 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x1a05 Rotary Encoder SD Encoder 1 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 245 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1a06 Event Counter Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access...
  • Page 246 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH PDO Mapping 0x06 Name Mapping Entry 6 Data Type UNSIGNED32 Access Defaultvalue 0x24080620 PDO Mapping 0x07 Name Mapping Entry 7 Data Type UNSIGNED32 Access Defaultvalue 0x20010008 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 247 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Defaultvalue 0x28300020 PDO Mapping 0x03 Name Mapping Entry 3 Data Type UNSIGNED32 Access Defaultvalue 0x28010008 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 248 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Defaultvalue PDO Mapping 0x04 Name Subindex 4 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x1c12 Sync Manager 2 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type...
  • Page 249 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x1c13 Sync Manager 3 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex Data Type...
  • Page 250 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x02 Name Cycle Time Data Type UNSIGNED32 Access Defaultvalue 0x20 PDO Mapping 0x04 Name Synchronization Types supported Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x05 Name Minimum Cycle Time...
  • Page 251 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Access Defaultvalue 0x20 PDO Mapping 0x0b Name SM-Event missed Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x0c Name Cycle time too small Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping...
  • Page 252 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Name Cycle Time Data Type UNSIGNED32 Access Defaultvalue 0x20 PDO Mapping 0x04 Name Synchronization Types supported Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x05 Name Minimum Cycle Time Data Type...
  • Page 253 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Defaultvalue 0x20 PDO Mapping 0x0b Name SM-Event missed Data Type UNSIGNED16 Access Defaultvalue 0x20 PDO Mapping 0x0c Name Cycle time too small Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping...
  • Page 254 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2003 Enc1 Preset Value Signed Object Code Variable 0x00 Name Enc1 Preset Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping Accessname Enc1PresetValueSigned Offset value 0x2004 Enc1 Position Value Signed...
  • Page 255 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Defaultvalue PDO Mapping Accessname Enc1HighResolutionPresetValueSigned High Resolution Offset Wert 0x2014 Enc1 Linear Position Value Object Code Variable 0x00 Name Enc1 Linear Position Value Data Type REAL32 Access Defaultvalue PDO Mapping...
  • Page 256 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2031 Enc1 Linear Speed Value Object Code Variable 0x00 Name Enc1 Linear Speed Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1LinearSpeedValue Speed value in user units...
  • Page 257 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Accessname Enc1PositionEncoderResolution.EncoderIncrements 0x02 Name Motor Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc1PositionEncoderResolution.MotorRevolutions Unit Conversion: �������������� �������������������� 208��: 01 ���������� �������������������� 208��: 02 (E 747GB-V2) 17 May 2021...
  • Page 258 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2091 Enc1 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc1GearRatio.MotorShaftRevolutions...
  • Page 259 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2092 Enc1 Feed Constant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Feed Data Type UNSIGNED32 Access Defaultvalue 0x00000064 PDO Mapping Accessname Enc1FeedConstant.Feed...
  • Page 260 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2100 Enc1 Digital Interface Type Object Code Variable 0x00 Name Enc1 Digital Interface Type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc1DigitalInterfaceType Settings of the connected encoder: 64 Encoder (default)
  • Page 261 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2102 Enc1 Digital Interface Status Object Code Variable 0x00 Name Enc1 Digital Interface Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1DigitalInterfaceStatus Ref: 0 = Encoder is not referenced...
  • Page 262 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Enc1DigitalInterfaceConfig.Enc1Encoder: Accessname Mode 0x03 Name Enc1 Encoder: Index level Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Enc1DigitalInterfaceConfig.Enc1Encoder:I Accessname ndexlevel 0x04 Name Enc1 SSI: Use grey code Data Type UNSIGNED8 Access...
  • Page 263 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 1 Count falling edges 3 Count both edges 0x2110 Enc1 Digital Interface Bit Size Object Code Variable 0x00 Name Enc1 Digital Interface Bit Size Data Type UNSIGNED8 Access Defaultvalue PDO Mapping...
  • Page 264 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2122 Enc1 Encoder Track ABRef Object Code Variable 0x00 Name Enc1 Encoder Track ABRef Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1EncoderTrackABRef Signal level at the corresponding encoder track...
  • Page 265 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2408 Event Counter Count Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Event Counter Channel 1 Data Type UNSIGNED32 Access Defaultvalue...
  • Page 266 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x05 Name Event Counter Channel 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname EventCounterCount.EventCounterChannel5 0x06 Name Event Counter Channel 6 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 267 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2804 Enc2 Position Value Signed Object Code Variable 0x00 Name Enc2 Position Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionValueSigned 0x2808 Enc2 High Resolution Position Value Signed...
  • Page 268 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2814 Enc2 Linear Position Value Object Code Variable 0x00 Name Enc2 Linear Position Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2LinearPositionValue 0x2815 Enc2 Linear Position Preset Value...
  • Page 269 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2832 Enc2 Speed Value Filter Select Object Code Variable 0x00 Name Enc2 Speed Value Filter Select Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc2SpeedValueFilterSelect 0x288f Enc2 Position Encoder Resolution...
  • Page 270 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2891 Enc2 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc2GearRatio.MotorShaftRevolutions...
  • Page 271 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2892 Enc2 Feed Constant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Feed Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc2FeedConstant.Feed...
  • Page 272 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2900 Enc2 Digital Interface Type Object Code Variable 0x00 Name Enc2 Digital Interface Type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc2DigitalInterfaceType Settings of the connected encoder: 64 Encoder...
  • Page 273 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x2902 Enc2 Digital Interface Status Object Code Variable 0x00 Name Enc2 Digital Interface Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2DigitalInterfaceStatus Ref: 0 = Encoder is not referenced...
  • Page 274 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Mode 0x03 Name Enc2 Encoder: Index level Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Indexlevel 0x04 Name Enc2 SSI: Use grey code Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2SSI:Usegreycode...
  • Page 275 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 1 Grey coded binary Subindex 05 (Event Counter: Sensitivity) 0 Count rising edges (default) 1 Count falling edges 3 Count both edges 0x2910 Enc2 Digital Interface Bit Size Object Code...
  • Page 276 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x2920 Enc2 Index Capture Value Object Code Variable 0x00 Name Enc2 Index Capture Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2IndexCaptureValue 0x2921 Enc2 Capture Input Value...
  • Page 277 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Access Defaultvalue PDO Mapping Accessname Enc2ErrorCode See table object 0x1003 Pre-defined error field 0x6000 Enc1 Operating Parameters Object Code Variable 0x00 Name Enc1 Operating Parameters Data Type UNSIGNED16 Access Defaultvalue...
  • Page 278 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH Defaultvalue PDO Mapping Accessname Enc1PresetValue Offset values 0x6004 Enc1 Position Value Object Code Variable 0x00 Name Enc1 Position Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname...
  • Page 279 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x600b Enc1 High Resolution Raw Value Object Code Variable 0x00 Name Enc1 High Resolution Raw Value Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1HighResolutionRawValue 64- Bit raw encoder value without offsets and homing and index...
  • Page 280 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x6031 Enc1 Speed Parameters Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Enc1 Speed Source Selector Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc1SpeedParameters.Enc1SpeedSourceSelector...
  • Page 281 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Accessname Enc1SpeedParameters.Enc1Dividervalue Sub 01: 4= Use Object 0x600B Sub 02: Integration time in [ms] Sub 03: Conversion factor for velocity calculation, result in 0x6030 Sub 04: Conversion devider for velocity calculation, result in 0x6030...
  • Page 282 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x6802 Enc2 Total Measuring Range Object Code Variable 0x00 Name Enc2 Total Measuring Range Data Type UNSIGNED32 Access Defaultvalue 4000 PDO Mapping Accessname Enc2TotalMeasuringRange Encoder resolution. With setting "Single Turn" relevant for the overflow...
  • Page 283 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x6808 Enc2 High Resolution Position Value Object Code Variable 0x00 Name Enc2 High Resolution Position Value Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2HighResolutionPositionValue 5.5.2.1.1 0x6809 Enc2 High Resolution Preset Value...
  • Page 284 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 0x680c Enc2 Position Raw Value Object Code Variable 0x00 Name Enc2 Position Raw Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionRawValue 32- Bit raw encoder value without offsets and homing and index...
  • Page 285 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) 0x6831 Enc2 Speed Parameters Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Enc2 Speed Source Selector Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2SpeedParameters.Enc2SpeedSourceSelector...
  • Page 286 Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH High Limit 65535 PDO Mapping Accessname Enc2SpeedParameters.Enc2Dividervalue Sub 01: 4= Use Object 0x680B Sub 02: Integration time in [ms] Sub 03: Conversion factor for velocity calculation, result in 0x6830 Sub 04:...
  • Page 287 Kendrion Kuhnke Automation GmbH Counter / Encoder (694 454 53) Technical Data General Order no............694.454.53 I/O Supply ............24 VDC (-20% / +25%) Dimensions WxHxD ........25 x 120 x 90 mm Mounting ............35 mm DIN-top hat rail Storage temperature ........

