Beckhoff EL1258, Documentation

Page 1: ...Documentation EL125x EL2258 8 channel digital input output terminal with time stamp 2 5 2017 12 07 Version Date...

Page 2: ......

Page 3: ...rsion 2 5 1 Product overview 8 channel Digital Input Output Terminals EL1258 14 8 channel digital input terminal 24 VDC with Timestamp EL1259 14 2 x 8 channel digital input output terminal 24 VDC with...

Page 4: ...protection 33 5 2 Installation on mounting rails 33 5 3 Installation instructions for enhanced mechanical load capacity 37 5 4 Connection 37 5 4 1 Connection system 37 5 4 2 Wiring 39 5 4 3 Shielding...

Page 5: ...8 CoE object description and parameterization 136 6 8 1 EL1258 136 6 8 2 EL1259 173 6 8 3 EL2258 246 6 9 Example programs 286 6 9 1 Example program for EL2258 Multi Timestamp 287 6 9 2 Example progra...

Page 6: ...Table of contents EL125x EL2258 6 Version 2 5...

Page 7: ...the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT EtherCAT Safety over EtherCAT TwinSAFE XFC and XTS are registered trademarks of and licensed by Beckhoff Automatio...

Page 8: ...familiar with the applicable national standards Description of symbols In this documentation the following symbols are used with an accompanying safety instruction or note The safety instructions must...

Page 9: ...Update structure Update revision status 1 4 Update chapter Distributed Clocks settings Update structure Update revision status 1 3 Update chapter Distributed Clocks settings Update structure Update r...

Page 10: ...Information in the form of an XML file which is available for download from the Beckhoff web site From 2014 01 the revision is shown on the outside of the IP20 terminals see Fig EL5021 EL terminal sta...

Page 11: ...or this PCB hardware version of I O PCB 1 Unique serial number ID ID number In addition in some series each individual module has its own unique serial number See also the further documentation in the...

Page 12: ...Fig 4 EL3202 0020 with batch numbers 26131006 and unique ID number 204418 Fig 5 EP1258 00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102 Fig 6 EP1908 0002 IP67 EtherC...

Page 13: ...258 13 Version 2 5 Fig 7 EL2904 IP20 safety terminal with batch number date code 50110302 and unique serial number 00331701 Fig 8 ELM3604 0002 terminal with ID number QR code 100001051 and unique seri...

Page 14: ...Product overview EL125x EL2258 14 Version 2 5 3 Product overview 3 1 EL1258 EL1259 EL2258 3 1 1 Introduction Fig 9 EL1258 Fig 10 EL1259...

Page 15: ...ls of the controller electrically isolated from the process level Up to 10 switching orders per PLC cycle can be transferred to the terminal These are output with an accuracy of up to 10 s depending o...

Page 16: ...0 C 55 C Permissible ambient temperature range during storage 25 C 85 C Permissible relative humidity 95 no condensation Dimensions W x H x D approx 15 mm x 100 mm x 70 mm width aligned 12 mm Mountin...

Page 17: ...machine at finer intervals the cycle time usually has to be reduced to the required or smallest possible value e g 100 s However this entails limitations with regard to the then maximum available comp...

Page 18: ...several edge changes occur e g a rising edge of pulse C the first or last event is stored depending on the configuration see EL1252 documentation In summary the oversampling and timestamp procedures p...

Page 19: ...uted at B independently of the cycle The controller can then send a new switching order C The infinitely fine time resolution of 1 ns applies here as well In general the digital output terminal EL2252...

Page 20: ...ing events can also be specified within a cycle In order to transfer switching orders to the channel as quickly as possible the multi timestamp function operates with AutoActivation new switching orde...

Page 21: ...19 Output of output channel information with multi timestamp 3 2 Start For commissioning mount the EL125x EL2258 as described in the chapter Mounting and wiring 33 configure the EL125x EL2258 in Twin...

Page 22: ...EC 8802 3 Pin Color of conductor Signal Description 1 yellow TD Transmission Data 2 orange TD Transmission Data 3 white RD Receiver Data 6 blue RD Receiver Data Due to automatic cable detection auto c...

Page 23: ...erminal for longer than the set and activated SM watchdog time e g in the event of a line interruption the watchdog is triggered and the outputs are set to FALSE The OP state of the terminal is unaffe...

Page 24: ...If the checkbox is not activated nothing is downloaded and the ESC settings remain unchanged Multiplier Multiplier Both watchdogs receive their pulses from the local terminal cycle divided by the wat...

Page 25: ...r switching off of the SM watchdog via SM watchdog 0 is only imple mented in terminals from version 0016 In previous versions this operating mode should not be used CAUTION Damage of devices and undef...

Page 26: ...rational Safe Op During transition between Pre Op and Safe Op the EtherCAT slave checks whether the sync manager channels for process data communication and if required the distributed clocks settings...

Page 27: ...ration values for analog measurement or passwords The order is specified in 2 levels via hexadecimal numbering main index followed by subindex The value ranges are Index 0x0000 0xFFFF 0 65535dez SubIn...

Page 28: ...ters of the slave are configurable and writeable This can be done in write or read mode via the System Manager Fig CoE Online tab by clicking This is useful for commissioning of the system slaves Clic...

Page 29: ...ce on it is then inactive Changed CoE values are not saved in the EEPROM and can thus be changed any number of times Function is not supported continuous changing of CoE values is not permissible in v...

Page 30: ...ffline online If the slave is offline The offline list from the ESI file is displayed In this case modifications are not meaningful or possible The configured status is shown under Identity No firmwar...

Page 31: ...entation the placeholder n tends to be used for the individual channel numbers In the CoE system 16 indices each with 255 subindices are generally sufficient for representing all channel parameters Th...

Page 32: ...nit 1 ns Zero point 1 1 2000 00 00 Size 64 bit sufficient for the next 584 years however some EtherCAT slaves only offer 32 bit support i e the variable overflows after approx 4 2 seconds The EtherCAT...

Page 33: ...ntact with highly insulating materials synthetic fibers plastic film etc b Surroundings working place packaging and personnel should by grounded probably when handling with the devices c Each assembly...

Page 34: ...lock clicks onto the mounting rail If the Terminals are clipped onto the mounting rail first and then pushed together without tongue and groove the connection will not be operational When correctly a...

Page 35: ...ents The six spring contacts of the K Bus E Bus deal with the transfer of the data and the supply of the Bus Terminal electronics The power contacts deal with the supply for the field electronics and...

Page 36: ...ion testing or to damage on the terminal e g disruptive discharge to the PE line during insulation testing of a consumer with a nominal voltage of 230 V For insulation testing disconnect the PE supply...

Page 37: ...ture e g an earth terminal or reinforced end clamp The maximum total extension of the terminal segment without coupler is 64 terminals 12 mm mounting with or 32 terminals 24 mm mounting with Avoid def...

Page 38: ...ctor from the top of the housing for servicing The lower section can be removed from the terminal block by pulling the unlocking tab Insert the new component and plug in the connector with the wiring...

Page 39: ...tables concern ing the wire size width below 5 4 2 Wiring WARNING Risk of electric shock and damage of device Bring the bus terminal system into a safe powered down state before starting installation...

Page 40: ...wire end sleeve 0 14 0 75 mm2 Wire size width ultrasonically bonded conductors only 1 5 mm2 Wire stripping length 8 9 mm 5 4 3 Shielding Note Shielding Encoder analog sensors and actors should always...

Page 41: ...own in Fig Recommended distances for standard installation position is recommended Other installation positions All other installation positions are characterized by different spatial arrangement of t...

Page 42: ...Mounting and wiring EL125x EL2258 42 Version 2 5 Fig 36 Other installation positions...

Page 43: ...are so called Passive Terminals The Passive Terminals have no current consumption out of the E Bus To ensure an optimal data transfer you must not directly string together more than 2 Passive Termina...

Page 44: ...ing to UL508 with limited power consumption The current consumed by the device is limited to a max possible current consumption of 4 A Devices with this kind of certification are marked by this sign A...

Page 45: ...EL1258 LED Color Meaning INPUT 1 8 green off There is no input signal at the respective input on Input signal at the respective input Connection EL1258 Terminal point Description Name No Input 1 1 Inp...

