Beckhoff EP8309 Multifunctional I/O EtherCAT BOX

Warning: This slave is very complex, so read the documentation. This contains information how to configure and use the slave, which PDO's to choose and the correspondig CoE objects to configure.

Configure the slave by choosing the appropriate modes in the Digital, Analog Input, Tacho and Analog Out tabs. The appropriate CoE objects to configure are blended in accoding to the selection. For a description of the object consult the documentation.

The ports are added sequencially for every PDO that is enabled. One port is added for every PDO Entry, with the exception are boolean PDO Entries which are grouped into a boolean vector per PDO.

Digital

Select Digital Input, Digital Output or Device Status.

Although the PDO's are mandatory, the block's ports will be added depending on selection.

The following input ports are added for Digital Output

PDO Index Type Name Signals
#x1601 #x7040:1..8 bool[8] DigIn Digital value

The following output ports are added for Digital Input.

PDO Index Type Name Signals
#x1a05 #x6040:1..8 bool[8] DigIn Digital value

The following output ports are added for Device Status

PDO Index Type Name Signals
#x1a08 #xf611:1..2 bool[2] DevStat Undervoltage Us, Up

Analog Input

Check Analog Input to activate both channels.

Choose appropriate Output Scale/Offset/Filter

The following output ports are added:

PDO Index Type Name Signals
#x1a00 #x6000:16 INT16/double[2](*) AIn Analog value Ch.1, 2
#x1a01 #x6010:16
#x1a00 #x6000:7 bool[2] AInStat Error Ch.1, 2
#x1a01 #x6010:7

*) See Output Scale/Offset/Filter

Tacho

Choose one of Single shaft or Dual shaft to activate tacho input.

Note: CoE configuration option #x80XX:15 allows a presentation to be selected. With this object, the granularity and range is chosen. The output port uses a gain value that reverses the calculation to present the user a consistent value.

The following input ports are added:

PDO Index Type Name Signals
#x1600 #x7020:9 bool TachoCtl Reset Tacho

The following output ports are added for Single shaft

PDO Index Type Name Signals
#x1a02 #x6037:11 double Tacho Value
#x1a02 #x6037:2..5 bool[4] TachoStat Error IN A
Status IN A
Error IN B
Status IN B

The following output ports are added for Dual shaft

PDO Index Type Name Signals
#x1a03 #x6020:11 double[2] Tacho Value 1, 2
#x1a04 #x6030:11
#x1a03 #x6020:1 bool[2] TachoStat Status IN A, B
#x1a04 #x6030:1

Analog Output

Choose between Current or PWM.

Choose appropriate Input Scale

The following input ports are added for Current

PDO Index Type Name Signals
#x1603 #x7060:11 UINT16/double(*) AOut Analog value

The following input ports are added for PWM

PDO Index Type Name Signals
#x1602 #x7050:11 UINT16/double(*) PWM Analog value
#x1602 #x7050:1,6,7 bool[3] PWMCtl Dithering,Enable,Reset

The following output ports are added for PWM

PDO Index Type Name Signals
#x1a06 #x6050:5..7 bool[3] PWMStat Ready,Warning,Error

*) See Input Scale

Common Slave Options