  • Page 288: Kuhnke Fio Drive Control

    Counter / Encoder (694 454 53) Kendrion Kuhnke Automation GmbH 5.5.3 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 289: Kuhnke Fio Cam Control

    Kendrion Kuhnke Automation GmbH Drive Control 5.5.4 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 290: 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 291 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 292 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 293 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 294 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 295 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 296 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 297 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 298 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 299 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 300: Mix 04

    MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 5.6.2 MIX 04 Front view and I/O connection I/O connection Front view I/O-Module MIX 04 (E 747GB-V2) 17 May 2021...
  • Page 301 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 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 302 AO3- Function The Kuhnke FIO MIX 04 module has 4 analogue inputs for recording current or voltage values and 4 analogue outputs for outputting analogue current or voltage values. Furthermore the Kuhnke FIO Mix 04 module has 2 counter / encoder interfaces for the connection of incremental encoders or absolute value position encoders with SSI or EnDat interface.
  • Page 303 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Module configuration The configuration of the analogue inputs and outputs as well as the counter/encoder interfaces is done via pluggable modules that are inserted into the corresponding slots. One slot corresponds to one analogue channel or one counter/encoder interface.
  • Page 304 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Configuration - Overview of pluggable modules Slot Slot name Function Module code Module function 192361001 AI0 Voltage Analogue Input AI0 192361002 AI0 Current 0..20mA 192361003 AI0 Current 4..20mA 192361004 AI1 Voltage...
  • Page 305 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Encoder interface The universal encoder interface offers a wide range of possibilities for the acquisition of angles, positions and pulses to be counted. The following encoders can be connected:  Inkremental encoder with RS422 interface (RS422) ...
  • Page 306 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Encoder interface configuration – SSI Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 65 SSI (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...
  • Page 307 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Encoder interface configuration – ENDAT Encoder Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 69 EnDat (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...
  • Page 308 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Encoder interface configuration – Event counter Object overview Slot Object Explanation Enc1 0x2100 Enc1 Digital Interface Type 80 event counter (Is assigned automatically via the module) Enc2 0x2900 Enc2 Digital Interface Type...
  • Page 309 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Encoder interface configuration – User-defined units Besides the output of the position value in increments, the position value can also be output in user-defined units in REAL format. This applies to the use of incremental, SSI and ENDAT encoders.
  • Page 310 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Analogue interface configuration – Analogue inputs Object overview Slot Object Subindex Explanation 0x7110 AISensorType Is assigned automatically via the module 0x7120 AIInputScaling1FV Scaling of the analogue input values by specifying 0x7122 AIInputScaling2FV interpolation points.
  • Page 311 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Analogue interface configuration – Analogue outputs Object overview Slot Object Subindex Explanation Object to output the scaled analogue values as real 0x7300 AOOutputPV value. 0x7310 AOOutputType Is assigned automatically via the plugged module...
  • Page 312 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Object dictionary The Kuhnke FIO MIX 04 is divided into 3 virtual devices. The objects are structured as follows 0x1000 … 0x1FFF Device specific 0x2000 … 0x23FF Manufacture specific: Counter / Encoder 1 0x2800 …...
  • Page 313 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) COM: Communication PROF: Device profile RES: reserved, always „0“ MAN: Manufacturer specific 0x1003 Pre-defined error field Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue Low Limit...
  • Page 314 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Defaultvalue PDO Mapping Accessname Pre-definederrorfield[3] 0x05 Name Standard error field 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Pre-definederrorfield[4] 0x06 Name Standard error field 6 Data Type UNSIGNED32 Access Defaultvalue...
  • Page 315 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Error Register Error Origin Sub-Number Error Code Error Register [31 … 24] Copy of object 0x1001 after triggering the error Error Origin [23 … 20] Error source in the device Module / Logical Device overlapping...
  • Page 316 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1008 Manufacturer device name Object Code Variable 0x00 Name Manufacturer device name Data Type VISIBLE_STRING Access Defaultvalue Mix04 (694.444.64) PDO Mapping 0x1009 Manufacturer hardware version Object Code Variable 0x00 Name Manufacturer hardware version...
  • Page 317 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1018 Identity object Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue 0x04 PDO Mapping 0x01 Name Vendor-ID Data Type UNSIGNED32 Access Defaultvalue 0x48554B PDO Mapping 0x02...
  • Page 318 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x10f1 Error Settings Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Local Error Reaction Data Type UNSIGNED32 Access Defaultvalue PDO Mapping 0x02...
  • Page 319 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x10f8 Timestamp Object Object Code Variable 0x00 Name Timestamp Object Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only 0x1600 Analogue Interface Control Object Code Record 0x00 Name SubIndex 000...
  • Page 320 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1601 Digital Interface Control Encoder 1 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 321 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Index[16] Bit 31..16 Index of the object to be mapped SubIndex[8] Bit 15..8 Subindex of the object to be mapped Length[8] Bit 7..0 Length of the object to be mapped 0x1603 AO0 Output Value...