Page 46: ...output signal is present at the respective output on Input signal at the respective input Connection EL1259 Terminal point Description Name No Input 1 1 Input 1 Input 2 2 Input 2 Input 3 3 Input 3 Inp...

Page 47: ...tive input on Output signal at the respective input Connection EL2258 Terminal point Description Name No Output 1 1 Output 1 Output 2 2 Output 2 Output 3 3 Output 3 Output 4 4 Output 4 Output 5 5 Outp...

Page 48: ...Manager I O Configuration In particular TwinCAT driver installation Fieldbus components Fieldbus Cards and Switches FC900x PCI Cards for Ethernet Installation Devices contain the terminals for the act...

Page 49: ...ased on the following sample configuration the subsequent subsections describe the procedure for TwinCAT 2 and TwinCAT 3 Control system PLC CX2040 including CX2100 0004 power supply unit Connected to...

Page 50: ...which case the EK1100 coupler wouldn t be necessary 6 1 1 TwinCAT 2 Startup TwinCAT basically uses two user interfaces the TwinCAT System Manager for communication with the electromechanical componen...

Page 51: ...st be made known first In the menu under Actions Choose Target System via the symbol or the F8 key open the following window Fig 45 Selection of the target system Use Search Ethernet to enter the targ...

Page 52: ...st have to be set to Config mode via or via menu Actions Set Reset TwinCAT to Config Mode Shift F4 Fig 47 Select Scan Devices Confirm the warning message which follows and select EtherCAT in the dialo...

Page 53: ...h then reads the elements present in the configuration below Fig 50 Reading of individual terminals connected to a device This functionality is useful if the actual configuration is modified at short...

Page 54: ...Chart Editor CFC Sequential Function Chart SFC The following section refers to Structured Text ST After starting TwinCAT PLC Control the following user interface is shown for an initial project Fig 51...

Page 55: ...successful compilation TwinCAT PLC Control creates a tpy file in the directory in which the project was stored This file tpy contains variable assignments and is not known to the System Manager hence...

Page 56: ...tem Manager The two variables bEL1004_Ch4 and nEL2008_value can now be assigned to certain process objects of the I O configuration Assigning variables Open a window for selecting a suitable process o...

Page 57: ...ultaneously activate Continuous and All types Note that the Continuous checkbox was also activated This is designed to allocate the bits contained in the byte of the variable nEL2008_value sequentiall...

Page 58: ...e context menu of a PDO can be executed in the other direction so that the respective PLC instance can then be selected Activation of the configuration The allocation of PDO to PLC variables has now e...

Page 59: ...Link the PLC with the real time system via menu option Online Login the F11 key or by clicking on the symbol The control program can then be loaded for execution This results in the message No program...

Page 60: ...nvironment areas available together with Microsoft Visual Studio after startup the project folder explorer appears on the left in the general window area cf TwinCAT System Manager of TwinCAT 2 for com...

Page 61: ...3 user interface First create a new project via or under File New Project In the following dialog make the corresponding entries as required as shown in the diagram Fig 62 Create new TwinCAT project...

Page 62: ...alled on the respective PLC TwinCAT can be used in local mode and thereby the next step is Insert Device 63 If the intention is to address the TwinCAT runtime environment installed on a PLC as develop...

Page 63: ...been entered it is available for selection as follows a password may have to be entered After confirmation with OK the target system can be accessed via the Visual Studio shell Adding devices In the p...

Page 64: ...so be acknowledged Based on the sample configuration 49 described at the beginning of this section the result is as follows Fig 68 Mapping of the configuration in VS shell of the TwinCAT3 environment...

Page 65: ...ntrol supports all languages described in IEC 61131 3 There are two text based languages and three graphical languages Text based languages Instruction List IL Structured Text ST Graphical languages F...

Page 66: ...r PLC_example as project name for example and select a corresponding directory Fig 71 Specifying the name and directory for the PLC programming environment The Main program which already exists by sel...

Page 67: ...Commissioning EL125x EL2258 67 Version 2 5 Fig 72 Initial Main program of the standard PLC project To continue sample variables and a sample program have now been created...

Page 68: ...lder followed by the compile process Fig 74 Start program compilation The following variables identified in the ST PLC program with AT are then available in under Assignments in the project folder exp...

Page 69: ...ation tree Fig 76 Selecting PDO of type BOOL According to the default setting certain PDO objects are now available for selection In this sample the input of channel 4 of the EL1004 terminal is select...

Page 70: ...links can also be checked by selecting a Goto Link Variable from the context menu of a variable The object opposite in this case the PDO is automatically selected Fig 78 Application of a Goto Link var...

Page 71: ...at the bottom right of the VS shell development environment The PLC system can then be started as described below Starting the controller Select the menu option PLC Login or click on to link the PLC w...

Page 72: ...Automation Visual Studio Integration Choice of the programming language Supports object orientated extension of IEC 61131 3 Usage of C C as programming language for real time applications Connection...

Page 73: ...aces listed under Compatible devices can be assigned a driver via the Install button A driver should only be installed on compatible devices A Windows warning regarding the unsigned driver can be igno...

Page 74: ...ties of the EtherCAT device can be opened by double click on Device EtherCAT within the Solution Explorer under I O After the installation the driver appears activated in the Windows overview for the...

Page 75: ...Commissioning EL125x EL2258 75 Version 2 5 Fig 85 Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided...

Page 76: ...Commissioning EL125x EL2258 76 Version 2 5 Fig 86 Incorrect driver settings for the Ethernet port...

Page 77: ...ases where an EL6601 or similar devices are used it is useful to specify a fixed IP address for this port via the Internet Protocol TCP IP driver setting and to disable DHCP In this way the delay asso...

Page 78: ...was current at the time when the TwinCAT build was created For TwinCAT 2 11 TwinCAT 3 and higher the ESI directory can be updated from the System Manager if the programming PC is connected to the Int...

Page 79: ...revision 1019 or for an older revision The ESI must then be requested from the manufacturer in this case Beckhoff b an ESI is present for the EL2521 0000 device but only in an older revision e g 1018...

Page 80: ...eleted as follows close all System Manager windows restart TwinCAT in Config mode delete OnlineDescription0000 xml restart TwinCAT System Manager This file should not be visible after this procedure i...

Page 81: ...x EL2258 81 Version 2 5 Reasons may include Structure of the xml does not correspond to the associated xsd file check your schematics Contents cannot be translated into a device description contact th...

Page 82: ...presence of the actual I O environment drives terminals EJ modules If the configuration is to be prepared in advance of the system configuration as a programming system e g on a laptop this is only po...

Page 83: ...uration 93 can also be carried out for comparison 6 2 5 OFFLINE configuration creation Creating the EtherCAT device Create an EtherCAT device in an empty System Manager window Fig 96 Append EtherCAT d...

Page 84: ...evices can be appended by right clicking on a device in the configuration tree Fig 100 Appending EtherCAT devices left TwinCAT 2 right TwinCAT 3 The dialog for selecting a new device opens Only device...

Page 85: ...evision can be displayed as Extended Information Fig 102 Display of device revision In many cases several device revisions were created for historic or functional reasons e g through technological adv...

Page 86: ...ration This also enables subsequent replacement of devices without changing the configuration different specifications are possible for drives Example If an EL2521 0025 1018 is specified in the config...

Page 87: ...Commissioning EL125x EL2258 87 Version 2 5 Fig 105 EtherCAT terminal in the TwinCAT tree left TwinCAT 2 right TwinCAT 3...

Page 88: ...Note Online scanning in Config mode The online search is not available in RUN mode production operation Note the differenti ation between TwinCAT programming system and TwinCAT target system The TwinC...

Page 89: ...Scanning the EtherCAT devices Note Online scan functionality During a scan the master queries the identity information of the EtherCAT slaves from the slave EEPROM The name and revision are used for...

Page 90: ...the predecessor version s an adaptation of B tsm or even B pro is therefore unnecessary The series produced machines can continue to be built with B tsm and B pro it makes sense to perform a comparati...

Page 91: ...e configuration is established and can then be switched to online state OPERATIONAL Fig 116 Config FreeRun query left TwinCAT 2 right TwinCAT 3 In Config FreeRun mode the System Manager display altern...

Page 92: ...evice is detected i e an EtherCAT slave for which no ESI XML description is available In this case the System Manager offers to read any ESI that may be stored in the device This case is described in...

