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Beckhoff EJ6002 Documentation

2-channel serial interface rs232, rs422 or rs485
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Documentation | EN
EJ6002
2-channel serial interface RS232, RS422 or RS485
2022-06-23 | Version: 1.5

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  • Page 1 Documentation | EN EJ6002 2-channel serial interface RS232, RS422 or RS485 2022-06-23 | Version: 1.5...

  • Page 3: Table Of Contents

    Disassembly of the signal distribution board ...................  37 Disposal ............................ 37 5 EtherCAT basics .............................  38 6 Commissioning ............................ 39 Reference to documentation EL600x .................... 39 EJ6002 - object description and parameterization ................ 39 6.2.1 Restore object ........................ 40 6.2.2 Configuration data...................... 40 6.2.3...
  • Page 4 Table of contents 6.2.4 Output data ........................ 44 6.2.5 Information and diagnostic data .................. 45 6.2.6 Standard objects (0x1000-0x1FFF) .................  45 6.2.7 Command object (0xFB00) .................... 57 7 Appendix .............................. 58 Support and Service........................ 58 Version: 1.5 EJ6002...

  • Page 5: Foreword

    , XTS and XPlanar are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners. Patent Pending...

  • Page 6: Safety Instructions

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

  • Page 7: Intended Use

    • Update chapter Marking of EtherCAT plug-in modules • Update Technical Data • Update chapter Power supply for the EtherCAT plug-in modules • Update chapter EJ6002 - Object description and parameterization • Update chapter Marking of EtherCAT plug-in modules • Update Technical Data •...

  • Page 8: Guide Through Documentation

    • Routing guidelines Documentation of the corresponding • Notes on the principle of operation and EtherCAT Terminal ELxxxx • Descriptions for configuration and parameterization are transferable to the corresponding Module EJxxxx (s. note on documentation of ELxxxx [} 39]). Version: 1.5 EJ6002...

  • Page 9: Marking Of Ethercat Plug-In Modules

    Foreword Marking of EtherCAT plug-in modules Designation A Beckhoff EtherCAT device has a 14-digit technical designation, made up as follows (e.g. EJ1008-0000-0017) • Order identifier ◦ family key: EJ ◦ product designation: The first digit of product designation is used for assignment to a product group (e.g.
  • Page 10 Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. • The product designation, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.

  • Page 11: Beckhoff Identification Code (Bic)

    1.7.1 Beckhoff Identification Code (BIC) The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.
  • Page 12 Fig. 4: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294 An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g.

  • Page 13: Electronic Access To The Bic (Ebic)

    Electronic access to the BIC (eBIC) Electronic BIC (eBIC) The Beckhoff Identification Code (BIC) is applied to the outside of Beckhoff products in a visible place. If possible, it should also be electronically readable. Decisive for the electronic readout is the interface via which the product can be electronically addressed.
  • Page 14 EtherCAT, the eBIC of the top-level device is located in the CoE object directory 0x10E2:01 and the eBICs of the sub-devices follow in 0x10E2:nn. Profibus/Profinet/DeviceNet… Devices Currently, no electronic storage and readout is planned for these devices. Version: 1.5 EJ6002...

  • Page 15: Certificates

    • The cRUus imprint identifies devices that meet product safety requirements according to U.S. and Canadian regulations. • The warning symbol is a request to read the corresponding documentation. The documentations for EtherCAT plug-in modules can be downloaded from the Beckhoff homepage. Fig. 5: Marking for CE and UL using EJ1008 as an example EJ6002...

  • Page 16: System Overview

    Coded components reduce the unit costs and the risk of miswiring. Beckhoff offers development of signal distribution boards as an engineering service. Customers have the option to develop their own signal distribution board, based on the design guide.

  • Page 17: Ej6002 - Product Description

    The active communication channel operates independently of the higher-level EtherCAT system in full duplex mode with 300 baud up to 256 kbaud. In conjunction with the TwinCAT Virtual Serial COM Driver the EJ6002 can be used as a normal Windows COM interface.