  • Page 322 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are composed as follows: Index[16] Bit 31..16 Index of the object to be mapped SubIndex[8] Bit 15..8...
  • Page 323 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Name Mapping Entry 1 Data Type UNSIGNED32 Access Defaultvalue 0x73300408 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are composed as follows: Index[16] Bit 31..16...
  • Page 324 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access Defaultvalue 0x71000108 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 325 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1a03 AI2 Input Value Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access...
  • Page 326 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Index[16] Bit 31..16 Index of the object to be mapped SubIndex[8] Bit 15..8 Subindex of the object to be mapped Length[8] Bit 7..0 Length of the object to be mapped 0x1a05 Rotary Encoder SD Encoder 1...
  • Page 327 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1a06 Event Counter Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type UNSIGNED32 Access Defaultvalue...
  • Page 328 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH PDO Mapping 0x06 Name Mapping Entry 6 Data Type UNSIGNED32 Access Defaultvalue 0x24080620 PDO Mapping 0x07 Name Mapping Entry 7 Data Type UNSIGNED32 Access Defaultvalue 0x20010008 PDO Mapping Each subindex (1-8) describes one mapped object. A mapping entry consists of four bytes which are...
  • Page 329 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1a07 Rotary Encoder SD Encoder 2 Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Mapping Entry 1 Data Type...
  • Page 330 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1c00 Sync Manager Communication Type Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex 1 Data Type UNSIGNED8...
  • Page 331 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1c12 Sync Manager 2 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex Data Type UNSIGNED16...
  • Page 332 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x1c13 Sync Manager 3 PDO Assignment Object Code Array 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Subindex Data Type UNSIGNED16...
  • Page 333 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1c32 Sync Manager 2 Synchronization Object Code Record 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Synchronization Type Data Type UNSIGNED16...
  • Page 334 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH PDO Mapping 0x08 Name Get Cycle Time Data Type UNSIGNED16 Access Defaultvalue 0x10 PDO Mapping 0x09 Name Delay Time Data Type UNSIGNED32 Access Defaultvalue 0x20 PDO Mapping 0x0a Name Sync0 Cycle Time...
  • Page 335 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x1c33 Sync Manager 3 Synchronization Object Code Record 0x00 Name Highest subindex supported Data Type UNSIGNED8 Access Defaultvalue Low Limit High Limit PDO Mapping 0x01 Name Synchronization Type Data Type UNSIGNED16...
  • Page 336 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH PDO Mapping 0x08 Name Get Cycle Time Data Type UNSIGNED16 Access Defaultvalue 0x20 PDO Mapping 0x09 Name Delay Time Data Type UNSIGNED32 Access Defaultvalue 0x10 PDO Mapping 0x0a Name Sync0 Cycle Time...
  • Page 337 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2001 Enc1 Error Register Object Code Variable 0x00 Name Enc1 Error Register Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1ErrorRegister 0x2003 Enc1 Preset Value Signed Object Code...
  • Page 338 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2004 Enc1 Position Value Signed Object Code Variable 0x00 Name Enc1 Position Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1PositionValueSigned 0x2008 Enc1 High Resolution Position Value Signed...
  • Page 339 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2009 Enc1 High Resolution Preset Value Signed Object Code Variable 0x00 Enc1 High Resolution Preset Value Name Signed Data Type INTEGER64 Access Defaultvalue PDO Mapping Accessname Enc1HighResolutionPresetValueSigned High Resolution Offset Wert...
  • Page 340 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2015 Enc1 Linear Position Preset Value Object Code Variable 0x00 Name Enc1 Linear Position Preset Value Data Type REAL32 Access Defaultvalue PDO Mapping Accessname Enc1LinearPositionPresetValue Position offset in user units 0x2030 Enc1 High Resolution Speed Value...
  • Page 341 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) PDO Mapping Accessname Enc1SpeedValueFilterSelect Configuration object for speed calculation 0 no filter 10 PT1-filter 11 Integration (Default) 0x208f Enc1 Position Encoder Resolution Object Code Record 0x00 Name SubIndex 000 Data Type...
  • Page 342 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2091 Enc1 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc1GearRatio.MotorShaftRevolutions...
  • Page 343 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2092 Enc1 Feed Constant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Feed Data Type UNSIGNED32 Access Defaultvalue 0x00000064 PDO Mapping Accessname Enc1FeedConstant.Feed...
  • Page 344 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2100 Enc1 Digital Interface Type Object Code Variable 0x00 Name Enc1 Digital Interface Type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc1DigitalInterfaceType Settings of the connected encoder: 64 Encoder (default)
  • Page 345 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Accessname Enc1DigitalInterfaceStatus Ref: 0 = Encoder is not referenced 1 = Encoder is referenced Dir: 0 = Clockwise 1 = Counter clockwise 0x2103 Enc1 Digital Interface Config Object Code Record 0x00...
  • Page 346 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Enc1DigitalInterfaceConfig.Enc1Encoder:I Accessname ndexlevel 0x04 Name Enc1 SSI: Use grey code Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Enc1DigitalInterfaceConfig.Enc1SSI:Useg Accessname reycode 0x05 Name Enc1 Event Counter: Sensitivity Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Enc1DigitalInterfaceConfig.Enc1EventCou...
  • Page 347 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2110 Enc1 Digital Interface Bit Size Object Code Variable 0x00 Name Enc1 Digital Interface Bit Size Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc1DigitalInterfaceBitSize SSI / ENDAT: Resolution of the encoder according to data sheet...
  • Page 348 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2120 Enc1 Index Capture Value Object Code Variable 0x00 Name Enc1 Index Capture Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1IndexCaptureValue 0x2122 Enc1 Encoder Track ABRef...