Page 93: ...configuration is then replaced by the revision found this can affect the supported process data and functions If a scan is initiated for an existing configuration the actual I O environment may match...

Page 94: ...ed on the higher revision number Note Device selection based on revision compatibility The ESI description also defines the process image the communication type between mas ter and slave device and th...

Page 95: ...CAT offers a function Change to Compatible Type for the exchange of a device whilst retaining the links in the task Fig 125 Dialog Change to Compatible Type left TwinCAT 2 right TwinCAT 3 This functio...

Page 96: ...tabs are now available for configuring the terminal And yet the dimension of complexity of a subscriber determines which tabs are provided Thus as illustrated in the example above the terminal EL3751...

Page 97: ...ring the start up phase Tick the control box to the left of the input field in order to modify the default value Previous Port Name and port of the EtherCAT device to which this device is connected If...

Page 98: ...f modifications include mask out a channel displaying additional cyclic information 16 bit display instead of 8 bit data size etc In so called intelligent EtherCAT devices the process data information...

Page 99: ...se of incorrect con figuration the EtherCAT slave usually refuses to start and change to OP state The System Manager displays an invalid SM cfg logger message This error message invalid SM IN cfg or i...

Page 100: ...e sent to the mailbox Move Up This button moves the selected request up by one position in the list Move Down This button moves the selected request down by one position in the list New This button ad...

Page 101: ...ex Index and sub index of the object Name Name of the object Flags RW The object can be read and data can be written to the object read write RO The object can be read but no data can be written to th...

Page 102: ...can specify which objects are displayed in the list Fig 134 Dialog Advanced settings Online via SDO Information If this option button is selected the list of the objects included in the object list o...

Page 103: ...ete the fault display If an EtherCAT slave fails during change of state it sets an error flag Example An EtherCAT slave is in PREOP state pre operational The master now requests the SAFEOP state safe...

Page 104: ...DC Synchron Input based DC Synchron Advanced Settings Advanced settings for readjustment of the real time determinant TwinCAT clock Detailed information to Distributed Clocks are specified on http in...

Page 105: ...nt list The PDO configuration can be modified by double clicking on an entry Column Description Index PDO index Size Size of the PDO in bytes Name Name of the PDO If this PDO is assigned to a Sync Man...

Page 106: ...lling task for diagnosis that is accurate for the current cycle when in operation not during commissioning are discussed below Fig 137 Selection of the diagnostic information of an EtherCAT Slave In g...

Page 107: ...ckhoff EL3102 2 channel analogue input terminal is used here as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel Structures are...

Page 108: ...ly have effects on the process data of other Slaves that are located in the same Syn cUnit In order for the higher level PLC task or cor responding control applications to be able to rely on correct d...

Page 109: ...aved locally in the slave depends on the device EL terminals except the EL66xx are able to save in this way The user must manage the changes to the StartUp list Commissioning aid in the TwinCAT System...

Page 110: ...ual operation After the operating power is switched on an EtherCAT Slave must go through the following statuses INIT PREOP SAFEOP OP to ensure sound operation The EtherCAT Master directs these statuse...

Page 111: ...set as standard EtherCAT Master OP Slaves OP This setting applies equally to all Slaves Fig 141 Default behaviour of the System Manager In addition the target state of any particular Slave can be set...

Page 112: ...slave Fig 143 PLC function blocks Note regarding E Bus current EL ES terminals are placed on the DIN rail at a coupler on the terminal strand A Bus Coupler can supply the EL terminals added to it with...

Page 113: ...bove a warning message E Bus Power of Terminal is output in the logger window when such a configuration is activated Fig 145 Warning message for exceeding E Bus current Attention Caution Malfunction p...

Page 114: ...alues created specifically for the buffer The actual values as time stamped Boolean data in the form of an array The array should be set to a suitable size in the configuration It cannot be changed du...

Page 115: ...ps to the currently valid 64 bits in the PLC MTSF Multi timestamp factor currently 1 10 higher on request In the configuration each channel can be configured to a fixed maximum number of events that c...

Page 116: ...the MTSF value The corresponding values can be found are in the following table The distributed clock in the terminal is controlled via EtherCAT to the standard accuracy of 1 s However the internal p...

Page 117: ...252 This means that software interfaces that were created for these timestamp terminals can also be used for multi timestamp terminals To this end select the settings Compatible X Ch in the EL1258 EL2...

Page 118: ...can specified as predefined PDO or freely combined Selection via predefined PDO Fig 149 Setting multi timestamping via predefined PDO Several pre configured combinations of channel number and MTSF are...

Page 119: ...input mapping Fig 151 Event logger message from the System Manager in the event of invalid PDO combination 6 5 Commissioning inputs Table of contents Basic principles 119 Commissioning an MIT channel...

Page 120: ...red in the buffer In CoE 0x80n0 13 there is an option to select whether further new events arriving at the nput are no longer stored in the buffer default or stored in the buffer while older events ar...

Page 121: ...Reset behavior in the event of a reset signal in the status register PDO 0x80n0 11 FALSE reset on rising edge Reset is executed on rising edge New data can then be buffered right away 0x80n0 11 TRUE r...

Page 122: ...ss image Starting from the beginning Fig 154 Setting in CoE x80n0 12 Asynchronous operation 2 Setting the multi timestamping factor MTSF To facilitate choosing an appropriate MTSF one should estimate...

Page 123: ...dure The filter can be activated via the CoE 0x80n0 01 EnableDigitalFilter If the filter activated is the object 0x80n0 14 DigitalFilterCounter is used to set the timeframe over which the signal is re...

Page 124: ...channel supplies 32 bit timestamp The following function block can be used for scaling up to the convenient 64 bit format Download https infosys beckhoff com content 1033 el125x_el2258 Resources zip 1...

Page 125: ...First edge The first detected event is forwarded to the PLC 80n0 02 Neg Sample Mode Defines the behavior for falling edges with several signals per cycle 80n0 02 FALSE Last edge The last detected eve...

Page 126: ...2258 126 Version 2 5 6 6 1 Basic principles Each MTO channel multi timestamp output has inputs and outputs in the cyclic process image which have to be linked with the PLC task Fig 161 Inputs and outp...

Page 127: ...n its maximum value of three is exceeded EventsInInputBuffer Number of saved events remaining in the buffer after the events transmitted for the current cycle have been removed OutputOrderFeedback Ref...

Page 128: ...tamp 1 Bit 1 Output value timestamp 2 etc Output event time x List of 32 bit timestamps of the respective signal edge Each channel has corresponding settings for selection of the operating mode in the...

Page 129: ...mestamp width of 4 29 seconds is subdivided into 2 15 seconds past 2 15 seconds future In this case switching orders may only be up to 2 15 seconds in the future The bit ForceOrder which is available...

Page 130: ...owing procedure can be used to test a connected actuator without time specification In the CoE directory 0x80n1 02 EnableManualOperation 126 set the bit for the respective channel If the terminal is i...

Page 131: ...e all switching orders calculated in the PLC output state timestamp 32 bit in the PDO Set NoOfOutputEvents x e g x 5 if 5 valid switching orders are sent x must be MTSF Increment OutputOrderCounter 1...

Page 132: ...lar to the EL2252 In addition the EL2252 offers a tristate PDO for high resistance switching of the channels This PDO is not available for the EL2258 0x70n0 0 MTO Output Ch n 8 F Name Entry Descriptio...

Page 133: ...available under Beckhoff TwinCAT in the TcUtilities lib library Longer execution times are required here than is the case with standard 32 bit data types A data type with a width of 64 bits is defined...

Page 134: ...Due to the character of the visualization the online dis play in the TwinCAT System Manager is accurate at best to a three figure millisecond range Within a PLC the SysTime process data may also be ou...

Page 135: ...me The MultiTimestamp terminals can offer the local DC system time of the terminal directly as a process data Fig 170 Setting SysTime To this end the PDO DEV Input Device has to be activated in the Sy...

Page 136: ...f the time stamps 6 8 CoE object description and parameterization 6 8 1 EL1258 6 8 1 1 Object description specific objects Note EtherCAT XML Device Description The display matches that of the CoE obje...

Page 137: ...vents must be acknowledged by the PLC To this end the byte No of input events must be monitored in the PLC program If it is greater than zero the pending events can be taken over from the process imag...

