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Transcription

1 I/O Ver

2 Copyright 2007 by WAGO Kontakttechnik GmbH All rights reserved. Hansastraβe 27 D Minden / / info@wago.com Web / / support@wago.com io-system-jp@wago.com

3 i I/O

4 ii DIN WAGO-I/O-PRO CAA PFC LED

5 iii PDO SYNC I/O CENELEC IEC NEC

6 iv

7 *) **) PLC *) **) I/O 750 I/O 750 IP mm 1.1.4

8 BGV A3 DIN EN418 EMC 750 EN DIN EN /-3 ESD Web

9 3 1.4 I/O 750 ESD

10 C: programs WAGO-IO-CHECK Save File New ENTER <F5> Courier END_VAR x64 C 2 '100' ' ' ' 4

11 I/O k 1M /MCS / k 1M /MCS 256kB 192kB RAM / k 1M /MCS 640kB 832kB RAM k 1M /D-Sub / k 1M /D-Sub 256kB 192kB RAM / k 1M /D-Sub 640kB 832kB RAM AI AO BC CAL CAN COB ID DI DO EMCY I/O ID Idx M NMT PDO RO RTR RxPDO RW SDO S-Idx TxPDO CAN Application Layer CAN Control Area Network / Process Data Object Read Only Remote Transmit Request PDO Read/Write/ Service Data Object PDO

12 6 I/O I/O I/O 750 I/O g0xxx00x PROFIBUS INTERBUS Ethernet TCP/IP CAN DeviceNetMODBUS LON 24V 24V PFC PLC WAGO-I/O-PRO 32 WAGO-I/O-PRO CAA IEC / I/O / I/O 750 LED WSB 3

13 I/O W H L / I/O I/O 51mm 65*mm 100mm 12mm 64*mm 100mm 24mm 64*mm 100mm * DIN 35 DIN mm mm 2 AWG m mm I max 10 A 64 1 V % xxx/025-xxx % IEC IEC SO 2 < 25ppm H 2 S < 10ppm

14 8 I/O 750 IEC IP 20 EMC * IEC EN EN ESD 4kV/8kV / 2/3 B EN V/m 80MHz 1GHz 3 A EN kV/2kV/ 2/3 B EN EN RF DC AC -/-/ 1kV/ 2 0.5kV/ 1 0.5kV/ 1 1kV/ 2 2kV/ 3 10V/m 80% AM MHz B B B 3 A EN /QP* EN AC EN dBV 150kHz 500kHz 73dBV 500kHz 30MHz 40dB µv/m 30MHz 230MHz 10m 47dB µv/m 230MHz 1GHz 10m EN /QP* EN AC 66 56dB (µv) 150kHz 500kHz 56 db (µv) 500kHz 5MHz 60 db (µv) 5MHz 30MHz EN55022 DC EN db µa 150kHz 500kHz 30 db µa 500kHz 30MHz 30 db µv/m 30MHz 230MHz 10m 37 db µv/m 230MHz 1GHz 10m * Quasi Peak

15 I/O IEC IEC Hz<f<9Hz 9Hz<f<150Hz 1.75mm 3.5mm 0.5g 1g IEC IEC a) 1 b) 3 15g a) b) 11ms c) 3 3 1m

16 10 I/O 750 I/O 750 EMC * 2003 IEC ESD 6kV/8kV / 3/3 B IEC V/m 80MHz 2GHz 3 A IEC kV/2kV/ 2/3 A IEC EN RF AF AC/DC 0.5kV/ 1 1kV/ 2 10V/m 80% AM MHz A 3 A 3V 2W - A DC 755V AC 1500V EMC dBV 60 50dBV 10kHz 150kHz 150kHz 350kHz EMC1 50dBV 350kHz 30MHz 80 52dBV/m 150kHz 300kHz 3m 52 34dBV/m 300kHz 30MHz 3m 54dBV/m 30MHz 2GHz 3m 24dBV/m 156MHz 165MHz 3m 2003 IEC A D 2Hz<f<25Hz 25Hz<f<100Hz 1.6mm 4g a 1 / b 3

17 I/O EN EN EN * EN * ) ETHERNET /-841/-842 LonWorks DeviceNet MODBUS / / / /-314/ -315/ /-814/ -815/ W 2.0W 55

18 12 I/O g1xxx05e

19 I/O g1xxx09e

20 14 I/O NO DS SW HW FWL / 2.5 3M 1900E

21 I/O WAGO DIN 35 6mm WAGO DIN 35 10mm 1 51mm / 64 12mm 1 12mm 831mm 831mm

22 16 I/O EN DIN 35 I/O 0.5V 200.3% EMC 20cm 7.5mm

23 I/O DIN / mm / mm mm mm mm; 2-4 g01xx13x

24 18 I/O / / 2-5 / g01xx12e I/O 2-6 p0xxx01x PE 2.8.3

25 I/O EN DIN 35 / / 4 DI

26 20 I/O / p0xxx07x I/O ESD

27 I/O / 2-8 g0xxx05e

28 22 I/O g0xxx08x mm 0.5mm 2 2 1mm

29 / I/O g0xxx01e V 24V

30 24 I/O V 15%20% / V ( 15%/ 20%) g0xxx02e 5V / 5V 24V 2-12 g0xxx06e /

31 I/O / * / 5V * / * W4 Vol.3 WAGO mA 5V 1650mA 5V 5V 2000mA 5V mA= 1800mA 10 2mA= 20mA 1820mA 1650mA

32 26 I/O V 500mA I(24V) I(5V)total = I(5V)total = I(24V) = 5V/24V I(5V)total/ = V 500mA

33 I/O DC24V/ AC230V 1 DC 24V AC/DC 0 230V AC 120V AC 230V I/O 2-13 g0xxx03e 10A 2

34 28 I/O I/O DC24V AC230V V DC V AC V AC V DC V AC 24V g0xxx09x

35 I/O W IEC 127 UL UL 2-15 p0xxx05x 2-16 p0xxx03x 2-17 p0xxx04x

36 30 I/O pf66800x pe61100x pf12400x

37 I/O V V 0V V g01xx11e /602/

38 32 I/O a b c d 2-22 g0xxx04e

39 I/O V 15%20% 1A 200 F I/O 1ms DC24V 2.5A AC90 264V DC24V 5A AC90 264V DC24V 10A AC85 264V AC 115 V / DC 24 V; 0,5 A AC 230 V / DC 24 V; 0,5 A AC 230 V / DC 24 V; 2 A AC 115 V / DC 24 V; 2 A

40 34 I/O DIN mm mm

41 I/O I/O I/O 2-23 g0xxx10e

42 36 I/O g0xxx07e

43 I/O

44 38 I/O W4-Vol p0xxx08x p0xxx09x and p0xxx10x 2-26 p0xxx11x 2.10 DIN DIN/EN EN VDE 0160