  • Page 349 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2408 Event Counter Count Object Code Record 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Event Counter Channel 1 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 350 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x05 Name Event Counter Channel 5 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname EventCounterCount.EventCounterChannel5 0x06 Name Event Counter Channel 6 Data Type UNSIGNED32 Access Defaultvalue PDO Mapping...
  • Page 351 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2804 Enc2 Position Value Signed Object Code Variable 0x00 Name Enc2 Position Value Signed Data Type INTEGER32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionValueSigned 0x2808 Enc2 High Resolution Position Value Signed...
  • Page 352 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2814 Enc2 Linear Position Value Object Code Variable 0x00 Name Enc2 Linear Position Value Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2LinearPositionValue 0x2815 Enc2 Linear Position Preset Value...
  • Page 353 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2832 Enc2 Speed Value Filter Select Object Code Variable 0x00 Name Enc2 Speed Value Filter Select Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname Enc2SpeedValueFilterSelect 0x288f Enc2 Position Encoder Resolution Object Code...
  • Page 354 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2891 Enc2 Gear Ratio Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Motor Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000001 PDO Mapping Accessname Enc2GearRatio.MotorShaftRevolutions...
  • Page 355 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x02 Name Shaft Revolutions Data Type UNSIGNED32 Access Defaultvalue 0x00000064 PDO Mapping Accessname Enc2FeedConstant.ShaftRevolutions 0x2900 Enc2 Digital Interface Type Object Code Variable 0x00 Name Enc2 Digital Interface Type Data Type UNSIGNED8...
  • Page 356 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x2902 Enc2 Digital Interface Status Object Code Variable 0x00 Name Enc2 Digital Interface Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2DigitalInterfaceStatus Ref: 0 = Encoder is not referenced...
  • Page 357 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Mode 0x03 Name Enc2 Encoder: Index level Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2Encoder:Indexlevel 0x04 Name Enc2 SSI: Use grey code Data Type UNSIGNED8 Access Defaultvalue 0 Mapping Accessname Enc2DigitalInterfaceConfig.Enc2SSI:Usegreycode...
  • Page 358 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Subindex 05 (Event Counter: Sensitivity) 0 Count rising edges (default) 1 Count falling edges 3 Count both edges 0x2910 Enc2 Digital Interface Bit Size Object Code Variable 0x00 Name Enc1 Digital Interface Bit Size...
  • Page 359 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x2921 Enc2 Capture Input Value Object Code Variable 0x00 Name Enc2 Capture Input Value Data Type INTEGER64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2CaptureInputValue 0x2922 Enc2 Encoder Track ABRef...
  • Page 360 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x3001 AI/AO Error Register Object Code Variable 0x00 Name AI/AO Error Register Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AI/AOErrorRegister See object 0x1001 Error register 0x3011 AIChannelControl...
  • Page 361 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x04 Name Channel Control AI3 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, RPDO only Accessname AIChannelControl.ChannelControlAI3 COMP ACT: 0 = Input not active 1 = Input active SCAL: 0 = Scale input values with faktor and offset...
  • Page 362 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Accessname AIChannelStatus[1] 0x03 Name Channel Status AI2 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AIChannelStatus[2] 0x04 Name Channel Status AI3 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping...
  • Page 363 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x3125 AIInputCalibrationGain Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input calibration gain 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputCalibrationGain.AIInputcalibrationgain0...
  • Page 364 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x313f AI/AO Error Code Object Code Variable 0x00 Name AI/AO Error Code Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AI/AOErrorCode See table object 0x1003 Pre-defined error field...
  • Page 365 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x3202 AI/AO DeviceState Object Code Variable 0x00 Name AI/AO DeviceState Data Type UNSIGNED16 Access Defaultvalue PDO Mapping optional, TPDO only Accessname AI/AODeviceState Unused 0x6000 Enc1 Operating Parameters Object Code Variable 0x00...
  • Page 366 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 5.6.2.1.1 0x6003 Enc1 Preset Value Object Code Variable 0x00 Name Enc1 Preset Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping Accessname Enc1PresetValue Offset values 0x6004 Enc1 Position Value Object Code Variable...
  • Page 367 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x600b Enc1 High Resolution Raw Value Object Code Variable 0x00 Name Enc1 High Resolution Raw Value Data Type UNSIGNED64 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc1HighResolutionRawValue 64- Bit raw encoder value without offsets and homing and index...
  • Page 368 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x6031 Enc1 Speed Parameters Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name Enc1 Speed Source Selector Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc1SpeedParameters.Enc1SpeedSourceSelector...
  • Page 369 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Accessname Enc1SpeedParameters.Enc1Dividervalue Sub 01: 4= Use Object 0x600B Sub 02: Integration time in [ms] Sub 03: Conversion factor for velocity calculation, result in 0x6030 Sub 04: Conversion devider for velocity calculation, result in 0x6030...
  • Page 370 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x6800 Enc2 Operating Parameters Object Code Variable 0x00 Name Enc2 Operating Parameters Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2OperatingParameters Bit 3 DIR 0 = Clockwise 1 = Counter clockwise...
  • Page 371 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x6804 Enc2 Position Value Object Code Variable 0x00 Name Enc2 Position Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionValue 0x6808 Enc2 High Resolution Position Value Object Code...