Page 138: ...falling edges This setting is left to the manufacturer INT32 RW 0x00000000 0dec 6 8 1 1 3 Input data Index 6pp1 MTI inputs for 00 pp 07 Ch 1 to Ch 8 Index hex Name Meaning Data type Flags Default 6pp1...

Page 139: ...133 UINT64 RO 6 8 1 1 4 Output data Index 7pp0 MTI outputs for 00 pp 07 Ch 1 to Ch 8 Index hex Name Meaning Data type Flags Default 7pp0 0 MTI outputs UINT8 RO 0x00 0dec 7pp0 01 Input buffer reset Rem...

Page 140: ...0x03 3dec FB00 01 Request Commands can be sent to the terminal via the request object OCTET STRING 2 RW 0 FB00 02 Status Status of the command currently being executed UINT8 RO 0x00 0dec FB00 03 Resp...

Page 141: ...g entry object 0x7000 MTI outputs Ch 1 entry 0x01 Input buffer reset UINT32 RO 0x7000 01 1 1600 02 SubIndex 002 2 PDO Mapping entry 15 bits align UINT32 RO 0x0000 00 15 1600 03 SubIndex 003 3 PDO Mapp...

Page 142: ...1605 01 SubIndex 001 1 PDO Mapping entry object 0x7050 MTI outputs Ch 6 entry 0x01 Input buffer reset UINT32 RO 0x7050 01 1 1605 02 SubIndex 002 2 PDO Mapping entry 15 bits align UINT32 RO 0x0000 00 1...

Page 143: ...01 MTI inputs Ch 1 entry 0x26 Input event state 6 UINT32 RO 0x6001 26 1 1A00 0E SubIndex 014 14 PDO Mapping entry object 0x6001 MTI inputs Ch 1 entry 0x27 Input event state 7 UINT32 RO 0x6001 27 1 1A0...

Page 144: ...1 0F SubIndex 015 15 PDO Mapping entry object 0x6001 MTI inputs Ch 1 entry 0x42 Input event time 2 UINT32 RO 0x6001 42 32 1A01 10 SubIndex 016 16 PDO Mapping entry object 0x6001 MTI inputs Ch 1 entry...

Page 145: ...3 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A03 05 SubIndex 005 5 PDO Mapping entry object 0x6001 MTI inputs Ch 1 entry 0x0F Input cycle counter UINT32 RO 0x6001 0F 2 1A0...

Page 146: ...11 MTI inputs Ch 2 entry 0x26 Input event state 6 UINT32 RO 0x6011 26 1 1A04 0E SubIndex 014 14 PDO Mapping entry object 0x6011 MTI inputs Ch 2 entry 0x27 Input event state 7 UINT32 RO 0x6011 27 1 1A0...

Page 147: ...5 0F SubIndex 015 15 PDO Mapping entry object 0x6011 MTI inputs Ch 2 entry 0x42 Input event time 2 UINT32 RO 0x6011 42 32 1A05 10 SubIndex 016 16 PDO Mapping entry object 0x6011 MTI inputs Ch 2 entry...

Page 148: ...7 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A07 05 SubIndex 005 5 PDO Mapping entry object 0x6011 MTI inputs Ch 2 entry 0x0F Input cycle counter UINT32 RO 0x6011 0F 2 1A0...

Page 149: ...21 MTI inputs Ch 3 entry 0x26 Input event state 6 UINT32 RO 0x6021 26 1 1A08 0E SubIndex 014 14 PDO Mapping entry object 0x6021 MTI inputs Ch 3 entry 0x27 Input event state 7 UINT32 RO 0x6021 27 1 1A0...

Page 150: ...9 0F SubIndex 015 15 PDO Mapping entry object 0x6021 MTI inputs Ch 3 entry 0x42 Input event time 2 UINT32 RO 0x6021 42 32 1A09 10 SubIndex 016 16 PDO Mapping entry object 0x6021 MTI inputs Ch 3 entry...

Page 151: ...0B 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A0B 05 SubIndex 005 5 PDO Mapping entry object 0x6021 MTI inputs Ch 3 entry 0x0F Input cycle counter UINT32 RO 0x6021 0F 2 1A...

Page 152: ...031 MTI inputs Ch 4 entry 0x26 Input event state 6 UINT32 RO 0x6031 26 1 1A0C 0E SubIndex 014 14 PDO Mapping entry object 0x6031 MTI inputs Ch 4 entry 0x27 Input event state 7 UINT32 RO 0x6031 27 1 1A...

Page 153: ...D 0F SubIndex 015 15 PDO Mapping entry object 0x6031 MTI inputs Ch 4 entry 0x42 Input event time 2 UINT32 RO 0x6031 42 32 1A0D 10 SubIndex 016 16 PDO Mapping entry object 0x6031 MTI inputs Ch 4 entry...

Page 154: ...0F 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A0F 05 SubIndex 005 5 PDO Mapping entry object 0x6031 MTI inputs Ch 4 entry 0x0F Input cycle counter UINT32 RO 0x6031 0F 2 1A...

Page 155: ...041 MTI inputs Ch 5 entry 0x26 Input event state 6 UINT32 RO 0x6041 26 1 1A10 0E SubIndex 014 14 PDO Mapping entry object 0x6041 MTI inputs Ch 5 entry 0x27 Input event state 7 UINT32 RO 0x6041 27 1 1A...

Page 156: ...1 0F SubIndex 015 15 PDO Mapping entry object 0x6041 MTI inputs Ch 5 entry 0x42 Input event time 2 UINT32 RO 0x6041 42 32 1A11 10 SubIndex 016 16 PDO Mapping entry object 0x6041 MTI inputs Ch 5 entry...

Page 157: ...13 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A13 05 SubIndex 005 5 PDO Mapping entry object 0x6041 MTI inputs Ch 5 entry 0x0F Input cycle counter UINT32 RO 0x6041 0F 2 1A...

Page 158: ...051 MTI inputs Ch 6 entry 0x26 Input event state 6 UINT32 RO 0x6051 26 1 1A14 0E SubIndex 014 14 PDO Mapping entry object 0x6051 MTI inputs Ch 6 entry 0x27 Input event state 7 UINT32 RO 0x6051 27 1 1A...

Page 159: ...5 0F SubIndex 015 15 PDO Mapping entry object 0x6051 MTI inputs Ch 6 entry 0x42 Input event time 2 UINT32 RO 0x6051 42 32 1A15 10 SubIndex 016 16 PDO Mapping entry object 0x6051 MTI inputs Ch 6 entry...

Page 160: ...17 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A17 05 SubIndex 005 5 PDO Mapping entry object 0x6051 MTI inputs Ch 6 entry 0x0F Input cycle counter UINT32 RO 0x6051 0F 2 1A...

Page 161: ...061 MTI inputs Ch 7 entry 0x26 Input event state 6 UINT32 RO 0x6061 26 1 1A18 0E SubIndex 014 14 PDO Mapping entry object 0x6061 MTI inputs Ch 7 entry 0x27 Input event state 7 UINT32 RO 0x6061 27 1 1A...

Page 162: ...9 0F SubIndex 015 15 PDO Mapping entry object 0x6061 MTI inputs Ch 7 entry 0x42 Input event time 2 UINT32 RO 0x6061 42 32 1A19 10 SubIndex 016 16 PDO Mapping entry object 0x6061 MTI inputs Ch 7 entry...

Page 163: ...1B 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A1B 05 SubIndex 005 5 PDO Mapping entry object 0x6061 MTI inputs Ch 7 entry 0x0F Input cycle counter UINT32 RO 0x6061 0F 2 1A...

Page 164: ...071 MTI inputs Ch 8 entry 0x26 Input event state 6 UINT32 RO 0x6071 26 1 1A1C 0E SubIndex 014 14 PDO Mapping entry object 0x6071 MTI inputs Ch 8 entry 0x27 Input event state 7 UINT32 RO 0x6071 27 1 1A...

Page 165: ...D 0F SubIndex 015 15 PDO Mapping entry object 0x6071 MTI inputs Ch 8 entry 0x42 Input event time 2 UINT32 RO 0x6071 42 32 1A1D 10 SubIndex 016 16 PDO Mapping entry object 0x6071 MTI inputs Ch 8 entry...