45 CAN / / / / MCS D-Sub PFCRAM 64kB FLASH 64/128kB* ) / PFCRAM 192kB FLASH 128/256kB* ) / PFCRAM 832kB FLASH 320/640kB* ) PFCRAM 64kB FLASH 64/128kB* ) / PFCRAM 192kB FLASH 128/256kB* ) / PFCRAM 832kB FLASH 320/640kB* ) * ) / / / / PFC PLC IEC WAGO-I/O-PRO CAA IEC PFC PDO SDO 32 TxPDO 32 RxPDO 2 SDO 16 SDO I/O PDO PDO I/O 8

46 RxPDO 32 TxPDO SDO WAGO-I/O-PRO 32 WAGO-I/O-PRO CAA WAGO-I/O-PRO WAGO-I/O-PRO CAA V2.1 V2.2.6 V V V V V HW 06 SW 11 HW 06 SW 11 HW 06 SW 11 HW 06 SW 11 HW 06 SW / / / / HW 06 SW / / HW06 SW / / HW01 SW11 SW11 SW11 HW SW10

47 g083700e I/O ID DIP LED / I/O

48 MCS PFC RAM 64kB FLASH 64/128kB/ / MCS PFC RAM 192kB FLASH 128/256kB/ / MCS PFC RAM 832kB FLASH 320/640kB/ D-SUB PFC RAM 64kB FLASH 64/128kB/ / D-SUB PFC RAM 192kB FLASH 128/256kB/ / D-SUB PFC RAM 832kB FLASH 320/640kB/ 3-2 g083701e I/O

49 / / / / / / CAN MCS / / CAN D-SUB mm DC/DC 1M CAN MCS / / CAN_V+ 4 CAN_H CAN High 3 2 CAN_L CAN Low 1 GND MCS g012400x D-SUB / / CAN_L CAN Low 3 GND CAN_H CAN High 8 9 CAN_V D-SUB g012448x

50 LED 3-5 g012455x LED LED / / WAGO-I/O-CHECK / 3-6 / g01xx06e PC

51 / 3-7 / 3 RUN Stop RUN STOP 0 FALSE STOP RUN RUN STOP OFF WAG O-I/O-PRO CAA GET_STOP_ VALUE System.lib STOP ID DIP ID ID COB ID PDO1 4 SDO

52 ID1 g012440x DIP ID1 DIP1=ON ID8 DIP4=ON I/O ID DIP ID 0 DIP OFF ON 4 LED STOP RUN Tx- Rx-Overflow LED STOP SW1 RUN SW2 Tx-Overflow SW3 Rx-Overflow SW4 LED ON DIP8 ON LED MBaud 4 LED 125kB Tx-Overflow LED 250kB STOP RUN LED kB g012441x CAN DIP SW 1M baud 800 kb 500 kb 250 kb 125 kb 100 kb 50 kb 20 kb 10 kb LED 1(LSB) STOP RUN Tx- Overflow 4(MSB) Rx- Overflow

53 OFF OFF DIP ID ON DIP ID 125kB PLC RAM I/O 0 FALSE PLC I/O LED RUN I/O LED LED LED PLC PLC PLC WAGO-I/O-PRO CAA I/O RAM PLC I/O PLC STOP/RUN PLC PLC PLC PLC PLC PLC PLC

54 ON I/O LED PLC PLC RAM I/O I/O I/O LED OK? 0 FALSE OK? WAGO-I/O-PRO 32 Online/Start Online/Stop PLC I/O RAM PLC I/O LED I/O WAGO-I/O-PRO 32 Online/Start Online/Stop 3-10 g012x41x

55 /0 I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O I/O 1 I/O 8 PFC I/O I/O

56 CAN COB-ID ID / / / / Tx-PDO 32 Rx-PDO 2 SDO 16 SDO 16 SYNC EMCY PFC CPU PLC PFC CPU PLC PFC CPU PLC

57 IEC PFC PFC PLC CPU IEC I/O IEC g012434e CPU CPU PFC PFC CPU IEC CPU

58 RAM IEC var retain IEC RAM WAGO-I/O-PRO CAA PFC PDO SDO 16 8 I/O 3-12 g012432e

59 I/O DS / 3-1 I/O 1 / / I/O I/O 0x2000 0x6000 0x2100 0x bit 0x2000 0x6000 0x2100 0x byte 0x2200 0x byte 0x2400 0x6401 0x2500 0x byte 0x2600 0x byte 0x2800 0x byte 0x3000 0x byte 0x3200 0x byte 0x3400 0x byte 0x3600 0x

60 I/O 2 2 I/O ch 5 4ch 1 2ch PFC PFC Integer8 Unsigned8 Boolean Integer16 Boolean

61 Boolean 0xA080 Boolean 0xA500 1 IEC CAN PFC IEC PFC IEC IEC Integer8 0xA000 0xA480 Unsigned8 0xA040 0xA4C0 Boolean 0xA080 0xA500 Integer16 0xA0C0 0xA540 Unsigned16 0xA100 0xA580 Integer24 0xA140 0xA5C0 Unsigned24 0xA180 0xA600 Integer32 0xA1C0 0xA640 Unsigned32 0xA200 0xA680 Float32 0xA240 0xA6C0 Unsigned40 0xA280 0xA700 Integer40 0xA2C0 0xA740 Unsigned48 0xA300 0xA780 Integer48 0xA340 0xA7C0 Unsigned56 0xA380 0xA800 Integer56 0xA3C0 0xA840 Integer64 0xA400 0xA880 Unsigned64 0xA440 0xA8C0 3-4 IEC IEC IEC Boolean 11 Integer24 5

62 Boolean 11 Integer PFC 1 Integer8 Unsigned8 Boolean Integer16 0xA0C0 Unsigned16 0xA100 PFC Integer24 0xA140 3 PFC Integer Unsigned PFC (Integer/Unsigned) Integer8/Unsigned (0xA000 / 0xA040) (0xA000 / 0xA040) (0xA000 / 0xA040) Integer16/Unsigned / /515 (0xA0C0 / 0xA100) (0xA0C0 / 0xA100) Integer24/Unsigned (0xA140 / 0xA180) 1

