Lenze I/O system 1000 User manual

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Ä.TR^ä 13514961
I/O systems
Controls
Modular I/O system 1000
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ Reference Manual EN

2Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 9
1.1 Document history _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 10
1.2 Conventions used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 11
1.3 Terminology used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 12
1.4 Definition of the notes used _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 14
2 Product description _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 15
2.1 Device architecture _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 16
2.2 Available bus coupler modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 17
2.3 Available I/O compound modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 18
2.4 Digital-I/O EPM-S207, EPM-S310 – time stamp function (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 20
2.5 Analog I/O EPM-S404 – 4(2) analog inputs for resistance measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ 26
2.6 Counter modules EPM-S600 ... EPM-S603 – control and status words _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
2.6.1 Status word EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 27
2.6.2 Control word EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
2.6.3 Status word EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 28
2.6.4 EPM-S601 control word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
2.6.5 Status word EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 29
2.6.6 Control word EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
2.6.7 Status word EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 30
2.6.8 Control word EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 31
2.7 PWM module EPM-S620 – control and status word _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 32
3 Configuring the I/O system in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
3.1 Establishing a connection between PC and I/O system 1000 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 33
3.2 Mapping the real station layout in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
3.2.1 Search for connected devices _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 34
3.2.2 Creating a new project (select component from catalogue) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 38
3.3 Setting the communication path and going online _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 43
3.4 Parameterising I/O modules in the »Engineer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 45
3.4.1 Save parameter settings and station structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46
3.4.2 Load Lenze setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 46
4 Configuring the I/O system in the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 47
4.1 Connecting the I/O system to the Lenze Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 48
4.2 Establishing communication with the Lenze Controller _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 50
4.3 Mapping the real station structure in the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
4.3.1 Create a new project in the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 51
4.3.2 Configuring the I/O modules at the backplane bus of the Lenze Controller _ _ _ _ _ _ _ _ 53
4.3.3 Configuring I/O modules on the EtherCAT bus coupler module _ _ _ _ _ _ _ _ _ _ _ _ _ _ 56
4.3.4 Configuring I/O modules on the CANopen bus coupler module _ _ _ _ _ _ _ _ _ _ _ _ _ _ 59
4.3.4.1 Special features of the CANopen bus coupler module (EPM-S110) _ _ _ _ _ _ _ 64
4.3.4.2 Restart _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 66
4.3.4.3 Example: Commissioning of a counter (EPM-S601) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 67
4.3.5 Setting the cycle time for access to the I/O modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 72
4.4 Parameterising I/O modules in the »PLC Designer« _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 73
4.4.1 Parameterising the I/O modules at the backplane bus of the Controller _ _ _ _ _ _ _ _ _ _ 73
4.4.2 Parameterising I/O modules on the EtherCAT bus coupler module _ _ _ _ _ _ _ _ _ _ _ _ _ 74
4.4.3 Parameterising I/O modules on the CANopen bus coupler module _ _ _ _ _ _ _ _ _ _ _ _ _ 75
4.5 Error messages (backplane bus) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 76
Contents