  • Page 18: Technical Data

    EJ6002 - Product description Technical Data Technical data EJ6002 Technology Serial interface Interfaces Individually selectable RS232, RS422 or RS485 Termination settings via software configuration Data transfer channels Data transfer rate 300 ... 256000 Baud (freely configurable) Distributed Clocks Data buffer 864 byte receive buffer, 128 byte transmit buffer per channel Electrical isolation 500 V (E-bus/field voltage)

  • Page 19: Pinout Rs232

    EJ6002 - Product description Pinout RS232 Fig. 8: EJ6002 - Pinout RS232 The PCB footprint can be downloaded from the Beckhoff homepage. NOTE Damage to devices possible! • The pins named with “NC” must not be connected. • Before installation and commissioning read the chapters Installation of EJ modules [} 23] and Commissioning [} 39]!

  • Page 20: Pinout Rs422

    EJ6002 - Product description Pinout RS422 Fig. 9: EJ6002 - Pinout RS422 The PCB footprint can be downloaded from the Beckhoff homepage. NOTE Damage to devices possible! • The pins named with “NC” must not be connected. • Before installation and commissioning read the chapters Installation of EJ modules [} 23] and Commissioning [} 39]!

  • Page 21: Pinout Rs485

    EJ6002 - Product description Pinout RS485 Fig. 10: EJ6002 - Pinout RS485 The PCB footprint can be downloaded from the Beckhoff homepage. NOTE Damage to devices possible! • The pins named with “NC” must not be connected. • Before installation and commissioning read the chapters Installation of EJ modules [} 23] and Commissioning [} 39]!

  • Page 22: Leds

    EJ6002 - Product description LEDs Fig. 11: EJ6002 - LEDs Color Display State Description green Init State of the EtherCAT State Machine: INIT = initialization of the plug-in module flashing Pre-Operational State of the EtherCAT State Machine: PREOP = function for mailbox communication and different default settings...

  • Page 23: Installation Of Ej Modules

    In the EJ1101-0022 coupler, the RJ45 connectors and optional ID switches are external and can be positioned anywhere on the signal distribution board, as required. This facilitates feeding through a housing. The EJ940x power supply plug-in modules provide an optional reset function (see chapter Connection of the documentation for EJ9400 and EJ9404) EJ6002 Version: 1.5...
  • Page 24 The EK1110-004x EtherCAT EJ couplers relay the following parameters to the signal distribution board via the rear connector: • the E-bus signals, • the E-bus voltage U (3.3 V) and EBUS • the peripheral voltage U (24 V Fig. 13: PCB with Embedded PC, EK1110-0043 and EJxxxx, rear view EK1110-0043 Version: 1.5 EJ6002...

  • Page 25: Ejxxxx - Dimensions

    Single module (long) 12 mm x 152 mm x 55 mm EJ1957 (ej_12_2x16pin_extended_code4747) Fig. 14: EJxxxx - Dimensions The technical drawings can be downloaded from the Beckhoff homepage. The drawings are named as described in the drawing below. Fig. 15: Naming of the technical drawings EJ6002...

  • Page 26: Installation Positions And Minimum Distances

    [} 27]) ensures an adequate reaching area. The signal distribution board must have a thickness of 1.6 mm and a minimum distance of 4 mm from the mounting surface, in order to ensure latching of the modules on the board. Version: 1.5 EJ6002...

  • Page 27: Installation Positions

    The recommended minimum distances should not be regarded as restricted areas for other components. The customer is responsible for verifying compliance with the environmental conditions described in the technical data. Additional cooling measures must be provided, if required. EJ6002 Version: 1.5...
  • Page 28 All other installation positions are characterized by a different spatial position of the signal distribution board, see Fig. Other installation positions. The minimum distances to ambient specified above also apply to these installation positions. Fig. 18: Other installation positions Version: 1.5 EJ6002...

  • Page 29: Codings

    Signal type Modules Color Coupler EJ11xx No color coding Digital input EJ1xxx Yellow Digital output EJ2xxx Analog input EJ3xxx Green Analog output EJ4xxx Blue Position measurement EJ5xxx grey Communication EJ6xxx grey Motion EJ7xxx orange System EJ9xxx grey EJ6002 Version: 1.5...