  • Page 372 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x680c Enc2 Position Raw Value Object Code Variable 0x00 Name Enc2 Position Raw Value Data Type UNSIGNED32 Access Defaultvalue PDO Mapping optional, TPDO only Accessname Enc2PositionRawValue 32- Bit raw encoder value without offsets and homing and index...
  • Page 373 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) Defaultvalue PDO Mapping Accessname Enc2SpeedParameters.Enc2SpeedSourceSelector 0x02 Name Enc2 Speed Integration Time Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2SpeedParameters.Enc2SpeedIntegrationTime 0x03 Name Enc2 Multiplier Value Data Type UNSIGNED16 Access Defaultvalue Low Limit...
  • Page 374 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x6d00 Enc2 Operating Status Object Code Variable 0x00 Name Enc2 Operating Status Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname Enc2OperatingStatus Bit 3 DIR 0 = Clockwise 1 = Counter clockwise...
  • Page 375 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7100 AIInputFV_Real Object Code Array 0x00 Name unnamed subindex Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input FV 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 376 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7110 AISensorType Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI sensor type 0 Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname AISensorType.AIsensortype0...
  • Page 377 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7120 AIInputScaling1FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 1 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling1FV.AIInputscaling1FV0...
  • Page 378 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7121 AIInputScaling1PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 1 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling1PV.AIInputscaling1PV0...
  • Page 379 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7122 AIInputScaling2FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 2 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling2FV.AIInputscaling2FV0...
  • Page 380 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7123 AIInputScaling2PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input scaling 2 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputScaling2PV.AIInputscaling2PV0...
  • Page 381 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7124 AIInputOffset Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input offset 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIInputOffset.AIInputoffset0...
  • Page 382 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7126 AIScalingFactor Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI scaling factor 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIScalingFactor.AIscalingfactor0...
  • Page 383 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7127 AIScalingOffset Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI scaling offset 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AIScalingOffset.AIscalingoffset0...
  • Page 384 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7130 AIInputPV Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 385 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x71a0 AIFilterType Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI0 low pass filter type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AIFilterType.AI0lowpassfiltertype...
  • Page 386 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x05 Name AI0 notch filter type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AIFilterType.AI0notchfiltertype 0x06 Name AI1 notch filter type Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AIFilterType.AI1notchfiltertype 0x07...
  • Page 387 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x71a1 AIFilterConstant Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI filter constant 0 Data Type UNSIGNED16 Access Defaultvalue PDO Mapping Accessname AIFilterConstant.AIfilterconstant0...
  • Page 388 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7300 AOOutputPV Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO Output PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping optional, RPDO only...
  • Page 389 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7310 AOOutputType Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output type 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AOOutputType.AOoutputtype0...
  • Page 390 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7312 AOOperatingMode Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO operating mode 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping Accessname AOOperatingMode.AOoperatingmode0...
  • Page 391 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7320 AOOutputScaling1FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 1 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling1FV.AOoutputscaling1FV0...
  • Page 392 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7321 AOOutputScaling1PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 1 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling1PV.AOoutputscaling1PV0...
  • Page 393 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7322 AOOutputScaling2FV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 2 FV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling2FV.AOoutputscaling2FV0...
  • Page 394 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x7323 AOOutputScaling2PV Object Code Record 0x00 Name SubIndex 000 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO output scaling 2 PV 0 Data Type REAL32 Access Defaultvalue PDO Mapping Accessname AOOutputScaling2PV.AOoutputscaling2PV0...
  • Page 395 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x7330 AOOutputFV_Dec Object Code Array 0x00 Name unnamed subindex Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO Output FV 0 Data Type UNSIGNED8 Access Defaultvalue PDO Mapping optional, RPDO only...
  • Page 396 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH 0x8100 AIInputFV_Int Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AI Input FV 0 Data Type INTEGER16 Access Defaultvalue PDO Mapping optional, TPDO only...
  • Page 397 Kendrion Kuhnke Automation GmbH Mix 04 (694 444 64) 0x8331 AOOutputFV_Inc Object Code Array 0x00 Name Highest sub-index supported Data Type UNSIGNED8 Access Defaultvalue PDO Mapping 0x01 Name AO Output FV 0 Data Type INTEGER16 Access Defaultvalue PDO Mapping optional, RPDO only...
  • Page 398 MIX 04 (694 444 64) Kendrion Kuhnke Automation GmbH Technical Data General Order no............694.444.64 I/O Supply ............24 VDC (-20% / +25%) Dimensions WxHxD ........25 x 120 x 90 mm Mounting ............35 mm DIN-top hat rail Storage temperature ........