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 3
Contents
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5 CANopen communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
5.1 About CANopen _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
5.1.1 Structure of the CAN data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 78
5.1.2 Identifier _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.1.3 Saving settings _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 79
5.2 Network management (NMT) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 80
5.3 Transmitting process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
5.3.1 Process data telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 83
5.3.2 Identifiers of the process data objects (PDO) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 84
5.3.3 Assigning individual identifiers _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
5.3.4 Transmission mode for process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 85
5.3.5 PDO mapping _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 87
5.3.6 PDO mapping for I/O compound modules with a serial interface _ _ _ _ _ _ _ _ _ _ _ _ _ 89
5.3.7 PDO mapping for I/O compound modules with time stamp function _ _ _ _ _ _ _ _ _ _ _ 90
5.3.8 PDO mapping for I/O compound modules with PWM function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 93
5.3.9 PDO mapping for counters and encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 94
5.3.10 Data transfer between I/O system and inverter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 96
5.3.11 Indices for setting the process data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 97
5.4 Transmitting parameter data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
5.4.1 Telegram structure _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 100
5.4.1.1 Command code _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 101
5.4.1.2 Addressing the parameter (index / subindex) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
5.4.1.3 Data of the parameter (data 1 ... 4) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 102
5.4.2 Writing a parameter (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 103
5.4.3 Reading a parameter (example) _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 105
5.5 Station behaviour after switch-on _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 107
5.6 Baud rate and node address (node ID) setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 108
5.7 General function of the parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
5.7.1 Parameterising digital I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 109
5.7.2 Parameterising analog I/Os, counter, SSI, time stamp and PWM _ _ _ _ _ _ _ _ _ _ _ _ _ _ 110
5.8 Parameterising analog I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111
5.8.1 2 analog inputs 0 ... 10 V (12 bits) - EPM-S400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 111
5.8.2 4 analog inputs 0 ... 10 V (12 bits) - EPM-S401 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 112
5.8.3 2 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 113
5.8.4 4 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S403 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 114
5.8.5 2 analog inputs -10 ... +10 V (16 bits) - EPM-S406 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 115
5.8.6 2 analog inputs 0/4 ... 20 mA (16 bits) - EPM-S408 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 117
5.8.7 2 analog outputs 0 ... 10 V (12 bits) - EPM-S500 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 119
5.8.8 4 analog outputs 0 ... 10 V (12 bits) - EPM-S501 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 120
5.8.9 2 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S502 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 121
5.8.10 4 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S503 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 122
5.8.11 Error behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 123
5.9 Parameterising temperature measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 124
5.9.1 4(2) analog input for resistance measurement - EPM-S404 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 124
5.9.2 2 analog inputs for thermocouple measurement - EPM-S405 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 131
5.9.3 Error behaviour _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 135
5.10 Parameterising the counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136
5.10.1 Commissioning examples _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 136
5.10.2 Rotary transducer signal evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 137
5.10.3 1 counter 32 bits, 24 V DC - EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 138
5.10.4 2 counters 32 bits, 24 V DC - EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 142
5.10.5 1 counter 32 bits, 5 V DC - EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 146
5.10.6 2 counters 32 bits, 24 V DC - EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 149

Contents
4Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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5.11 Parameterising the encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
5.11.1 SSI - EPM-S604 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 151
5.12 Parameterising the time stamp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
5.12.1 2 digital inputs with time stamp function - EPM-S207 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
5.12.2 2 digital outputs with time stamp function - EPM-S310 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 155
5.13 Parameterising technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
5.13.1 2 digital outputs with PWM functionality - EPM-S620 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 156
5.13.2 RS232 interface - EPM-S640 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 157
5.13.3 RS422/RS485 interface - EPM-S650 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 163
5.14 "Save" function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 172
5.15 Loading the default setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 173
5.16 Node guarding _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 174
5.17 Heartbeat _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 176
5.18 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 178
5.18.1 Time monitoring for PDO1-Rx ... PDO10-Rx _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 178
5.18.2 Monitoring of the digital outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 179
5.18.3 Monitoring of the analog outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 180
5.19 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 181
5.19.1 Emergency telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 181
5.19.1.1 Error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 182
5.19.1.2 Example: Error information "46 0D 15 00 00" _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 183
5.19.1.3 EPM-S404 - process alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 184
5.19.1.4 EPM-S406, EPM-S408 - process alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 184
5.19.1.5 EPM-S600 - process alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 184
5.19.1.6 EPM-S601, EPM-S602 - process alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 185
5.19.1.7 EPM-S600 - diagnostic alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 185
5.19.1.8 EPM-S601 - diagnostic alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 185
5.19.1.9 EPM-S603 - diagnostic alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
5.19.1.10 EPM-S604 - diagnostic alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
5.19.1.11 EPM-S640 - diagnostic alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 186
5.19.1.12 EPM-S650 - diagnostic alarm _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 187
5.19.2 Reading out the module IDs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 188
5.19.3 Status of the digital inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189
5.19.4 Status of the digital outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189
5.19.5 Status of the analog inputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189
5.19.6 Status of the analog outputs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 189
5.19.7 Counter status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190
5.19.8 Status of the digital inputs with time stamp function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 190
5.19.9 Status of the digital outputs with time stamp function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 191
5.19.10 Status of the digital outputs with PWM function _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 192
5.20 Index table _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 193