  • Page 30: Mechanical Position Coding

    There is no plug protection between modules with the same signal type. During installation the module type should therefore be verified based on the device name. Fig. 21: Pin coding; sample: digital input modules Version: 1.5 EJ6002...

  • Page 31: Installation On The Signal Distribution Board

    The required contact pressure can only be established and the maximum current carrying capacity en- sured if the module is latched securely. 5. Use placeholder modules (EJ9001) to fill gaps in the module strand. EJ6002 Version: 1.5...
  • Page 32 • During installation ensure safe latching of the modules on the signal distribution board! The conse- quences of inadequate contact pressure include: ð loss of quality of the transferred signals, ð increased power dissipation of the contacts, ð impairment of the service life. Version: 1.5 EJ6002...

  • Page 33: Extension Options

    Exchanging placeholder modules and B2 - Assigning reserve slots) according to the specifications for the signal distribution board. Fig. 23: Sample: Exchanging placeholder modules and assigning reserve slots E-bus supply Exchange the placeholder modules with other modules changes the current input from the E-Bus. Ensure that adequate power supply is provided. EJ6002 Version: 1.5...

  • Page 34: Linking With Ethercat Terminals And Ethercat Box Modules Via An Ethernet/Ethercat Connection

    Installation of EJ modules 4.6.2 Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet/EtherCAT connection Fig. 24: Example of extension via an Ethernet/EtherCAT connection Version: 1.5 EJ6002...

  • Page 35: Ipc Integration

    EtherCAT Extension (EK1110) or EtherCAT Coupler (EJ1100) is required. The Embedded PC can be expanded with EtherCAT Terminals that are not yet available in the EJ system, for example. Fig. 25: Example PCB with Embedded PC, EK1110-0043 and EJxxxx, rear view EK1110-0043 EJ6002 Version: 1.5...
  • Page 36 The figure below shows the connection of a C6015 IPC to an EJ system as an example. The components shown are schematic, to illustrate the functionality. Fig. 26: Example for the connection of a C6015 IPC to an EJ system Version: 1.5 EJ6002...

  • Page 37: Disassembly Of The Signal Distribution Board

    Products marked with a crossed-out wheeled bin shall not be discarded with the normal waste stream. The device is considered as waste electrical and electronic equipment. The national regulations for the disposal of waste electrical and electronic equipment must be observed. EJ6002 Version: 1.5...

  • Page 38: Ethercat Basics

    EtherCAT basics EtherCAT basics Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics. Version: 1.5 EJ6002...

  • Page 39: Commissioning

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.

  • Page 40: Restore Object

    • no further byte was received for approx. 16 bit times (the time it would have taken to receive 2 bytes) after receiving data. • the process image is filled 80n0:06 Enable half duplex FALSE: BOOLEAN 0x00 (0 Full-duplex mode TRUE: Half-duplex mode Version: 1.5 EJ6002...
  • Page 41 RS422, Terminated RX Point to point connection between two devices. The termination resistor on the receiver is en- abled. RS422, BIAS/Failsafe RX Point to point connection between two devices. The BIAS/Failsafe resistors on the receiver are enabled. EJ6002 Version: 1.5...
  • Page 42 RS485 configuration with enabled termination re- sistor RS485, Terminated and BIAS/Failsafe (Endde- vice) RS485 configuration with enabled termination re- sistor and enabled BIAS/Failsafe resistors. This should be the default configuration for both endpoints of the RS485 network. Version: 1.5 EJ6002...

  • Page 43: Input Data

    Rx input is displayed here. 60n1:02 CTS In operation mode BOOLEAN 0x00 “RS232, manual operation” (CoE 0x80n0:1D [} 40] = 17 ) or “RS232, manual flow control” (CoE 0x80n0:1D [} 40] = 18 ) the level of CTS input is displayed here. EJ6002 Version: 1.5...

  • Page 44: Output Data

    ) or “RS232, manual flow control” (CoE 0x80n0:1D [} 40] = 18 ) the level of RTS output can be set manually here. Sending and receiving data is not handled by the firmware in “RS232, manual operation” mode. Version: 1.5 EJ6002...