  • Page 399: Interface And Communication Modules

    Kendrion Kuhnke Automation GmbH 1-port RS485 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 400 1-port RS485 Kendrion Kuhnke Automation GmbH 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 401 Kendrion Kuhnke Automation GmbH 1-port RS485 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 402 1-port RS485 Kendrion Kuhnke Automation GmbH 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) 17 May 2021...
  • Page 403 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 404 1-port RS485 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 (COM_TxQueueOvr). Failure to send the data fast enough.
  • Page 405 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access 1600, 4 Subindex 004h UINT32 0x71100101 1600, 5 Subindex 005h UINT32 0x0000000F ReceivePDO1 Mapping 1601 Array Parameter 1601, 0 Number of Entries UINT8 1601, 1 Subindex 001h...
  • Page 406 1-port RS485 Kendrion Kuhnke Automation GmbH 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 407 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access Parameter 1A01, 0 Number of Entries UINT8 1A01, 1 Subindex 001h UINT32 0x75010040 1A02 Receive PDO2 Mapping Array Parameter 1A02, 0 Number of Entries UINT8 1A02, 0...
  • Page 408 1-port RS485 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1A0D, 1 Subindex 001h UINT32 0x750D0040 Receive PDO14 Mapping 1A0E Array Parameter 1A0E, 0 Number of Entries UINT8 1A0E, 1 Subindex 001h UINT32 0x750E0040 1A0F Receive PDO15 Mapping...
  • Page 409 Kendrion Kuhnke Automation GmbH 1-port RS485 Index Name Type Default Min Max Access 1C12, 16 SubIndex 016 UINT16 0x160F 1C12, 17 SubIndex 017 UINT16 0x1610 1C12, 18 SubIndex 018 UINT16 0x1611 1C12, 19 SubIndex 019 UINT16 0x1612 1C12, 20 SubIndex 020...
  • Page 410 1-port RS485 Kendrion Kuhnke Automation GmbH 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 411 Kendrion Kuhnke Automation GmbH 1-port RS485 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 412 1-port RS485 Kendrion Kuhnke Automation GmbH 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 413: Rs232 2 Port