Page 166: ...RO 0x6071 41 32 Index 1A20 TSI TxPDO Map Inputs Ch 1 Index hex Name Meaning Data type Flags Default 1A20 0 TSI TxPDO Map In puts Ch 1 PDO Mapping TxPDO 33 UINT8 RO 0x06 6dec 1A20 01 SubIndex 001 1 PDO...

Page 167: ...0 41 64 1A23 06 SubIndex 006 6 PDO Mapping entry object 0x60B0 TSI Inputs Ch 4 entry 0x42 LatchNeg UINT32 RO 0x60B0 42 64 Index 1A24 TSI TxPDO Map Inputs Ch 5 Index hex Name Meaning Data type Flags De...

Page 168: ...UINT32 RO 0x0000 00 48 1A27 05 SubIndex 005 5 PDO Mapping entry object 0x60F0 TSI Inputs Ch 8 entry 0x41 LatchPos UINT32 RO 0x60F0 41 64 1A27 06 SubIndex 006 6 PDO Mapping entry object 0x60F0 TSI Inp...

Page 169: ...ains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A10 6672dec 1C13 06 SubIndex 006 6 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A14 6676d...

Page 170: ...mapping object UINT16 RW 0x0000 0dec 1C13 1F SubIndex 031 31 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 20 SubIndex 032 32 allocated TxPDO co...

Page 171: ...ns UINT32 RO 0x00001F40 8000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900d...

Page 172: ...0x1C32 08 171 or 0x1C33 08 172 UINT16 RO 0x0804 2052dec 1C33 05 Minimum cycle time as 0x1C32 05 171 UINT32 RO 0x00001F40 8000dec 1C33 06 Calc and copy time Time between reading of the inputs and avail...

Page 173: ...INT32 RW 0x00000079 121dec F010 0E SubIndex 014 UINT32 RW 0x00000079 121dec F010 0F SubIndex 015 UINT32 RW 0x00000079 121dec F010 10 SubIndex 016 UINT32 RW 0x00000079 121dec 6 8 2 EL1259 6 8 2 1 Objec...

Page 174: ...itching orders that were placed before the current time further explanation see here 126 BOOLEAN RW 0x00 0dec 8pp1 11 Buffer reset behavior Specifies the behavior of the Output buffer reset bit Permit...

Page 175: ...ter must be incremented This signals the terminal that the events were ac cepted and new data can be created in the next cycle 1 Synchronous New events are automatically transferred with each PLC cycl...

Page 176: ...hex Name Meaning Data type Flags Default 8ppF 0 TSI Vendor data UINT8 RO 0x12 18dec 8ppF 11 Offset pos This object can be used to move the input time of the rising edges This setting is left to the m...

Page 177: ...onding Input event state n UINT32 RO 0x00000000 0dec 6pp1 4A Input event time 10 UINT32 RO 0x00000000 0dec Index 6pp0 TSO Inputs for 10 pp 17 Ch 1 to Ch 8 Index hex Name Meaning Data type Flags Defaul...

Page 178: ...7pp1 11 No of output events Number of filled Output event state and Output event time objects UINT8 RO 0x00 0dec 7pp1 21 Output event state 1 This bit is used to specify which state the output should...

Page 179: ...1 11 Checksum error counter An error occurred in the internal data transfer UINT16 RO 0x0000 0dec Index A081 MTI common Diag data Index hex Name Meaning Data type Flags Default A081 0 MTI common Diag...

Page 180: ...version Hardware version of the EtherCAT slave STRING RO Index 100A Software version Index hex Name Meaning Data type Flags Default 100A 0 Software version Firmware version of the EtherCAT slave STRIN...

Page 181: ...14 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x26 Output event state 6 UINT32 RO 0x7001 26 1 1600 0F SubIndex 015 15 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x27 Output eve...

Page 182: ...9 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x21 Output event state 1 UINT32 RO 0x7001 21 1 1601 0A SubIndex 010 10 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x22 Output eve...

Page 183: ...0C SubIndex 012 12 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x41 Output event time 1 UINT32 RO 0x7001 41 32 1602 0D SubIndex 013 13 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry...

Page 184: ...14 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x26 Output event state 6 UINT32 RO 0x7011 26 1 1604 0F SubIndex 015 15 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x27 Output eve...

Page 185: ...9 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x21 Output event state 1 UINT32 RO 0x7011 21 1 1605 0A SubIndex 010 10 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x22 Output eve...

Page 186: ...0C SubIndex 012 12 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x41 Output event time 1 UINT32 RO 0x7011 41 32 1606 0D SubIndex 013 13 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry...

Page 187: ...14 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x26 Output event state 6 UINT32 RO 0x7021 26 1 1608 0F SubIndex 015 15 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x27 Output eve...

Page 188: ...9 9 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x21 Output event state 1 UINT32 RO 0x7021 21 1 1609 0A SubIndex 010 10 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x22 Output ev...

Page 189: ...0C SubIndex 012 12 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x41 Output event time 1 UINT32 RO 0x7021 41 32 160A 0D SubIndex 013 13 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry...

Page 190: ...14 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x26 Output event state 6 UINT32 RO 0x7031 26 1 160C 0F SubIndex 015 15 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x27 Output ev...

Page 191: ...9 9 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x21 Output event state 1 UINT32 RO 0x7031 21 1 160D 0A SubIndex 010 10 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x22 Output ev...

Page 192: ...0C SubIndex 012 12 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x41 Output event time 1 UINT32 RO 0x7031 41 32 160E 0D SubIndex 013 13 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry...

Page 193: ...14 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x26 Output event state 6 UINT32 RO 0x7041 26 1 1610 0F SubIndex 015 15 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x27 Output ev...

Page 194: ...9 9 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x21 Output event state 1 UINT32 RO 0x7041 21 1 1611 0A SubIndex 010 10 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x22 Output ev...

Page 195: ...0C SubIndex 012 12 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x41 Output event time 1 UINT32 RO 0x7041 41 32 1612 0D SubIndex 013 13 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry...

Page 196: ...14 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x26 Output event state 6 UINT32 RO 0x7051 26 1 1614 0F SubIndex 015 15 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x27 Output ev...

Page 197: ...9 9 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x21 Output event state 1 UINT32 RO 0x7051 21 1 1615 0A SubIndex 010 10 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x22 Output ev...

Page 198: ...0C SubIndex 012 12 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x41 Output event time 1 UINT32 RO 0x7051 41 32 1616 0D SubIndex 013 13 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry...

Page 199: ...14 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x26 Output event state 6 UINT32 RO 0x7061 26 1 1618 0F SubIndex 015 15 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x27 Output ev...

Page 200: ...9 9 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x21 Output event state 1 UINT32 RO 0x7061 21 1 1619 0A SubIndex 010 10 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x22 Output ev...

Page 201: ...0C SubIndex 012 12 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x41 Output event time 1 UINT32 RO 0x7061 41 32 161A 0D SubIndex 013 13 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry...

Page 202: ...14 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x26 Output event state 6 UINT32 RO 0x7071 26 1 161C 0F SubIndex 015 15 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x27 Output ev...

Page 203: ...9 9 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x21 Output event state 1 UINT32 RO 0x7071 21 1 161D 0A SubIndex 010 10 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x22 Output ev...

Page 204: ...1x Ch 8 Index hex Name Meaning Data type Flags Default 161F 0 MTO RxPDO Map Outputs 1x Ch 8 PDO Mapping RxPDO 32 UINT8 RO 0x0B 11dec 161F 01 SubIndex 001 1 PDO Mapping entry object 0x7071 MTO outputs...

Page 205: ...1623 01 SubIndex 001 1 PDO Mapping entry object 0x70B0 MTI outputs Ch 4 entry 0x01 Input buffer reset UINT32 RO 0x70B0 01 1 1623 02 SubIndex 002 2 PDO Mapping entry 15 bits align UINT32 RO 0x0000 00...

Page 206: ...2 PDO Mapping entry 15 bits align UINT32 RO 0x0000 00 15 1628 03 SubIndex 003 3 PDO Mapping entry object 0x7100 TSO Outputs Ch 1 entry 0x11 Activate UINT32 RO 0x7100 11 8 1628 04 SubIndex 004 4 PDO Ma...

Page 207: ...00 40 162C 05 SubIndex 005 5 PDO Mapping entry object 0x7140 TSO Outputs Ch 5 entry 0x41 StartTime UINT32 RO 0x7140 41 64 Index 162D TSO RxPDO Map Ch 6 Index hex Name Meaning Data type Flags Default 1...