  • Page 45: Information And Diagnostic Data

    Meaning Data type Flags Default F010:0 Module list Max. Subindex UINT8 0x01 (1 F010:01 SubIndex 001 Configured module revision UINT32 0x00000258 (600 6.2.6 Standard objects (0x1000-0x1FFF) The standard objects have the same meaning for all EtherCAT slaves. EJ6002 Version: 1.5...
  • Page 46 Index Name Meaning Data type Flags Default (hex) 1008:0 Device name Device name of the EtherCAT slave STRING EJ6002 Index 1009 Hardware version Index Name Meaning Data type Flags Default (hex) 1009:0 Hardware version Hardware version of the EtherCAT slave...
  • Page 47 27. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:25, 8 Ch.1) entry 0x25 (Data Out 20)) 1600:1C SubIndex 028 28. PDO Mapping entry (object 0x7000 (COM Outputs UINT32 0x7000:26, 8 Ch.1) entry 0x26 (Data Out 21)) EJ6002 Version: 1.5...
  • Page 48 Ch.1), entry 0x01 (Tx)) 1601:02 SubIndex 002 2. PDO Mapping entry (object 0x7001 (COM Ext. Out- UINT32 0x7001:02, 1 puts Ch.1), entry 0x02 (RTS)) 1601:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 0x0000:00, 14 Version: 1.5 EJ6002...
  • Page 49 27. PDO Mapping entry (object 0x7010 (COM Outputs UINT32 0x7010:25, 8 Ch.2) entry 0x25 (Data Out 20)) 1602:1C SubIndex 028 28. PDO Mapping entry (object 0x7010 (COM Outputs UINT32 0x7010:26, 8 Ch.2) entry 0x26 (Data Out 21)) EJ6002 Version: 1.5...
  • Page 50 Ch.2), entry 0x01 (Tx)) 1603:02 SubIndex 002 2. PDO Mapping entry (object 0x7011 (COM Ext. Out- UINT32 0x7011:02, 1 puts Ch.2), entry 0x02 (RTS)) 1603:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 0x0000:00, 14 Version: 1.5 EJ6002...
  • Page 51 30. PDO Mapping entry (object 0x0x6000 (COM Inputs UINT32 06000:25, 8 Ch.1), entry 0x25 (Data In 20)) 1A00:1F SubIndex 031 31. PDO Mapping entry (object 0x0x6000 (COM Inputs UINT32 06000:26, 8 Ch.1), entry 0x26 (Data In 21)) EJ6002 Version: 1.5...
  • Page 52 0x6001:01, 1 Ch.1), entry 0x01 (Rx)) 1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6001 (COM Ext. Inputs UINT32 0x6001:02, 1 Ch.1), entry 0x02 (CTS)) 1A01:03 SubIndex 003 3. PDO Mapping entry (14 bits align) UINT32 0x0000:00, 14 Version: 1.5 EJ6002...
  • Page 53 30. PDO Mapping entry (object 0x0x6010 (COM Inputs UINT32 06010:25, 8 Ch.2), entry 0x25 (Data In 20)) 1A02:1F SubIndex 031 31. PDO Mapping entry (object 0x0x6010 (COM Inputs UINT32 06010:26, 8 Ch.2), entry 0x26 (Data In 21)) EJ6002 Version: 1.5...
  • Page 54 Name Meaning Data type Flags Default (hex) 1C12:0 RxPDO assign PDO Assign Outputs UINT8 0x00 (0 Index 1C13 TxPDO assign Index Name Meaning Data type Flags Default (hex) 1C13:0 TxPDO assign PDO Assign Inputs UINT8 0x00 (0 Version: 1.5 EJ6002...
  • Page 55 Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) EJ6002 Version: 1.5...
  • Page 56 Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C33:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) Version: 1.5 EJ6002...

  • Page 57: Command Object (0Xfb00)

    2: Command executed with error and without response 3: Command executed with error and with response 255: Command is being executed FB00:03 Response Optional return value of the command OCTET- STRING [48 Response: up to 48 bit bit] EJ6002 Version: 1.5...

  • Page 58: Appendix

    Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: https://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 60 More Information: www.beckhoff.com/EJ6002 Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

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