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 5
Contents
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6 PROFIBUS communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 215
6.1 PROFIBUS / PROFIBUS-DP _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 215
6.2 System configuration _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 216
6.2.1 Device types _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 216
6.2.2 Mono master system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 216
6.2.3 Multi-master system _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 217
6.3 Communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 218
6.3.1 Bus access _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 218
6.3.2 Cyclic data transmission _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 219
6.3.3 Acyclic data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 220
6.3.3.1 Services for the acyclic parameter data transfer _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 221
6.3.4 Communication medium _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 222
6.4 Project planning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 223
6.5 Parameterising analog I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 224
6.5.1 2 analog inputs 0 ... 10 V (12 bits) - EPM-S400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 224
6.5.2 4 analog inputs 0 ... 10 V (12 bits) - EPM-S401 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 226
6.5.3 2 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 228
6.5.4 4 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S403 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 230
6.5.5 2 analog inputs -10 ... +10 V (16 bits) - EPM-S406 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 232
6.5.6 2 analog inputs 0/4 ... 20 mA (16 bits) - EPM-S408 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 235
6.5.7 2 analog outputs 0 ... 10 V (12 bits) - EPM-S500 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 238
6.5.8 4 analog outputs 0 ... 10 V (12 bits) - EPM-S501 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 240
6.5.9 2 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S502 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 242
6.5.10 4 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S503 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 244
6.6 Parameterising temperature measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
6.6.1 4(2) analog input for resistance measurement - EPM-S404 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 246
6.6.2 2 analog inputs for thermocouple measurement - EPM-S405 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 254
6.7 Parameterising the counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 259
6.7.1 1 counter 32 bits, 24 V DC - EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 259
6.7.2 2 counters 32 bits, 24 V DC - EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 266
6.7.3 1 counter 32 bits, 5 V DC - EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 275
6.7.4 2 counters 32 bits, 24 V DC - EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 283
6.8 Parameterising the encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286
6.8.1 SSI - EPM-S604 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 286
6.9 Parameterising the time stamp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 292
6.9.1 2 digital inputs with time stamp function - EPM-S207 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 292
6.9.2 2 digital outputs with time stamp function - EPM-S310 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 294
6.10 Parameterising technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 297
6.10.1 2 digital outputs with PWM functionality - EPM-S620 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 297
6.10.2 RS232 interface - EPM-S640 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 299
6.10.3 RS422/RS485 interface - EPM-S650 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 306
6.11 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
6.11.1 Slave standard diagnostic data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 316
6.11.2 ID-related diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 317
6.11.3 Module status _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 318
6.11.4 Channel-related diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 320
6.11.5 Alarms _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 321