63 PFC CAN PFC IEC IEC PFC PFC IEC PLC PFC PLC PFC 3-13 IEC PFC

64 PFC Index Sub-index PFC * 8Boolean 1 1

65 PFC Index Sub-index PFC * 8Boolean 1 1

66 PFC PFC PFC Unsigned8 Integer16 Unsigned16 Unsigned32 PFC IEC InByte0 AT%IB512:BYTE; InByte0 AT%IB513:BYTE; InInt0 AT%IW256:INT; InInt0 AT%IW257:INT; InWord0 AT%IW256:WORD; InWord0 AT%IW257:WORD; InDWord0 AT%ID128:DWORD; InDWord0 AT%ID129:DWORD; / 0xA4C0/1 0xA4C0/2 0xA540/1 0xA540/2 0xA580/1 0xA580/2 0xA680/1 0xA680/2 PFC IEC OutByte0 AT%QB512:BYTE; OutByte0 AT%QB513:BYTE; OutInt0 AT%QW256:INT; OutInt0 AT%QW257:INT; OutWord0 AT%QW256:WORD; OutWord0 AT%QW257:WORD; OutDWord0 AT%QD128:DWORD; OutDWord0 AT%QD129:DWORD; 3-5 / 0xA040/1 0xA040/2 0xA0C0/1 0xA0C0/2 0xA100/1 0xA100/2 0xA200/1 0xA200/ IEC IEC IEC Integer8 0xA xA482 2 Unsigned8 0xA xA4C2 2 Boolean 0xA xA502 2 Integer16 0xA0C1 1 0xA541 1 Unsigned16 0xA xA581 1 Integer24 0xA140 AA 0xA5C0 AA Unsigned24 0xA180 AA 0xA600 AA Integer32 0xA1C0 80 0xA Unsigned32 0xA xA Float32 0xA xA6C0 80 Unsigned40 0xA xA Integer40 0xA2C0 66 0xA Unsigned48 0xA xA Integer48 0xA xA7C0 55 Unsigned56 0xA xA Integer56 0xA3C0 49 0xA Integer64 0xA xA Unsigned64 0xA xA8C IEC

67 Unsigned xA xA xA D1* D255* D256* 256 *D1 1 D CPU 0 DWORD %IW0 IWn In+1 %In+m %QW0 QWn Qn+1 %Qn+m WORD /2 /2

68 I/O I/O %IX %IX %IB28 %IB29 %IB30 %IB31 %IW14 %IW15 %ID7 %QX %QX %QB10 %QB11 %QB12 %QB13 %QW5 %QW6 %QD2 %QD3 %MX %MX %MB22 %MB23 %MB24 %MB25 %MW11 %MW12 %MD5 %MD6 X %I14.0 %Q6.10 %M11.7

69 3.1.7 WAGO-I/O-PRO CAA PFC WAGO-I/O-PRO CAA PFC IEC PLC IEC WAGO-I/O-PRO CAA WAGO-I/O-PRO CAA WAGO-I/O-PRO CAA IEC WAGO-I/O-PRO CAA WAGO-I/O-PRO CAA WAGO-I/O-PRO CAA IEC standard.lib WAGO-I/O-PRO CAA CIA405.LIB CiA405 WAGO-I/O-PRO CAA CD POU POU WAGO-I/O-PRO CAA

70 WAGO-I/O-PRO CAA PFC CIA405.LIB CIA405_VERSION POU CIA405_GET_KERNEL_STATUS CIA405_GET_LOCAL_NODE_ID POU ID CIA405_GET_STATE POU CIA405_RECV_EMY POU NMT_ADDNODE EXCEPTION_HANDLER CIA405_RECV_EMY_DEV POU NMT_ADDNODE EXCEPTION_HANDLER CIA405_SDO_READ4 POU 4 CIA405_SDO_READ7 POU 7 CIA405_SDO_READ21 POU 21 CIA405_SDO_READ210 POU 210 CIA405_SDO_WRITE4 POU 4 CIA405_SDO_WRITE7 POU 7 CIA405_SDO_WRITE21 POU 21 CIA405_SDO_WRITE210 POU 210

71 WAGO-I/O-PRO CAA PFC EXCEPTION_HANDLER POU NMT_ADDNODE POU NMT_CHANGE_STATE POU NMT_ADDNODE NMT_DELNODE POU NMT_GUARDING POU ON OFF NMT_SLAVE_IN_NE_LIST POU SEND_CAN_FRAME POU CAN COB_ID 8 SYNC_MASTER_SEND_SYNC POU SYNC IEC IEC PC 2 WAGO-I/O-PRO CAA

72 WAGO-I/O-PRO CAA PFC IEC COMX WAGO-I/O-PRO CAA [Communication parameters] 1. Windows [] CoDeSys V2.3 WAGO Software/CoDeSys for Automation Alliance CoDeSys V [Online] [Communication parameters] [Communication parameters] [New][Communication Parameters: New Channel] 3. [Communication Parameters: New Channel] [Name] [Device][Serial(RS232)] [OK] [Communication parameters] 4. Port=COM1 Baudrate=19200 Parity=Even Stop bits=1 Motorola byteorder=no [OK] 5. [Online] [Login] WAGO-I/O-PRO CAA [Communication parameters] 6. [Yes] 7. [Online][Run] RUNNING 8. [Online][Logout]

73 WAGO-I/O-PRO CAA PFC Windows [] CoDeSys V2.3 WAGO Software/CoDeSys for Automation Alliance CoDeSys V [Online] [Communication parameters] [Communication parameters] 3. [New] [Communication Parameters: New Channel] 4. [Name] [Device]Hilscher 5. [OK] Board number PC PCB Baudrate DIP Node ID DIP ID Database Debug level 6. Database Value RETAIN CLEAR 7. [OK] 8. [Online][Communication parameters] [Communication parameters] Database Value CLEAR RETAIN 9. [OK] ID 10. [Online] [Login] WAGO-I/O-PRO CAA [Communication parameters] 11. [Yes] 12. [Online][Run] RUNNING 13. [Online][Logout]

74 PC ID OPERATIONAL PC PC PCB PC DIP OFF ID=0 DC24V 3-14= DIP OFF g012442x LED DIP OFF ID DIP ON DIP 3 ON 125kB kB g012443x DIP 8 ON

75 kB g012441x ID ID DIP OFF ID DIP ON ID 1 DIP 1 ON 3-17 ID 1 g012440x INITIALIZATION PRE-OPERATIONAL SDO CAN SDO OPERATIONAL PDO

76 OPERATIONAL PRE-OPRRATIONAL OPERATIONAL PDO PDO 1 PDO PRE-OPERATIONAL SDO CAN CAN PDO deactivate 0x6423 FALSE x6423 PRE-OPERATIONAL 0x6423 TRUE 1 PRE-OPRRATIONAL OPERATIONAL PDO PDO PDO PRE-OPERATIONAL TxPDO 2 CAN ID0x432 3 SYNC CAN ID SDO 8 xx 1. 0x1A PDO PDO PDO CAN ID 608 0x2F 01 1A xx xx xx 588 0x A 00 xx xx xx xx

77 TxPDO 0x1A01 1 PDO 8 0x x x TxPDO TxPDO 0x1A x x10 2 0x x10 3 0x x SDO 3 CAN ID 0x608 0x A A x588 0x A 01 xx xx xx xx 60 OK 01 1A 01 5 CAN ID 0x608 0x A x588 0x A 02 xx xx xx xx 1 CAN ID 0x608 0x A x588 0x A 03 xx xx xx xx 3 0 CAN ID 0x608 0x2F 01 1A xx xx xx 0x588 0x A 00 xx xx xx xx

