Commissioning

The ED2504 EtherCAT Terminal provides four digital outputs, which are pulse-width-modulated signals. The duty cycle and output frequency can be set using either real or integer values.
In addition, each output has a digital input with configurable filter times.
The switching characteristics can be set to either positive or ground switching (PNP/NPN).

Each channel thus consists of a combination of a PWM output and a digital input. These are grouped together in a signal group called “SlotGroup n”. The signal group is configured via the “Slots” tab using the “Modules/slots procedure”. The number of configurable “ModuleGroups” and the functions available with them are described below.

Overview of slots and ModuleGroups:

The following ModuleGroups are available for each SlotGroup n (Output n, Input n):

“ModuleGroup”		“Description”	ModuleIdent	Description
PWM (Integer)	PWM_OUT_INT16_DI	PWM, Output Pulse Width, Period (INT16 Legacy), Digital Input	0x809C8, 0x2009C8	1x PWM output with adjustable pulse width and period (INT16), 1x digital input
	PWM_OUT_INT16_ENC	PWM, Output Pulse Width, Period (INT16 Legacy), Frequency Input	0x809C8, 0x1809C8	1x PWM output with adjustable pulse width and period (INT16), 1x frequency input
	PWM_OUT_INT32_DI	PWM, Output Pulse Width, Period (INT32 Legacy), Digital Input	0x3809C8, 0x2009C8	1x PWM output with adjustable pulse width and period (INT32), 1x digital input
	PWM_OUT_INT32_ENC	PWM, Output Pulse Width, Period (INT32 Legacy), Frequency Input	0x3809C8, 0x1809C8	1x PWM output with adjustable pulse width and period (INT32), 1x frequency input
PWM (Real)	PWM_OUT_REAL32_DI	PWM, Output Duty Cycle, Frequency (REAL32), Digital Input	0x1009C8, 0x2009C8	1x PWM output with adjustable duty cycle and frequency (REAL32), 1x digital input
	PWM_OUT_REAL32_ENC	PWM, Output Duty Cycle, Frequency (REAL32), Frequency Input	0x1009C8, 0x1809C8	1x PWM output with adjustable duty cycle and frequency (REAL32), 1x frequency input
	PWM_OUT_REAL32_HWE	PWM, Output Duty Cycle, Frequency (REAL32), Hardware Enable	0x1009C8, 0x3009C8	1x PWM output with adjustable duty cycle and frequency (REAL32), 1x hardware enable input
Empty	EMPTY	Empty	–	A port that has no function must be assigned the value “Empty”.

Notice

Specifying an invalid module/slot configuration

If invalid module combinations are configured within a SlotGroup, then

the specification is rejected and
the following diagnostic message is output: 0x81B5 “Invalid module and slot configuration”.

Further Information