Contents
6Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
7 EtherCAT communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 323
7.1 About EtherCAT _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 323
7.1.1 EtherCAT frame _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 324
7.1.2 EtherCAT datagrams _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 325
7.1.3 EtherCAT state machine _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 325
7.2 Transmitting process data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 326
7.2.1 Access to the I/O area _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 327
7.3 Transmitting parameter data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 328
7.4 General function of the parameter setting _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 329
7.5 Parameterising analog I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 330
7.5.1 2 analog inputs 0 ... 10 V (12 bits) - EPM-S400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 330
7.5.2 4 analog inputs 0 ... 10 V (12 bits) - EPM-S401 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 331
7.5.3 2 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 332
7.5.4 4 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S403 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 333
7.5.5 2 analog inputs -10 ... +10 V (16 bits) - EPM-S406 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 334
7.5.6 2 analog inputs 0/4 ... 20 mA (16 bits) - EPM-S408 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 336
7.5.7 2 analog outputs 0 ... 10 V (12 bits) - EPM-S500 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 338
7.5.8 4 analog outputs 0 ... 10 V (12 bits) - EPM-S501 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 339
7.5.9 2 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S502 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 340
7.5.10 4 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S503 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 341
7.6 Parameterising temperature measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 342
7.6.1 4(2) analog input for resistance measurement - EPM-S404 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 342
7.6.2 2 analog inputs for thermocouple measurement - EPM-S405 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 348
7.7 Parameterising the counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 351
7.7.1 1 counter 32 bits, 24 V DC - EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 351
7.7.2 2 counters 32 bits, 24 V DC - EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 354
7.7.3 1 counter 32 bits, 5 V DC - EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 358
7.7.4 2 counters 32 bits, 24 V DC - EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 361
7.8 Parameterising the encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 363
7.8.1 SSI - EPM-S604 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 363
7.9 Parameterising the time stamp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 366
7.9.1 2 digital inputs with time stamp function - EPM-S207 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 366
7.9.2 2 digital outputs with time stamp function - EPM-S310 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 366
7.10 Parameterising technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 367
7.10.1 2 digital outputs with PWM functionality - EPM-S620 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 367
7.10.2 RS232 interface - EPM-S640 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 368
7.10.3 RS422/RS485 interface - EPM-S650 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 374
7.11 Monitoring _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 383
7.12 Diagnostics _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 383
7.12.1 Process alarm data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 384
7.12.2 Diagnostic alarm data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 386
7.12.3 Standard objects _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 395
7.12.4 Storage of the PDOs _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 399
7.12.5 Emergency telegram _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 400
7.12.6 EtherCAT-specific error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 401
7.12.7 Manufacturer-specific error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 402
7.12.8 SDO error codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 403

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 7
Contents
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
8 DeviceNet communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 404
8.1 About DeviceNet _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 404
8.2 Access to the I/O system 1000 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 406
8.2.1 Access to the I/O area _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 407
8.2.2 Access to parameter data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 408
8.2.3 Access to diagnostic data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 409
8.3 Parameterising analog I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 410
8.3.1 2 analog inputs 0 ... 10 V (12 bits) - EPM-S400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 410
8.3.2 4 analog inputs 0 ... 10 V (12 bits) - EPM-S401 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 411
8.3.3 2 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 412
8.3.4 4 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S403 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 413
8.3.5 2 analog inputs -10 ... +10 V (16 bits) - EPM-S406 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 414
8.3.6 2 analog inputs 0/4 ... 20 mA (16 bits) - EPM-S408 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 416
8.3.7 2 analog outputs 0 ... 10 V (12 bits) - EPM-S500 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 418
8.3.8 4 analog outputs 0 ... 10 V (12 bits) - EPM-S501 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 419
8.3.9 2 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S502 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 420
8.3.10 4 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S503 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 421
8.4 Parameterising temperature measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 422
8.4.1 4(2) analog input for resistance measurement - EPM-S404 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 422
8.4.2 2 analog inputs for thermocouple measurement - EPM-S405 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 429
8.5 Parameterising the counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 433
8.5.1 1 counter 32 bits, 24 V DC - EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 433
8.5.2 2 counters 32 bits, 24 V DC - EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 437
8.5.3 1 counter 32 bits, 5 V DC - EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 440
8.5.4 2 counters 32 bits, 24 V DC - EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 443
8.6 Parameterising the encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 445
8.6.1 SSI - EPM-S604 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 445
8.7 Parameterising the time stamp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 448
8.7.1 2 digital inputs with time stamp function - EPM-S207 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 448
8.7.2 2 digital outputs with time stamp function - EPM-S310 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 448
8.8 Parameterising technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 449
8.8.1 2 digital outputs with PWM functionality - EPM-S620 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 449
8.8.2 RS232 interface - EPM-S640 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 449
8.8.3 RS422/RS485 interface - EPM-S650 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 455