    Kendrion Kuhnke Automation GmbH 2-port RS232 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 414 2-port RS232 Kendrion Kuhnke Automation GmbH 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 415 Kendrion Kuhnke Automation GmbH 2-port RS232 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 416 2-port RS232 Kendrion Kuhnke Automation GmbH 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 417 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 418 2-port RS232 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 (COM1_TxQueueOvr, COM2_TxQueueOvr). Failure to send the data fast enough.
  • Page 419 Kendrion Kuhnke Automation GmbH 2-port RS232 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 420 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 160C, 0 Number of Entries UINT8 160C, 1 Subindex 001h UINT32 0x700C0040 ReceivePDO13 Mapping [160D] Array Parameter 160, 0 Number of Entries UINT8 160, 1 Subindex 001h...
  • Page 421 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access 1A00, 17 SubIndex 017 UINT32 0x65001001 Receive PDO1 Mapping 1A01 Array Parameter 1A01, 0 Number of Entries UINT8 1A01, 1 Subindex 001h UINT32 0x75010040 1A02 Receive PDO2 Mapping...
  • Page 422 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access Parameter 1A0D, 0 Number of Entries UINT8 1A0D, 1 SubIndex 001 UINT32 0x750D0040 1A0E Receive PDO14 Mapping Array Parameter 1A0E, 0 Number of Entries UINT8 1A0E, 1...
  • Page 423 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access 1C12, 14 SubIndex 014 UINT16 0x160D 1C12, 15 SubIndex 015 UINT16 0x160E 1C12, 16 SubIndex 016 UINT16 0x160F 1C12, 17 SubIndex 017 UINT16 0x1610 1C12, 18 SubIndex 018...
  • Page 424 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1C33, 4 Synchronisation Types UINT16 0x8007 supported 1C33, 5 Cycle Time UINT32 1C33, 6 Calc and Copy Time UINT32 1C33, 8 Cycle Time UINT16 1C33, 9 Delay Time...
  • Page 425 Kendrion Kuhnke Automation GmbH 2-port RS232 Index Name Type Default Min Max Access 6500, 5 TxCounterMiss BOOL RO P 6500, 6 unused0 BOOL RO P 6500, 7 COM2_TxQueueOvr BOOL RO P 6500, 8 COM2_RxQueueOvr BOOL RO P 6500, 9 COM1_CtrlErr...
  • Page 426 2-port RS232 Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 7110, 8 unused6 BOOL RW P 7110, 9 unused7 BOOL RW P 7110, 10 unused8 BOOL RW P 7110, 11 unused9 BOOL RW P 7110, 12 unused10...

  • Page 427: 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 428 CAN Master/Slave Kendrion Kuhnke Automation GmbH 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 429 Kendrion Kuhnke Automation GmbH CAN Master/Slave 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 430 CAN Master/Slave 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 431 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). The following baud rates are supported: ...
  • Page 432 CAN Master/Slave Kendrion Kuhnke Automation GmbH Your settings are then displayed on tab "Startparameter" (startup parameters). (E 747GB-V2) 17 May 2021...
  • Page 433 Kendrion Kuhnke Automation GmbH CAN Master/Slave 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 434 CAN Master/Slave Kendrion Kuhnke Automation GmbH 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 435 Kendrion Kuhnke Automation GmbH CAN Master/Slave 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 436 CAN Master/Slave Kendrion Kuhnke Automation GmbH 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 437 Kendrion Kuhnke Automation GmbH CAN Master/Slave 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 438 CAN Master/Slave Kendrion Kuhnke Automation GmbH Index Name Type Default Min Max Access 1C12, 9 SubIndex 009 UINT16 0x1608 1C12, 10 SubIndex 010 UINT16 0x1609 1C12, 11 SubIndex 011 UINT16 0x160A 1C12, 12 SubIndex 012 UINT16 0x160B 1C12, 13 SubIndex 013...
  • Page 439 Kendrion Kuhnke Automation GmbH CAN Master/Slave Index Name Type Default Min Max Access 1C32, 12 Cycle Time too small UINT16 1C32, 32 Sync Error BOOL 1C33 SM Input Parameter RECORD 1C33, 0 Number of Entries UINT8 1C33, 1 Synchronisation Type...
  • Page 440 CAN Master/Slave 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 441 Kendrion Kuhnke Automation GmbH CAN Master/Slave Index Name Type Default Min Max Access 7507 RxData7 UINT64 RO P 7508 RxData8 UINT64 RO P 7509 RxData9 UINT64 RO P 750A RxData10 UINT64 RO P 750B RxData11 UINT64 RO P [750C] RxData12...

  • Page 442: Safety Modules

    Safety PLC Kendrion Kuhnke Automation GmbH 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 443: Kuhnke Fio Safety Sdi4 Sdo2

    Kendrion Kuhnke Automation GmbH Safety SDIx SDOx 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 444: Kuhnke Fio Safety Sdi8 Sdo2

    Safety SDI4 SDO2 Kendrion Kuhnke Automation GmbH 5.8.3 Kuhnke FIO Safety SDI8 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: https://productfinder.kuhnke.kendrion.com Technical Data...

  • Page 445: Kuhnke Fio Safety Sdi16 Sdo4

    Kendrion Kuhnke Automation GmbH Safety SDIx SDOx 5.8.4 Kuhnke FIO Safety SDI16 SDO4 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: https://productfinder.kuhnke.kendrion.com Technical Data...