78 PDO TxPDO2 0x x PDO PDO CAN ID 608 0x x xx xx xx xx 5. 0x1801 PDO SYNC TxPDO 0x x432 PDO COB-ID Inhibit 3: Inhibit 0 CAN ID 0x608 0x2B xx xx 0x588 0x xx xx xx xx 2: 3 CAN ID 0x608 0x2F xx xx xx 0x588 0x xx xx xx xx 1: PDO COB-ID 432 PDO CAN ID 0x608 0x2B xx xx 0x588 0x xx xx xx xx 6. OPERATIONAL PDO activatedtxpdo

79 LED LED LED 3-18 LED 3 1STOPRUNTx-Overflow Rx-OverflowCAN 2 I/O-LED 3 / / USR-LED 3 3 A B A C LED

80 LED LED STOP RUN Tx-Overflow Rx-Overflow CAN STOP RUN Tx-Overfl ow Rx-Overfl ow X X PRE-OPERATIONAL X X OPERATIONAL X X STOP X X X CAN X X X CAN X X Rx-Overflow Tx-Overflow CAN X X PRE-OPERATIONAL Sync/Guard Heartbeat X X OPERATIONAL Sync/Guard Heartbeat X X STOP Sync/Guard Heartbeat 24V 0V 2 2 OPERATIONAL Sync/Guard Heartbeat Sync/Guard Heartbeat OPERATIONAL Sync/Guard Heartbeat

81 I/O LED LED LED I/O I/O LED I/O LED I/O LED I/O LED I/O ERR LED 3 10Hz 2 1Hz 3 1Hz 3-19 I/O ERR LED g012111d

82 LED I/O LED a b 3 I/O LED I/O 1 I/O 2 I/O I/O LED LED I/O AUTORESET I/O 7 EEPROM 8 9 EEPROM 10 EEPROM 11 EEPROM 12 EEPROM 14 I/O 2 I/O

83 LED 3 4 n* (n>0) n I/O 5 n* LED I/O I/O LED LED I/O 1 LED I/O I/O LED I/O LED LED I/O 1 LED n+1 I/O n I/O n I/O 9 CPU NMI

84 LED 10 CPU I/O I/O I/O AS-Interface * n I/O I/O 13 I/O 1. I/O LED I/O LED I/O LED I/O LED A B C LED LED 2 LED A 24V LED B LED C

85 CAN mm / / / / m 100m 10kBaud 1MBaud 231 MCS / D-SUB WAGO-I/O-PRO 32 CoDeSys V2.3 IEC IL LD FBD ST FC 2.2 EMC CE / / / / EMC CE / / / / EMC EMC EN EN EN EN UL * ) DEMKO * ) GL () * ) E UL ATEX X II 3 G EEx na II T4 Cat. A, B, C, D LR () * ) 02/20026 Env. 1, 2, 3, 4 DNV () * ) A-9334 Cl. B RINA ( ) * ) ABS ( ) * ) MAC30402CS1 03-HG I/PDA CE * ) * ) EDS WSB

86 I/O k / / k / / k k / / k / / k PDO SDO 8k 3ms 1,000 /256 I/O 32Tx/32Rx DS-301 V4.01 COB ID Node ID 87% I/O mm W H L 2 SDO/16 SDO DS-401 V2.0 PDO DSP405 NMT SDO DIP NMT PDO / DC 24V15%/ 20% 500mA 24V 350mA 5V 1650mA 5V 500V DC 24V15%/ 30% DC 10A 51 65* 100 * 195g

87 CAN Controller Area Network 1980 CAN CAL CAL CAN CAN CiA CAN in Automation DS301 CAN COB ID Communication Object Identifier DS301 CiA WEB

88 CAN CAN ISO11898 CAN mm 2 2 1Mbps 800Kbps 500Kbps 250Kbps 125Kbps 50Kbps 30m 50m 100m 250m 500m 1000m 4-1

89 Conductor cross A(L,n)/mm² Conductor L/m length L/m nodes 64 nodes 100 nodes I/O 5 MCS 9 D-SUB mm 2 CAN_High CAN_Low CAN_GND CAN_High CAN_Low CAN_GND PE 1MPE PE 790 CAN UDiff VDiff VCAN_High VCAN_Low CAN_High CAN_Low

90 84 CAN_Low CAN_GND 2.5V CAN_High CAN_GND 2.5V 0V CAN_Low CAN_GND 1.5V CAN_High CAN_GND 3.5V 2V I/O CAN g012402x CAN

91 CAN GND CAN_L OK 0 GND CAN_L GND CAN_H OK 0 GND CAN_H CAN_L CAN_H 60 OK CAN 2 CiA WEB

92 PCB PC DC24V m 4-4 g012430e 110 CAN m

93 PLC NC PLC PC PCB PLC I/O PLC PLC PC PCB CAN Hilscher SyCon EDS Electrical Data Sheet I/O EDS WEB

94 NMTSYNC EMCY 2 PDO Process Data Objects SDO Service Data Objects PDO SDO

95 PDO Process Data Object PDO PDO ID x1400 0x141F PDO PDO CAN PDO PDO RxPDO PDO TxPDO PDO PDO RxPDO 4-5 RxPDO g012403x PDO TxPDO 4-6 TxPDO g012404x

96 SDO Service Data Object SDO SDO SDO ID 4 SDO / SDO g012405x SDO SDO 4

97 91 SDO SDO 4-8 SDO g012406x ccs 1 scs 3 n e=1 s=1 n 0 3 e=1 s=1 n=4 3=1 e < 5 s 0 1 s 1 m d e=0 s=0 d CiA e=0 s=1 d 4 LSB 7 MSB e=1 d x 0

98 SDO 4 SDO SDO SDO 4-9 SDO g012409x ccs 0 scs 1 n n 0 c 0 1 t 0 x 0 CiA SDO

99 SDO 4 SDO SDO 4-6 SDO g012410x ccs 2 scs 2 n e=1 s=1 n 0 [8-n 7] e=1 s=1 n=4 3=1 e < 5 s 0 1 m d e=0 s=0 d CiA c=0 s=1 d 4 LSB 7 MSB e=1 d x 0 CiA

100 SDO 4 SDO SDO SDO 4-11 SDO g012411x ccs 3 scs 0 t 0 c 0 1 n [8-n 7] n 0 x 0 CiA

101 SDO 4-12 SDO g012412x cs 4 m x

102 SDO UNSIGNED32 4 SDO 16 CAN SDO SDO CAN M BC BC M 2 3 CAN-ID CAN D R RTR RTR Remote Transmit 4 CAN CAN 8 XX 0

103 97 DD x x CAN-ID 0-7 M BC 0x601 D 0x XX XX XX XX BC M 0x581 D 0x DD 00 CAN-ID=0x601 COB-ID 1100 Rx-SDO ID x CAN-ID=0x581 COB-ID 1011 Tx-SDO ID x x DD x x CAN-ID 0-7 M BC 0x601 D 0x XX XX XX XX BC M 0x581 D 0x M BC 0x601 D 0x60 XX XX XX XX XX XX XX BC M 0x581 D 0x D ASCII hex