Page 208: ...dex 004 4 PDO Mapping entry 11 bits align UINT32 RO 0x0000 00 11 1A00 05 SubIndex 005 5 PDO Mapping entry object 0x6000 MTO inputs Ch 1 entry 0x0F Input cycle counter UINT32 RO 0x6000 0F 2 1A00 06 Sub...

Page 209: ...t buffer overflow UINT32 RO 0x6030 02 1 1A03 03 SubIndex 003 3 PDO Mapping entry object 0x6030 MTO inputs Ch 4 entry 0x03 Output state UINT32 RO 0x6030 03 1 1A03 04 SubIndex 004 4 PDO Mapping entry 11...

Page 210: ...t buffer overflow UINT32 RO 0x6060 02 1 1A06 03 SubIndex 003 3 PDO Mapping entry object 0x6060 MTO inputs Ch 7 entry 0x03 Output state UINT32 RO 0x6060 03 1 1A06 04 SubIndex 004 4 PDO Mapping entry 11...

Page 211: ...81 MTI inputs Ch 1 entry 0x26 Input event state 6 UINT32 RO 0x6081 26 1 1A08 0E SubIndex 014 14 PDO Mapping entry object 0x6081 MTI inputs Ch 1 entry 0x27 Input event state 7 UINT32 RO 0x6081 27 1 1A0...

Page 212: ...9 0F SubIndex 015 15 PDO Mapping entry object 0x6081 MTI inputs Ch 1 entry 0x42 Input event time 2 UINT32 RO 0x6081 42 32 1A09 10 SubIndex 016 16 PDO Mapping entry object 0x6081 MTI inputs Ch 1 entry...

Page 213: ...0B 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A0B 05 SubIndex 005 5 PDO Mapping entry object 0x6081 MTI inputs Ch 1 entry 0x0F Input cycle counter UINT32 RO 0x6081 0F 2 1A...

Page 214: ...091 MTI inputs Ch 2 entry 0x26 Input event state 6 UINT32 RO 0x6091 26 1 1A0C 0E SubIndex 014 14 PDO Mapping entry object 0x6091 MTI inputs Ch 2 entry 0x27 Input event state 7 UINT32 RO 0x6091 27 1 1A...

Page 215: ...D 0F SubIndex 015 15 PDO Mapping entry object 0x6091 MTI inputs Ch 2 entry 0x42 Input event time 2 UINT32 RO 0x6091 42 32 1A0D 10 SubIndex 016 16 PDO Mapping entry object 0x6091 MTI inputs Ch 2 entry...

Page 216: ...0F 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A0F 05 SubIndex 005 5 PDO Mapping entry object 0x6091 MTI inputs Ch 2 entry 0x0F Input cycle counter UINT32 RO 0x6091 0F 2 1A...

Page 217: ...0A1 MTI inputs Ch 3 entry 0x26 Input event state 6 UINT32 RO 0x60A1 26 1 1A10 0E SubIndex 014 14 PDO Mapping entry object 0x60A1 MTI inputs Ch 3 entry 0x27 Input event state 7 UINT32 RO 0x60A1 27 1 1A...

Page 218: ...1 0F SubIndex 015 15 PDO Mapping entry object 0x60A1 MTI inputs Ch 3 entry 0x42 Input event time 2 UINT32 RO 0x60A1 42 32 1A11 10 SubIndex 016 16 PDO Mapping entry object 0x60A1 MTI inputs Ch 3 entry...

Page 219: ...13 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A13 05 SubIndex 005 5 PDO Mapping entry object 0x60A1 MTI inputs Ch 3 entry 0x0F Input cycle counter UINT32 RO 0x60A1 0F 2 1A...

Page 220: ...0B1 MTI inputs Ch 4 entry 0x26 Input event state 6 UINT32 RO 0x60B1 26 1 1A14 0E SubIndex 014 14 PDO Mapping entry object 0x60B1 MTI inputs Ch 4 entry 0x27 Input event state 7 UINT32 RO 0x60B1 27 1 1A...

Page 221: ...5 0F SubIndex 015 15 PDO Mapping entry object 0x60B1 MTI inputs Ch 4 entry 0x42 Input event time 2 UINT32 RO 0x60B1 42 32 1A15 10 SubIndex 016 16 PDO Mapping entry object 0x60B1 MTI inputs Ch 4 entry...

Page 222: ...17 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A17 05 SubIndex 005 5 PDO Mapping entry object 0x60B1 MTI inputs Ch 4 entry 0x0F Input cycle counter UINT32 RO 0x60B1 0F 2 1A...

Page 223: ...0C1 MTI inputs Ch 5 entry 0x26 Input event state 6 UINT32 RO 0x60C1 26 1 1A18 0E SubIndex 014 14 PDO Mapping entry object 0x60C1 MTI inputs Ch 5 entry 0x27 Input event state 7 UINT32 RO 0x60C1 27 1 1A...

Page 224: ...9 0F SubIndex 015 15 PDO Mapping entry object 0x60C1 MTI inputs Ch 5 entry 0x42 Input event time 2 UINT32 RO 0x60C1 42 32 1A19 10 SubIndex 016 16 PDO Mapping entry object 0x60C1 MTI inputs Ch 5 entry...

Page 225: ...1B 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A1B 05 SubIndex 005 5 PDO Mapping entry object 0x60C1 MTI inputs Ch 5 entry 0x0F Input cycle counter UINT32 RO 0x60C1 0F 2 1A...

Page 226: ...0D1 MTI inputs Ch 6 entry 0x26 Input event state 6 UINT32 RO 0x60D1 26 1 1A1C 0E SubIndex 014 14 PDO Mapping entry object 0x60D1 MTI inputs Ch 6 entry 0x27 Input event state 7 UINT32 RO 0x60D1 27 1 1A...

Page 227: ...D 0F SubIndex 015 15 PDO Mapping entry object 0x60D1 MTI inputs Ch 6 entry 0x42 Input event time 2 UINT32 RO 0x60D1 42 32 1A1D 10 SubIndex 016 16 PDO Mapping entry object 0x60D1 MTI inputs Ch 6 entry...

Page 228: ...1F 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A1F 05 SubIndex 005 5 PDO Mapping entry object 0x60D1 MTI inputs Ch 6 entry 0x0F Input cycle counter UINT32 RO 0x60D1 0F 2 1A...

Page 229: ...0E1 MTI inputs Ch 7 entry 0x26 Input event state 6 UINT32 RO 0x60E1 26 1 1A20 0E SubIndex 014 14 PDO Mapping entry object 0x60E1 MTI inputs Ch 7 entry 0x27 Input event state 7 UINT32 RO 0x60E1 27 1 1A...

Page 230: ...1 0F SubIndex 015 15 PDO Mapping entry object 0x60E1 MTI inputs Ch 7 entry 0x42 Input event time 2 UINT32 RO 0x60E1 42 32 1A21 10 SubIndex 016 16 PDO Mapping entry object 0x60E1 MTI inputs Ch 7 entry...

Page 231: ...23 04 SubIndex 004 4 PDO Mapping entry 4 bits align UINT32 RO 0x0000 00 4 1A23 05 SubIndex 005 5 PDO Mapping entry object 0x60E1 MTI inputs Ch 7 entry 0x0F Input cycle counter UINT32 RO 0x60E1 0F 2 1A...

Page 232: ...0F1 MTI inputs Ch 8 entry 0x26 Input event state 6 UINT32 RO 0x60F1 26 1 1A24 0E SubIndex 014 14 PDO Mapping entry object 0x60F1 MTI inputs Ch 8 entry 0x27 Input event state 7 UINT32 RO 0x60F1 27 1 1A...

Page 233: ...5 0F SubIndex 015 15 PDO Mapping entry object 0x60F1 MTI inputs Ch 8 entry 0x42 Input event time 2 UINT32 RO 0x60F1 42 32 1A25 10 SubIndex 016 16 PDO Mapping entry object 0x60F1 MTI inputs Ch 8 entry...

Page 234: ...ct 0x60F1 MTI inputs Ch 8 entry 0x41 Input event time 1 UINT32 RO 0x60F1 41 32 Index 1A28 TSO TxPDO Map Inputs Ch 1 Index hex Name Meaning Data type Flags Default 1A28 0 TSO TxPDO Map In puts Ch 1 PDO...