Contents
8Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
9 PROFINET communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 464
9.1 About PROFINET _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 464
9.2 Access to the I/O system 1000 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 467
9.2.1 Access to the I/O area _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 469
9.2.2 Access to parameter data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 469
9.2.3 Access to diagnostic data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 470
9.3 Project planning _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 472
9.4 I&M data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 474
9.5 Index table _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 476
9.6 Parameterising analog I/Os _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 477
9.6.1 2 analog inputs 0 ... 10 V (12 bits) - EPM-S400 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 477
9.6.2 4 analog inputs 0 ... 10 V (12 bits) - EPM-S401 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 479
9.6.3 2 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S402 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 481
9.6.4 4 analog inputs 0/4 ... 20 mA (12 bits) - EPM-S403 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 483
9.6.5 2 analog inputs -10 ... +10 V (16 bits) - EPM-S406 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 485
9.6.6 2 analog inputs 0/4 ... 20 mA (16 bits) - EPM-S408 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 488
9.6.7 2 analog outputs 0 ... 10 V (12 bits) - EPM-S500 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 491
9.6.8 4 analog outputs 0 ... 10 V (12 bits) - EPM-S501 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 493
9.6.9 2 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S502 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 495
9.6.10 4 analog outputs 0/4 ... 20 mA (12 bits) - EPM-S503 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 497
9.7 Parameterising temperature measurement _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 499
9.7.1 4(2) analog input for resistance measurement - EPM-S404 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 499
9.7.2 2 analog inputs for thermocouple measurement - EPM-S405 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 507
9.8 Parameterising the counter _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 512
9.8.1 1 counter 32 bits, 24 V DC - EPM-S600 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 512
9.8.2 2 counters 32 bits, 24 V DC - EPM-S601 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 519
9.8.3 1 counter 32 bits, 5 V DC - EPM-S602 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 528
9.8.4 2 counters 32 bits, 24 V DC - EPM-S603 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 536
9.9 Parameterising the encoder evaluation _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 539
9.9.1 SSI - EPM-S604 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 539
9.10 Parameterising the time stamp _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 545
9.10.1 2 digital inputs with time stamp function - EPM-S207 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 545
9.10.2 2 digital outputs with time stamp function - EPM-S310 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 547
9.11 Parameterising technology modules _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 550
9.11.1 2 digital outputs with PWM functionality - EPM-S620 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 550
9.11.2 RS232 interface - EPM-S640 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 552
9.11.3 RS422/RS485 interface - EPM-S650 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 559
10 Modbus TCP communication _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 569
10.1 About Modbus TCP _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 569
10.2 Access to the I/O system 1000 _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 572
10.2.1 Access to the I/O area _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 574
10.2.2 Function codes _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 575
10.2.3 Access to parameter data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 579
10.2.4 Access to diagnostic data _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 579
10.3 Possible access operations to the EPM-S160 Modbus TCP bus coupler module _ _ _ _ _ _ _ _ _ _ _ 580
10.3.1 Web page _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 580
Index _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 581
Your opinion is important to us _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ 582

1 About this documentation
9Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1 About this documentation
This documentation shows the implementation of the modular I/O system 1000 into the Lenze
"Controller-based Automation" system.
It provides an overview of the device architecture, the available bus coupler modules and the I/O
compound modules. Moreover, information is provided on how to use different fieldbuses as well
as information on how to configure and parameterise the I/O system with the engineering tools
»PLC Designer« and »Engineer«.
Target group
This documentation is directed at all persons who would like to parameterise, configure, and
diagnose the Lenze I/O system 1000 using the »PLC Designer« and »Engineer« engineering tools.
Information regarding the validity
The information in this documentation applies to:
Screenshots/application examples
All screenshots in this documentation are application examples. Depending on the firmware
version of the device and software version of the installed engineering tools, the screenshots in this
documentation may differ from the screen representation.
Read the I/O system 1000 system manual before you start working.
The system manual contains safety instructions which must be observed!
Product series Type designation Version
I/O systems I/O system 1000 From hardware version 1B, software version 10