104 x x SDO CAN-ID 0-7 M BC 0x601 D 0x XX XX XX XX BC M 0x581 D 0x4F XX XX XX CAN x x xFF CAN-ID 0-7 M BC 0x601 D 0x2F FF XX XX XX BC M 0x581 D 0x XX XX XX XX SYNC PDO SYNC SYNC

105 SYNC SYNC SYNC SYNC 4-13 SYNC g012413x EMCY EMCY EMCY EMCY EMCY 4-14 EMCY g012414x 4.3.9

106 CAN Initialization Pre-Operational Stopped Operational 4-15 / INITIALIZATION ID 0 INITIALIZATION PRE-OPERATIONAL STOP I/O LED PRE-OPERATIONAL I/O LED RUN LED I/O LED LED STOP LED

107 PRE-OPERATIONAL OPERATIONAL STOPPED 101 SDO PDO SDO ID PRE-OPERATIONAL OPERATIONAL NMT Start_Remote_Node PRE-OPERATIONAL I/O LED RUN LED SDO PDO PDO COB ID OPERATIONAL PRE-OPERATIONAL NMT Enter_Pre_Operational_State OPERATIONAL I/O RUN LED STOPPED NMT Stop_Remote_Node SDO PDO NMT / NMT Start_Remote_Node_Indication Enter_Pre_Operational_State Reset_Node STOPPED STOPPED STOP LED

108 NMT NMT INITIALIZING PRE-OPERATIONAL OPERATIONAL STOPPED NMT OPERATIONAL NMT NMT NMT 4-16 g012415x ID 0 OPERATIONAL NMT STOPPED NMT NMT 4-17 g012416x ID 0 STOPPED

109 PRE-OPERATIONAL NMT PRE-OPERATIONAL NMT PRE-OPERATIONA NMT 4-18 PRE-OPERATIONAL g012417x ID 0 PRE-OPERATIONAL NMT NMT NMT 4-19 g012418x ID

110 NMT RTR NMT NMT NMT RTR 4-21 g012420x BOOTUP 4 STOPPED 5 OPERATIONAL 127 PRE-OPERATIONAL

111 NMT INITIALIZING PRE-OPERATIONAL / 4-22 g012421x x1000 0x1FFF 0x2000 0x5FFF 0x6000 0x9FFF DS-401 I/O 16bit bit 256

112 106 0 hex 0x0000 0x0001 0x001F 0x0020 0x003F 0x0040 0x005F 0x0060 0x007F 0x0080 0x009F 0x00A0 0x0FFF 0x1000 0x1FFF DS-301 0x2000 0x5FFF 0x6000 0x9FFF 0xA000 0xFFFF 4-2

113 INITIALIZATION DS301 DS401 4 Rx/TxPDO PDO 5 Rx/TxPDO I/O I/O 64 I/O 5 PDO PDO2 4 1 PDO PDO 1 RxPDO PDO Idx S-Idx Idx S-Idx 0x x x x

114 108 2 RxPDO bit 0 0 PDO Idx S-Idx 0x x x x x RxPDO bit PDO Idx S-Idx 0x x x x x RxPDO bit PDO Idx S-Idx 0x x x6411 0A x6411 0B x6411 0C 10 1 TxPDO PDO Idx S-Idx 0x1A x x x

115 109 2 TxPDO bit 0 0 PDO Idx S-Idx 0x1A x x x x TxPDO bit PDO Idx S-Idx 0x1A x x x x TxPDO bit PDO Idx S-Idx 0x1A x x6401 0A x6401 0B x6401 0C 10 DS401

116 Idx S-Idx RO RW

117 x1000 Idx S-Idx 0x Unsigned32 RO - I/O 401 0x1000 MSB LSB 0x01 0x x1001 Idx S-Idx 0x Unsigned8 RO

118 x1003 Idx S-Idx 0x Unsigned8 RW 0 1 Unsigned32 RO - : : : : : 20 Unsigned32 RO x1005, COB-ID SYNC Idx S-Idx 0x COB-ID SYNC Unsigned32 RW 0x COB ID COB-ID x1006 Idx S-Idx 0x Unsigned32 RW 0 2 SYNC s 2ms 0 SYNC x1008 Idx S-Idx 0x RO x1009 Idx S-Idx 0x RO

119 x100A Idx S-Idx 0x100A 0 RO x100C Idx S-Idx 0x100C 0 Unsigned16 RW 0 NMT NMT x100D Idx S-Idx 0x100D 0 Unsigned8 RW 0 NMT NMT x1010 Idx S-Idx 0x Unsigned8 RO 1 1 Unsigned32 RW 1 save ASCII 0x MSB LSB 0x SDO SDO HW DIP ID ID ID rw

120 x1011 Idx S-Idx 0x Unsigned8 RO 4 1 Unsigned32 RW Unsigned32 RW Unsigned32 RW Unsigned32 RW SDO SDO Save load ASCII 0x64 0x61 0x6F 0x6C MSB LSB 0x SAVE load ASCII 0x64 0x61 0x6F 0x6C MSB LSB 0x load 0x load 0x1011 4

121 x1014 COB-ID 115 Idx S-Idx 0x COB ID EMCY Unsigned32 RW 0x80+ ID EMCY COB ID /1 / 0 COB-ID COB ID 31 DS301 COB ID x1015Inhibit Idx S-Idx 0x EMCY Inhibit Unsigned16 RW µs 2 EMCY 30ms 0x x12C x1016 Idx S-Idx 0x Unsigned8 RO Unsigned32 RW Unsigned32 RW Unsigned32 RW Unsigned32 RW Unsigned32 RW MSB LSB ID - Unsigned8 Unsigned16

122 x1017 Idx S-Idx 0x Unsigned16 RW x1018 Idx S-Idx 0x Unsigned8 RO 4 1 ID Unsigned32 RO 33 2 Unsigned32 RO Unsigned32 RO 4 Unsigned32 RO ID ID x1200 0x1201 SDO Idx S-Idx 0x1200 0x COB-ID (Rx) 2 COB-ID (Tx) Unsigned8 RO 2 Unsigned32 Unsigned32 Idx 0x1200 RO Idx 0x1201 RW Idx 0x1200 RO Idx 0x1201 RW Idx 0x1200 0x600+ ID Idx 0x1201 0x Idx 0x1200 0x580+ ID Idx 0x1201 0x SDO COB ID SDO SDO COB-ID /1 / 0 COB-ID