Page 235: ...0x6160 01 1 1A2E 02 SubIndex 002 2 PDO Mapping entry 31 bits align UINT32 RO 0x0000 00 31 Index 1A2F TSO TxPDO Map Inputs Ch 8 Index hex Name Meaning Data type Flags Default 1A2F 0 TSO TxPDO Map In p...

Page 236: ...0 41 64 1A32 06 SubIndex 006 6 PDO Mapping entry object 0x61A0 TSI Inputs Ch 3 entry 0x42 LatchNeg UINT32 RO 0x61A0 42 64 Index 1A33 TSI TxPDO Map Inputs Ch 4 Index hex Name Meaning Data type Flags De...

Page 237: ...1 64 1A36 06 SubIndex 006 6 PDO Mapping entry object 0x61E0 TSI Inputs Ch 7 entry 0x42 LatchNeg UINT32 RO 0x61E0 42 64 Index 1A37 TSI TxPDO Map Inputs Ch 8 Index hex Name Meaning Data type Flags Defau...

Page 238: ...UINT8 RO 0x04 4dec 1C00 01 SubIndex 001 Sync Manager Type Channel 1 Mailbox Write UINT8 RO 0x01 1dec 1C00 02 SubIndex 002 Sync Manager Type Channel 2 Mailbox Read UINT8 RO 0x02 2dec 1C00 03 SubIndex 0...

Page 239: ...1623 5667dec 1C12 0D SubIndex 013 13 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x1624 5668dec 1C12 0E SubIndex 014 14 allocated RxPDO contains the index of t...

Page 240: ...allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x0000 0dec 1C12 26 SubIndex 038 38 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT...

Page 241: ...1A14 6676dec 1C13 0D SubIndex 013 13 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A18 6680dec 1C13 0E SubIndex 014 14 allocated TxPDO contains the index of t...

Page 242: ...mapping object UINT16 RW 0x0000 0dec 1C13 2A SubIndex 042 42 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x0000 0dec 1C13 2B SubIndex 043 43 allocated TxPDO co...

Page 243: ...ns UINT32 RO 0x00001F40 8000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900d...

Page 244: ...C32 08 243 or 0x1C33 08 244 UINT16 RO 0x0804 2052dec 1C33 05 Minimum cycle time as 0x1C32 05 243 UINT32 RO 0x00001F40 8000dec 1C33 06 Calc and copy time Time between reading of the inputs and availabi...

Page 245: ...dex 007 UINT32 RW 0x000000DC 220dec F010 08 SubIndex 008 UINT32 RW 0x000000DC 220dec F010 09 SubIndex 009 UINT32 RW 0x00000078 120dec F010 0A SubIndex 010 UINT32 RW 0x00000078 120dec F010 0B SubIndex...

Page 246: ...f the CoE objects from the EtherCAT XML Device Description We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instr...

Page 247: ...fault 8ppF 0 MTO Vendor data UINT8 RO 0x12 18dec 8ppF 11 Offset pos This object can be used to move the output time of the rising edges This setting is left to the manufacturer INT32 RW 0x00000000 0de...

Page 248: ...object 0x8pp1 11 247 BOOLEAN RO 0x00 0dec 7pp1 02 Manual output state This bit can be used to switch the output without using timestamps Method 1 The CoE object 0x8pp1 02 247 Enable manual operation i...

Page 249: ...11 Checksum error counter An error occurred in the internal data transfer UINT16 RO 0x0000 0dec Index A080 TSO common Diag data Index hex Name Meaning Data type Flags Default A080 0 TSO common Diag d...

Page 250: ...hex Name Meaning Data type Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 2dec 1018 02 P...

Page 251: ...14 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x26 Output event state 6 UINT32 RO 0x7001 26 1 1600 0F SubIndex 015 15 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x27 Output eve...

Page 252: ...9 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x21 Output event state 1 UINT32 RO 0x7001 21 1 1601 0A SubIndex 010 10 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x22 Output eve...

Page 253: ...0C SubIndex 012 12 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry 0x41 Output event time 1 UINT32 RO 0x7001 41 32 1602 0D SubIndex 013 13 PDO Mapping entry object 0x7001 MTO outputs Ch 1 entry...

Page 254: ...14 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x26 Output event state 6 UINT32 RO 0x7011 26 1 1604 0F SubIndex 015 15 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x27 Output eve...

Page 255: ...9 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x21 Output event state 1 UINT32 RO 0x7011 21 1 1605 0A SubIndex 010 10 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x22 Output eve...

Page 256: ...0C SubIndex 012 12 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry 0x41 Output event time 1 UINT32 RO 0x7011 41 32 1606 0D SubIndex 013 13 PDO Mapping entry object 0x7011 MTO outputs Ch 2 entry...

Page 257: ...14 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x26 Output event state 6 UINT32 RO 0x7021 26 1 1608 0F SubIndex 015 15 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x27 Output eve...

Page 258: ...9 9 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x21 Output event state 1 UINT32 RO 0x7021 21 1 1609 0A SubIndex 010 10 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x22 Output ev...

Page 259: ...0C SubIndex 012 12 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry 0x41 Output event time 1 UINT32 RO 0x7021 41 32 160A 0D SubIndex 013 13 PDO Mapping entry object 0x7021 MTO outputs Ch 3 entry...

Page 260: ...14 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x26 Output event state 6 UINT32 RO 0x7031 26 1 160C 0F SubIndex 015 15 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x27 Output ev...

Page 261: ...9 9 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x21 Output event state 1 UINT32 RO 0x7031 21 1 160D 0A SubIndex 010 10 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x22 Output ev...

Page 262: ...0C SubIndex 012 12 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry 0x41 Output event time 1 UINT32 RO 0x7031 41 32 160E 0D SubIndex 013 13 PDO Mapping entry object 0x7031 MTO outputs Ch 4 entry...

Page 263: ...14 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x26 Output event state 6 UINT32 RO 0x7041 26 1 1610 0F SubIndex 015 15 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x27 Output ev...

Page 264: ...9 9 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x21 Output event state 1 UINT32 RO 0x7041 21 1 1611 0A SubIndex 010 10 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x22 Output ev...

Page 265: ...0C SubIndex 012 12 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry 0x41 Output event time 1 UINT32 RO 0x7041 41 32 1612 0D SubIndex 013 13 PDO Mapping entry object 0x7041 MTO outputs Ch 5 entry...

Page 266: ...14 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x26 Output event state 6 UINT32 RO 0x7051 26 1 1614 0F SubIndex 015 15 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x27 Output ev...

Page 267: ...9 9 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x21 Output event state 1 UINT32 RO 0x7051 21 1 1615 0A SubIndex 010 10 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x22 Output ev...

Page 268: ...0C SubIndex 012 12 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry 0x41 Output event time 1 UINT32 RO 0x7051 41 32 1616 0D SubIndex 013 13 PDO Mapping entry object 0x7051 MTO outputs Ch 6 entry...

Page 269: ...14 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x26 Output event state 6 UINT32 RO 0x7061 26 1 1618 0F SubIndex 015 15 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x27 Output ev...

Page 270: ...9 9 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x21 Output event state 1 UINT32 RO 0x7061 21 1 1619 0A SubIndex 010 10 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x22 Output ev...

Page 271: ...0C SubIndex 012 12 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry 0x41 Output event time 1 UINT32 RO 0x7061 41 32 161A 0D SubIndex 013 13 PDO Mapping entry object 0x7061 MTO outputs Ch 7 entry...

Page 272: ...14 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x26 Output event state 6 UINT32 RO 0x7071 26 1 161C 0F SubIndex 015 15 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x27 Output ev...

Page 273: ...9 9 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x21 Output event state 1 UINT32 RO 0x7071 21 1 161D 0A SubIndex 010 10 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x22 Output ev...

Page 274: ...0C SubIndex 012 12 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry 0x41 Output event time 1 UINT32 RO 0x7071 41 32 161E 0D SubIndex 013 13 PDO Mapping entry object 0x7071 MTO outputs Ch 8 entry...