  • Page 446: Kuhnke Fio Safety Sdi16

    Safety SDI4 SDO2 Kendrion Kuhnke Automation GmbH 5.8.5 Kuhnke FIO Safety SDI16 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: https://productfinder.kuhnke.kendrion.com Technical Data Type...

  • Page 447: Accessories

    Kendrion Kuhnke Automation GmbH Accessories 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 448: Mounting

    Accessories Kendrion Kuhnke Automation GmbH 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 449: Shield Terminal

    Function The shield terminal makes it easier for you to connect the cable shield. The terminal deflects the cable shield power to the DIN rails that the Kuhnke FIO module is snapped on to. NOTE Verify that the DIN rail is properly earthed.

  • Page 450: Technical Data

    Accessories Kendrion Kuhnke Automation GmbH 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) 17 May 2021...

  • Page 451: Configuration

    Beckhoff Automation GmbH) which accesses the XML device files for both offline and online configuration. The file to use for Kuhnke FIO is called "KuhnkeEtherCATModulesAll.xml". Copy file "KuhnkeEtherCATModulesAll.xml" to folder C:\Programs\EtherCAT Configurator\EtherCAT or, if you are using another tool, to the folder set for that tool.
  • Page 452  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) 17 May 2021...
  • Page 453 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. DANGER Set outputs only if you are sure that this will cause no harm.

  • Page 454: 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 455 Kendrion Kuhnke Automation GmbH Configuration  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 456 Configuration Kendrion Kuhnke Automation GmbH  Test the EtherCAT IOs. DANGER Set outputs only if you are sure that this will cause no harm. (E 747GB-V2) 17 May 2021...

  • Page 457: Appendix

    Fieldbus ............EtherCAT 100 Mbit/s 100 Base TX to IEEE802.3 Connection............. 2x RJ45 Controller ............ASIC ET1100 Extension ............connection to first Kuhnke FIO I/O module integrated in side panel of module Diagnostics ............ LED: EtherCAT module state EtherCAT In/Out state Kuhnke FIO Bus Coupler DI16/DO16 Part no.

  • Page 458: Kuhnke Fio I/O Modules (General)

    Appendix Kendrion Kuhnke Automation GmbH 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 459 Kendrion Kuhnke Automation GmbH Appendix 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 460 Digital outputs ..........8, load: 5A (resistive) / 2A (inductive), n.o. relay Swiching voltage ..........max. 24 VDC/ 230 VAC Analogue FIO Modules Kuhnke FIO AI4, 12 Bit / AO4, 16Bit Part no............694.444.65 Analogue Inputs ..........4 Resolution ............. 12 Bit Output signal..........
  • Page 461 Output signal ..........0..10V, +/- 10V, (010V: ≤22µs at 2kΩ/<200pF) 0..20mA, 4..20mA, 0..24mA, (016V: ≤25µs at 300Ω/<1mH) Output frequency ........... DC-synchron, SM-synchron Kuhnke FIO AO4, 16-Bit Part no............694.442.52 Analogue outputs ........... 4 Resolution ............16 bit Output signal ..........0..10V, +/- 10V, (at loads > 1kΩ, <1µF) 0..20mA, 4..20mA, 0..24mA, (at loads <...
  • Page 462 Analogue inputs ..........8 Resolution ............12 bit Measuring range ..........0 …20mA, 4…20mA Conversion time ..........290 µs (8 channels) Kuhnke FIO AI4-Pt/Ni/TC 16-Bit Part no............694.443.51 Analogue inputs ..........4 Resolution ............16 bit Measuring range ........... mV, Pt100, Pt1000, Ni100, Ni1000DIN43760, thermalcouple types K, J Conversion time ..........
  • Page 463 Kuhnke FIO Drive Control http://productfinder.kuhnke.kendrion.com Kuhnke FIO CAM Control http://productfinder.kuhnke.kendrion.com 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 464: Order Specifications

    Kuhnke FIO DO8 Relay NO 24V 694.452.03 184.720 18-pin Kuhnke FIO DO8 Relay NO 230VAC 694.452.04 187.657 18-pin Analogue FIO Modules Kuhnke FIO AI4, 12 Bit / AO4, 16Bit 694.444.65 192.357 36-pin Kuhnke FIO AO4, 16-Bit 694.442.52 183.564 18-pin Kuhnke FIO AO4, 12-Bit 694.442.02...

  • Page 465: Kuhnke Fio Accessories

    Kuhnke FIO Drive Control 694.454.16 178.789 36-pin Stepper / BLDC Kuhnke FIO CAM Control 694.444.11 186.682 36-pin Mixed IO Modules Kuhnke FIO MIX 02 CoE 694.444.62 176.215 36-pin Communication Modules Kuhnke FIO RS485 1 Port 694.455.02 187.270 18-pin Kuhnke FIO RS232 2 Port 694.455.04...
  • Page 466 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 694.102.02.01 178.638 Spring return, screw Spring return, unlock Kuhnke FIO connector, 18-pin, 1x 694.101.18.01...

  • Page 467: Sales & Service

    Kendrion Kuhnke Automation GmbH Fehler! Verweisquelle konnte nicht gefunden werden. 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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