123 x1280 0x128F SDO Idx S-Idx 0x1280 0x128F 0 1 COB-ID (Tx) 2 COB-ID (Rx) 3 SDO ID Unsigned8 RO 3 Unsigned32 RW 0x Unsigned32 RW 0x Unsigned8 RW 0 16 SDO 1 SDO SDO 20 COB-ID /1 / 0 COB-ID x1400 0x141F PDO Idx S-Idx 0x1400 0x141F 0 Unsigned8 RO 2 1 COB-ID Unsigned32 RW Idx 0x1400 0x200+ ID Idx 0x1401 0x300+ ID Idx 0x1402 0x400+ ID Idx 0x1403 0x500+ ID Idx 0x F 0x Unsigned8 RW 255 RxPDO 32 RxPDO DS301 4 PDO COB ID PDO PDO PDO COB-ID /1 / 0/1 RTR / 0 COB-ID COB ID 31 1 DS301 COB ID 31 0 PDO Change of Value(COV) PDO

124 118 PDO RTR TxPDO RxPDO 0 X X SYNC COV PDO SYNC X X X SYNC (x = 1 to 240) X X SYNC RTR 253 X X RTR COV 254 X 1 COV COV 255 X COV 1 COV 1 Inhibit PDO SYNC x1600 0x161F PDO Idx S-Idx 0x1600 0x161F 0 Unsigned8 RW Unsigned32 RW - PDO 0 PDO PDO x1800 0x181F PDO Idx S-Idx 0x1800 0x181F 0 Unsigned8 RO 5 1 COB-ID Unsigned32 RW Idx 0x1800 0x180+ ID Idx 0x1801 0x280+ ID Idx 0x1802 0x380+ ID Idx 0x1803 0x480h+ ID Idx 0x F 0x Unsigned8 RW Inhibit Unsigned16 RW Idx 0x Idx 0x F Unsigned8 RW 0 5 Unsigned16 RW 0 TxPDO

125 TxPDO DS301 4 PDO COB ID PDO PDO PDO Inhibit COB ID 2 PDO 100us COB ID 31 1 DS301 COB ID 31 0 COB ID 2 PDO 30ms x12C PDO PDO PDO PDO Inhibit Inhibit PDO x1A00 0x1A1F PDO Idx S-Idx 0x1A00 0x1A1F Unsigned8 RW - Unsigned32 RW - PDO 0 PDO PDO

126 I/O 1 8 0x20000x21000x2400 0x DS 401 0x6000 0x6200 0x6401 0x6411 0x2000 0x6000 Idx 0x2000 Array Unsigned8 0x2100 Array Unsigned8 0x Array Unsigned8 0x Array Unsigned8 0x Array Unsigned16 0x Array Unsigned x Record x Record x Record x Record x Record x Record x Record x Record x Record x Record x Record x Record x4200-0x4202 0x4300-0x4302 0x4500 Record 123 Record 124 Record 124 0x5000 PA Record 129 0x PA Record 0x5200 0x5201 0x5202 Record Array of Byte Array of Byte PDO I/O 129 I/O 130 I/O 130

127 x2000 Idx S-Idx 0x Unsigned8 RO Unsigned8 RO Unsigned8 RO x2100 Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW x Idx S-Idx 0x Unsigned8 RO Unsigned8 RO Unsigned8 RO x Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW x Idx S-Idx 0x Unsigned8 RO Unsigned16 RO Unsigned16 RO x Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW x Idx S-Idx 0x Unsigned8 RO Unsigned24 RO Unsigned24 RO - 170

128 x Idx S-Idx 0x Unsigned8 RO Unsigned24 RW Unsigned24 RW x Idx S-Idx 0x Unsigned8 RO Unsigned32 RO Unsigned32 RO x Idx S-Idx 0x Unsigned8 RO Unsigned32 RW Unsigned32 RW x Idx S-Idx 0x Unsigned8 RO Unsigned40 RO Unsigned40 RO x Idx S-Idx 0x Unsigned8 RO Unsigned40 RW Unsigned40 RW x Idx S-Idx 0x Unsigned8 RO Unsigned48 RO Unsigned48 RO x Idx S-Idx 0x Unsigned8 RO Unsigned48 RW Unsigned48 RW 0 85

129 x Idx S-Idx 0x Unsigned8 RO Unsigned56 RO Unsigned56 RO x Idx S-Idx 0x Unsigned8 RO Unsigned56 RW Unsigned56 RW x Idx S-Idx 0x Unsigned8 RO Unsigned64 RO Unsigned64 RO x Idx S-Idx 0x Unsigned8 RO Unsigned64 RW Unsigned64 RW x4200-0x4202 Idx S-Idx 0x4200-0x Unsigned8 RO - 1 Unsigned8 RO - 2 Octet String RO Unsigned8 RW S - MB1 MB2 MB3 MB4 MB5 MB6 D1 D2 D3 D4 Sub0 6 Sub1 8 Sub2 S - MB1 MB2 MB3 MB4 MB5 MB6 Sub3 D1 Sub4 D2 Sub5 D3 Sub6 D4

130 x4300-0x4302 Idx S-Idx 0x4300-0x Unsigned8 RO - 1 Unsigned8 RO - 2 Octet String RW Unsigned8 RW C - MB1 MB2 MB3 MB4 MB5 MB6 D1 D2 D3 D4 Sub0 6 Sub1 8 Sub2 C - MB1 MB2 MB3 MB4 MB5 MB6 Sub3 Sub4 Sub5 Sub x4500 Idx S-Idx D1 D2 D3 D4 0x I/O Unsigned8 RW I/O 1 I/O Unsigned16 RW 0 1 I/O I/O Unsigned16 RW 0 64 I/O

131 >0 1 0x PRE-OPERATIONAL PP LL SS 0 STOP 0x5000 0x PP LL SS PP LL SS : SS N 5 - /

132 MSB LSB M / A/D M G MB A/D A/D / M MB G *1) 0 1 *1) *1)

133 127 I/O Kl.1 Kl.2 Kl.3 Kl.4 Kl.5 Kl.6 Kl.7 Kl.8 Kl.9 S-Idx 0 0x x /1 2 0x /2 3 0x /3 4 0x /4 5 0x /5 6 0x /6 7 0x /7 8 0x /8 9 0x /9

134 Kl.2 Kl S-Idx 0 0x x /1 2 0x /2 3 0x /3 4 0x /4 5 0x /5 6 0x /6 7 0x /7 8 0x /8 9 0x /9 PDO x x

135 x5000 Idx S-Idx 0x Unsigned16 RO - PA 1 1 Octed_String RO - 1 PA 512 PA Octed_String RO - 2 PA 512 PA SDO SDO PDO x5001 Idx S-Idx 0x Unsigned16 RO none PA 1 1 Octed_String RW none 1 PA 512 PA Octed_String RW none 2 PA 512 PA SDO SDO PDO x5200 Idx S-Idx 0x Unsigned8 RO - 1 PDO Unsigned8 RW 0 PDO 0 PDO 2 1 PDO 2 Unsigned8 RW 0 / Unsigned8 RW 0 / 0 1