Page 275: ...00 40 1621 05 SubIndex 005 5 PDO Mapping entry object 0x7090 TSO Outputs Ch 2 entry 0x41 StartTime UINT32 RO 0x7090 41 64 Index 1622 TSO RxPDO Map Ch 3 Index hex Name Meaning Data type Flags Default 1...

Page 276: ...00 40 1625 05 SubIndex 005 5 PDO Mapping entry object 0x70D0 TSO Outputs Ch 6 entry 0x41 StartTime UINT32 RO 0x70D0 41 64 Index 1626 TSO RxPDO Map Ch 7 Index hex Name Meaning Data type Flags Default 1...

Page 277: ...t buffer overflow UINT32 RO 0x6010 02 1 1A01 03 SubIndex 003 3 PDO Mapping entry object 0x6010 MTO inputs Ch 2 entry 0x03 Output state UINT32 RO 0x6010 03 1 1A01 04 SubIndex 004 4 PDO Mapping entry 11...

Page 278: ...t buffer overflow UINT32 RO 0x6040 02 1 1A04 03 SubIndex 003 3 PDO Mapping entry object 0x6040 MTO inputs Ch 5 entry 0x03 Output state UINT32 RO 0x6040 03 1 1A04 04 SubIndex 004 4 PDO Mapping entry 11...

Page 279: ...70 02 1 1A07 03 SubIndex 003 3 PDO Mapping entry object 0x6070 MTO inputs Ch 8 entry 0x03 Output state UINT32 RO 0x6070 03 1 1A07 04 SubIndex 004 4 PDO Mapping entry 11 bits align UINT32 RO 0x0000 00...

Page 280: ...E 0 TSO TxPDO Map In puts Ch 7 PDO Mapping TxPDO 15 UINT8 RO 0x02 2dec 1A0E 01 SubIndex 001 1 PDO Mapping entry object 0x60E0 TSO Inputs Ch 7 entry 0x01 Feedback UINT32 RO 0x60E0 01 1 1A0E 02 SubIndex...

Page 281: ...ntains the index of the associ ated RxPDO mapping object UINT16 RW 0x0000 0dec 1C12 0B SubIndex 011 11 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x0000 0dec...

Page 282: ...mapping object UINT16 RW 0x0000 0dec 1C12 21 SubIndex 033 33 allocated RxPDO contains the index of the associ ated RxPDO mapping object UINT16 RW 0x0000 0dec 1C12 22 SubIndex 034 34 allocated RxPDO co...

Page 283: ...06 6662dec 1C13 08 SubIndex 008 8 allocated TxPDO contains the index of the associ ated TxPDO mapping object UINT16 RW 0x1A07 6663dec 1C13 09 SubIndex 009 9 allocated TxPDO contains the index of the a...

Page 284: ...ns UINT32 RO 0x00001F40 8000dec 1C32 06 Calc and copy time Minimum time between SYNC0 and SYNC1 event in ns DC mode only UINT32 RO 0x00000000 0dec 1C32 07 Minimum delay time UINT32 RO 0x00000384 900d...

Page 285: ...0x1C32 08 284 or 0x1C33 08 285 UINT16 RO 0x0804 2052dec 1C33 05 Minimum cycle time as 0x1C32 05 284 UINT32 RO 0x00001F40 8000dec 1C33 06 Calc and copy time Time between reading of the inputs and avail...

Page 286: ...0x000000DD 221dec F010 0F SubIndex 015 UINT32 RW 0x000000DD 221dec F010 10 SubIndex 016 UINT32 RW 0x000000DD 221dec 6 9 Example programs Note Using the sample programs This document contains sample ap...

Page 287: ...device in the Solutionexplorer select the Adapter tab and click on Search Fig 172 Search of the existing HW configuration for the EtherCAT configuration of the example Also see more hints in section C...

Page 288: ...ation PROGRAM MAIN VAR CONSTANT Number of used channels of the terminal in this code example nNumOfSwitchTasks INT 4 END_VAR VAR_INPUT External switch to start by user bEnable AT I BOOL Reference to c...

Page 289: ...tate 1 FOR nChannel 0 TO nNumOfSwitchTasks 1 DO bOutputBufReset nChannel FALSE END_FOR nState nState 1 Go to next state 2 Wait for external start event by user e g ext switch IF bEnable THEN nState 10...

Page 290: ...n TC 3 This sample program uses a TwinCAT3 visualization to illustrate the multi timestamp functionality of a digital input of the EL1258 and accordingly EL1259 In 10x multi timestamp and asynchronous...

Page 291: ...tal output terminal whose output is directly connected to input channel 1 of the EL1258 switches the output with SET OUTPUT The user presses the button for any length of time the elapsed time is shown...

Page 292: ...ventInInputBuffer of the EL1258 Are there any other events stored in the terminal LimitOfEventsInInputBuffer can be used to specify from when the buffered events should be transferred to the readable...

Page 293: ...not check when downloading whether the new firmware is suitable This can result in damage to the device Therefore always make sure that the firmware is suitable for the hardware version EL1258 Hardwa...

Page 294: ...re changed in the terminal For this to happen it is necessary for the firmware to be in a packed format recognizable by the file name which also contains the revision number e g ELxxxx xxxx_REV0016_SW...

Page 295: ...EtherCAT system documentation Note Update of XML ESI description The device revision is closely linked to the firmware and hardware used Incompatible com binations lead to malfunctions or even final s...

Page 296: ...as configured In this case the configuration can be adapted with the Copy Before button The Extended Information checkbox must be set in order to display the revision Changing the ESI slave identifier...

Page 297: ...d Note The change only takes effect after a restart Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT Some communication settings such as distributed clo...

Page 298: ...ve sup ports this This CoE directory can only be displayed if a slave is connected and operational offline The EtherCAT Slave Information ESI XML may contain the default content of the CoE This CoE di...

Page 299: ...86 Firmware Update Proceed as follows unless instructed otherwise by Beckhoff support Valid for TwinCAT 2 and 3 as EtherCAT master Switch TwinCAT system to ConfigMode FreeRun with cycle time 1 ms defa...

Page 300: ...via an rbf file Controller firmware for processing I O signals FPGA firmware for EtherCAT communication only for terminals with FPGA The firmware version number included in the terminal serial number...

Page 301: ...yed right click the table header and select Properties in the context menu Fig 188 Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected Under...

Page 302: ...the terminal must have FPGA firmware version 10 or higher Older firmware versions can only be updated by the manufacturer Updating an EtherCAT device The following sequence order have to be met if no...

Page 303: ...m Manager select the terminal for which the FPGA firmware is to be updated in the example Terminal 5 EL5001 and click the Advanced Settings button in the EtherCAT tab The Advanced Settings dialog appe...

Page 304: ...age to the device A download of firmware to an EtherCAT device must not be interrupted in any case If you interrupt this process by switching off power supply or disconnecting the Ethernet link the Et...

Page 305: ...s PDO Double click on SubIndex 001 to enter the Set Value dialog Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK Fig Entering a restore value in the Se...

Page 306: ...omponents there Beckhoff Headquarters Beckhoff Automation GmbH Co KG Huelshorstweg 20 33415 Verl Germany Phone 49 0 5246 963 0 Fax 49 0 5246 963 198 e mail info beckhoff com Beckhoff Support Support o...

Page 307: ...f input channel information with timestamp 18 Fig 15 Output of output channel information standard 18 Fig 16 Output of output channel information oversampling 19 Fig 17 Output of output channel inform...

Page 308: ...winCAT3 project in the project folder explorer 62 Fig 64 Selection dialog Choose the target system 62 Fig 65 Specify the PLC for access by the TwinCAT System Manager selection of the target system 63...

Page 309: ...winCAT 2 right TwinCAT 3 88 Fig 108 Note for automatic device scan left TwinCAT 2 right TwinCAT 3 89 Fig 109 Detected Ethernet devices 89 Fig 110 Example default state 89 Fig 111 Installing EthetCAT t...

Page 310: ...0x80n0 121 Fig 154 Setting in CoE x80n0 12 Asynchronous operation 122 Fig 155 Process data selection predefined PDO for synchronous transfer 122 Fig 156 Process data selection predefined PDO for asyn...

Page 311: ...180 Scan the subordinate field by right clicking on the EtherCAT device in Config FreeRun mode 295 Fig 181 Configuration is identical 296 Fig 182 Change dialog 296 Fig 183 EEPROM Update 297 Fig 184 Se...