136 x5201 Idx S-Idx 0x Unsigned8 RO Unsigned8 RW n 1 n Unsigned8 RW n 1 n x5202 Idx S-Idx 0x Unsigned8 RO - I/O 1 Unsigned64 RO Unsigned64 RO - 1 I/O 3 Unsigned64 RO - 2 I/O Unsigned64 RO - 64 I/O

137 131 / I/O I/O / : I/O : A B C D E F Bit : x8202

138 DS 401 I/O DS401 Idx 0x Array Unsigned8 I/O 8 0x6005 0x6006 0x6007 0x L H 8 H L 8 Unsigned8 Array Unsigned8 Array Unsigned8 Array Unsigned8 8 / x Array Unsigned8 I/O 134 0x Array Unsigned / 0x Array Unsigned8 8 0x Array Unsigned16 I/O 16 0x Array Unsigned x6421 0x6423 0x6424 0x6425 0x6426 0x6427 0x6428 Unsigned Unsigned Unsigned Array Unsigned8 Boolean Array Unsigned16 Array Unsigned16 Array Unsigned16 Array Unsigned16 Array Unsigned16 / 0x6443 Array Unsigned8 0x6444 Array Unsigned16 0x67FE Array Unsigned

139 x Idx S-Idx 0x Unsigned8 RO Unsigned8 RO Unsigned8 RO Unsigned8 RO x Idx S-Idx 0x Unsigned8 RW 1 PDO 1 0x6006 0x6008 PDO 0 0x6006 0x x Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW Unsigned8 RW 255 0x x x6007 L H 8 Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW Unsigned8 RW 0

140 x x6006 OR 0 1 0x x41 0x x x6008 H L 8 Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW Unsigned8 RW x x6006 OR 0 1 0x x41 0x x x Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW Unsigned8 RW

141 x Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW Unsigned8 RW 255 STOPPED 0x x Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW Unsigned8 RW 0 0x x x41 0x x x Idx S-Idx 0x Unsigned8 RO Unsigned16 RO Unsigned16 RO - 1 2

142 x Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW x6421 Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW 7 0x x x x x x to x6423 Idx S-Idx 0x Unsigned8 PDO 1 0x6421 PDO 0 0x6421 RW 0

143 x Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW 0 0x6423 0x x6425 g012435e Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW 0 0x6423 0x x6426 Unsigned g012436e Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW 0 0x6424 g012437e

144 x6427 Unsigned Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW x6428 Unsigned g012438e Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW x6443 g012439e Idx S-Idx 0x Unsigned8 RO Unsigned8 RW Unsigned8 RW 1 STOPPED 0x6444 0x

145 x6444 Idx S-Idx 0x Unsigned8 RO Unsigned16 RW Unsigned16 RW 0 0x x67FE Idx S-Idx 0x67FE 0 Unsigned8 RO 1 1 Unsigned8 RW 0 0 PRE-OPERATIONAL OPERATIONAL 1 2 STOPPED

146 IEC / xA000-0xFFFF 0xA000 0xA8FF IEC IEC CAN PFC IEC PFC IEC / Idx 0xA000 Integer 8 Array Integer xA040 Unsigned 8 Array Unsigned 8 8 Unsigned 141 0xA080 Boolean Boolean Boolean 141 0xA0C0 Integer 16 Array Integer xA100 Unsigned 16 Array Unsigned Unsigned 0xA140 Integer 24 Array Integer xA180 Unsigned 24 Array Unsigned Unsigned 0xA1C0 Integer 32 Array Integer xA200 Unsigned 32 Array Unsigned Unsigned 0xA240 Floating Point 32 Array Floating Point Floating Point 0xA280 Unsigned 40 Array Unsigned Unsigned 0xA2C0 Integer 40 Array Integer xA300 Unsigned 48 Array Unsigned Unsigned 0xA340 Integer 48 Array Integer xA380 Unsigned 56 Array Unsigned Unsigned 0xA3C0 Integer 56 Array Integer xA400 Integer 64 Array Integer xA440 Unsigned 64 Array Unsigned Unsigned 0xA480 Integer 8 Array Integer 8 8 0xA4C0 Unsigned 8 Array Unsigned 8 8 Unsigned 0xA500 Boolean Boolean Boolean 0xA540 Integer 16 Array Integer xA580 Unsigned 16 Array Unsigned Unsigned 0xA5C0 Integer 24 Array Integer xA600 Unsigned 24 Array Unsigned Unsigned 0xA640 Integer 32 Array Integer xA680 Unsigned 32 Array Unsigned Unsigned 0xA6C0 Floating Point 32 Array Floating Point Floating Point 0xA700 Unsigned 40 Array Unsigned Unsigned 0xA740 Integer 40 Array Integer xA780 Unsigned 48 Array Unsigned Unsigned 0xA7C0 Integer 48 Array Integer xA800 Unsigned 56 Array Unsigned Unsigned 0xA840 Integer 56 Array Integer xA880 Integer 64 Array Integer xA8C0 Unsigned 64 Array Unsigned Unsigned 142 ( )

147 xA000 Integer8 IEC Idx S-Idx 0xA000 0 Unsigned8 RO Integer8 RO Integer8 RO xA Integer8 RO - Integer xA040 Unsigned8 IEC Idx S-Idx 0xA040 0 Unsigned8 RO Unsigned8 RO Unsigned8 RO xA Unsigned8 RO - Unsigned xA080 Boolean IEC Idx S-Idx 0xA080 0 Unsigned8 RO Boolean RO Boolean RO xA Boolean RO - Boolean xA0C0 Integer16 IEC Idx S-Idx 0xA0C0 0 Unsigned8 RO Integer16 RO Integer16 RO xA0C Integer16 RO - Integer

148 xA101 0xA8C0 IEC / 256 S-Idx S-Idx /

149 143 PDO PDO PDO OPERATIONAL OPERATIONAL TxPDO x1800 0x181F 2 DS401 0x6423 FALSE 0x6423 TRUE Inhibit 0x6421 0x6424 0x6425 0x6426 0x6427 0x6428 PDO PDO DS PRE-OPERATIONAL SDO 3.1.8

150 144 PDO PDO1 PDO 4-23 PDO g012456x 0x1800 PDO PDO 118 0x1A00 PDO PDO 119 0x x x x6007 0x6008 L H 8 H L L H 8 H L

151 145 PDO PDO1 PDO 4-24 PDO g012457x 0x1400 PDO 118 PDO 0x1600 PDO PDO 118 0x x x

152 146 PDO PDO2 PDO 4-25 PDO g012458x 0x PDO PDO 118 0x1A01 3 PDO PDO 119 0x x6423 0x6424 0x6425 0x6426 0x6427 0x6428 Unsigned Unsigned Unsigned

153 147 PDO PDO2 PDO 4-26 PDO g012459x 0x PDO PDO 118 0x PDO PDO 118 0x s 135 0x x

154 148 SYNC SYNC 0 OPERATIONAL SYNC SYNC SYNC 0x81000x SYNC OPERATIONAL SYNC LED 0x0000 0x SYNC NMT NMT 0x100C RTR COB ID 0x700+ ID 0x100C=0x100D 0 NMT RTR PRE-OPERATIONAL 127 OPERATIONAL 5 STOPPED 4 0x100C 0x100D

155 x8130 0x11 0x x6206 0x6207 0x6443 0x6444 0x67FE 0x00000x RTR 0x1017 0x x x1016 0x81300x110x00 05 KK KK EMCY 0x6206 0x6207 0x6443 0x6444 0x67FE 0x00000x110x00 05 KK 00 00

156 EMCY 0x0000 EMCY 2 0x1010

157 151 EMCY x0000 * 0x5000 * 0x00 0x x // 0x5000 * 0x x5000 * 0x PP LL SS PP LL SS 0x5000 * 0x Inhibit 0x5000 * 0x A x5000 * 0x A x8100 * 0x Sync 0x8110 * 0x x67FE / 0x8110 * 0x x67FE / 0x8120 * 0x CAN 0x8130 * 0x8130 * 0x11 0x KK KK 0x8210 * 0x SS II NN PDO PDO SS 0x II NN PDO x8220 * 0x SS II NN PDO n n SS II NN PDO xFF00 * 0xFF00 * 0x81 0x PP DD 07 PP SK NN STOPPED PP - DD - PP - SK - NN * 0 1 0x x200x82

158 I/O 4-27 g012423e mA mA g012424e

159 g012425e OK g012426x / /

160 154 I/O 5 I/O 5.1 I/O 750 I/O I/O CD-ROM WEB I/O DI DC 5V DC5V 0.2ms 2 3 DI DC 5(12)V DC5(12)V 0.2ms 1 DI DC 24V , DC24V 3.0ms , DC24V 0.2ms , DC24V 3.0ms , DC24V 0.2ms , DC24V 3.0ms , DC24V 3.0ms , DC24V 3.0ms , DC24V 0.2ms , DC24V 3.0ms , DC24V 0.2ms , DC24V ms , DC24V 3.0ms , DC24V 0.2ms , DC24V 3.0ms , DC24V 0.2ms DC24V 3.0ms DC24V 0.2ms 1 DI AC/DC 24V , AC/DC24V , AC/DC24V 2 3 DI AC/DC 42V , AC/DC42V 2 DI DC 48V , DC48V 3.0ms 2 4 DI DC 110V , DC110V

161 I/O 155 DI AC 120V , AC120V 2 4 DI AC 120(230)V AC120(230)V 2 DI AC 230V , AC230V 2 4 DI NAMUR NAMUR EExi DIN EN , NAMUR DIN EN NAMUR EExi DIN EN DI , DC 24V DO DC 5V DC5V 20mA DO DC 12(14)V DC12(14)V 1A DO DC 24V , DC24V 0.5A , DC24V 2.0A , DC24V 0.5A DC24V 2.0A DC24V EExiPNP , DC24V 0.5A , DC24V 0.5A , DC24V 0.5A , DC24V 0.5A DC24V 0.5A DC24V 0.5A DO AC 120(230)V AC120(230)V 0.25A DO AC/DC 230V AC/DC230V 300mA AC/DC230V 500mA 3A <30 DO AC230V AC16A 1a AC125V AC0.5A DC30V DC1Ac AC230VA 2c AC230V DC30V AC/DC2A 2a AC230V DC30V AC/DC2A 2a

162 156 I/O AI 0-20mA mA mA mA mA mA AI 4-20mA mA mA mA mA EExi mA mA AI 0-1A A AC/DC AI 0-5A / A AC/DC / AI 0-10V DC0-10V AC/DC0-10V DC0-10V DC0-10V DC0-10V AI DC 10V DC 10V DC 10V DC 10V DC 10V AI DC 0-30V DC 0-30V AI PT100/RTD / PT100/RTD EExi PT100/RTD AI J K B E N R S T U L AI

163 I/O AO 0-20mA mA mA EExi mA AO 4-20mA mA mA AO DC0-10V DC0-10V DC0-10V mW 24V DC0-10V AO DC 10V DC 10V DC 10V DC24V 100kHz DC24V Hz / / DC24V / SSI / RS232C RS DALI/DSI DALI/DSI AS-Interface AS-Interface / VIB I/O RTC RTC

164 158 I/O DC 24V DC24V DC24V 6.3A DC24V 6.3A DC24V EExi DC 24V DC24V AC 120V AC120V 6.3A AC 230V AC/DC230V AC230V 6.3A AC230V 6.3A / DC24V DC0V AC/DC 0 230V

165 I/O I/O / 1 / I/O / I/O 0x5000 0x Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 S 1 DI 1 0x6000 0x2000

166 160 I/O , -401, -405, -406, -410, -411, -412, -427, -438,, , -401, -405, -406, -410, -411, -412, -427 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DI 2 2 DI 1 1 0x6000 0x , -424, -425, , -424, -425 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 S 2 2 S 1 1 DI 2 2 DI 1 1 0x6000 0x , Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 S 2 2 S 1 1 DI 2 2 DI 1 1 0x6000 0x2000 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Q 2 2 Q x6200 0x2100

167 I/O , -403, -408, -409, -414, -415, -422, -423, -428, -432, -433, , -403, -408, -409, -415, -422, -423, -428, -432, -433, -440 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DI 4 4 DI 3 3 DI 2 2 DI 1 1 0x6000 0x , -431, -436, -437, , -431, -434 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DI 8 8 DI 7 7 DI 6 6 DI 5 5 DI 4 4 DI 3 3 DI 2 2 DI 1 1 0x6000 0x Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 0x6000 0x2000 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DO 1 1 0x6200 0x2100

168 162 I/O , -502, -509, -512, -513, -514, -517, -535,, , -502, -509, -512, -513, -514, -517 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DO 2 2 DO 1 1 0x6200 0x , -522, Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 S2 2 S1 1 0x6000 0x2000 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DO 2 2 DO 1 1 0x6200 0x , Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 S3 4 S2 3 S1 2 S0 1 0x6000 0x2000

169 I/O 163 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DO 2 2 DO 1 1 0x6200 0x , -516, -519, -531, , -516, -531, -540 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DO 4 4 DO 3 3 DO 2 2 DO 1 1 0x6200 0x Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 S3 4 S2 3 S1 2 S0 1 S 0 S 1 0x6000 0x2000 Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 DO 4 4 DO 3 3 DO 2 2 DO 1 1 0x6200 0x2100