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 10
1 About this documentation
1.1 Document history
_ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _ _
1.1 Document history
Tip!
Current documentation and software updates with regard to Lenze products can be found
in the download area at:
www.lenze.com
Version Description
5.0 09/2016 TD17 General corrections
4.0 10/2015 TD17 Preparation of the documentation for updating the online help via the »EASY
Package Manager«.
3.0 12/2013 TD06 Summarised descriptions for »PLC Designer« and »Engineer« in one documentation.
1.2 11/2012 TD05 General revision of the document structure, extended module overview by I/O
compound modules EPM-S406 and EPM-S408.
1.1 07/2012 TD06 Extended by "Commissioning of a counter" example
1.0 11/2011 TD11 First edition

1 About this documentation
1.2 Conventions used
11 Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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1.2 Conventions used
This documentation uses the following conventions to distinguish between different types of
information:
Type of information Highlighting Examples/notes
Spelling of numbers
Decimal separator Point The decimal point is always used.
For example: 1234.56
Decimal [0 ... 9] No prefix is used.
Hexadecimal 0x[0 ... F] 0x60F4
Exception: The prefix (0x) in a table is not needed if the table
head contains the reference to a hexadecimal number.
Binary 0b[0/1] 0b11
Exception: The prefix (0b) in a table is not needed if the table
head contains the reference to a binary number.
Text
Version information Blue text colour All information that only applies to or from a certain
software version of the inverter is marked correspondingly in
this documentation.
Example: This function extension is available from software
version V3.0!
Index name I-[Index] For a clear distinction for the Lenze codes (Cxxxx), the indices
of the process data objects contain a prefix "I-", e.g. B. I-1400
for the RxPDO1.
Program name » « The Lenze PC software »PLC Designer«...
Window italics The message window... / The Options dialog box ...
Variable names Setting bEnable to TRUE...
Control element bold The OK button ... / The Copy command ... / The Properties tab
... / The Name input field ...
Sequence of menu
commands
If several commands must be used in sequence to carry out a
function, the individual commands are separated by an
arrow. Select File
 Open to...
Shortcut <bold> Use <F1> to open the online help.
If a key combination is required for a command, a "+" is
placed between the key identifiers: With <Shift>+<ESC>...
Program code Courier IF var1 < var2 THEN
a = a + 1
END IF
Keyword Courier bold
Hyperlink underlined Optically highlighted reference to another topic. It is
activated with a mouse-click in this online documentation.
Icons
Page reference (11) Optically highlighted reference to another page. It is
activated with a mouse-click in this online documentation.
Step-by-step instructions

Step-by-step instructions are indicated by a pictograph.

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 12
1 About this documentation
1.3 Terminology used
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1.3 Terminology used
Term Meaning
Controllers The Controller is the central component of the Lenze automation system which control
the motion sequences by means of the application software.
The Controller communicates with the field devices (inverters) via the fieldbus.
Engineering PC The Engineering PC and the Engineering tools installed serve to configure and
parameterise the system "Controller-based Automation".
The Engineering PC communicates with the controller via Ethernet.
Engineering tools Software solutions for easy engineering in all phases which serve to commission,
configure, parameterise and diagnose the Lenze automation system.
»EASY Navigator« – ensures easy operator guidance
• All convenient Lenze Engineering tools at a glance
• Tools can be quickly selected
• The clear structure simplifies the engineering process from the start
»EASY Starter« – easy-to-use tool for service technicians
• Especially designed for commissioning and maintaining Lenze devices
• Graphic surface with very few icons
• Easy to run online diagnostics, set parameters and perform
commissioning
• No risk of accidentally changing an application
• Loading of ready-to-use applications to the device
»Engineer« – multi-device engineering
• For all products in the Lenze portfolio
• Practical user interface
• Graphic interfaces make it easy to navigate
• Can be applied in every phase of a project (project planning,
commissioning, production)
• Parameter setting and configuration
»PLC Designer« –For programming processes
• Creating your own programs
• Programming Logic & Motion according to IEC 61131-3 (AWL, KOP, FUP,
ST, AS and CFC-Editor), based on CoDeSys V3
• Certified function blocks according to PLCopen part 1 + 2
• Graphic DIN 66025 Editor (G code) with DXF import
• Integrated visualisation for easy process visualisation
• All important information at a glance during the commissioning process
Fieldbus node Devices integrated in the bus system as, for instance, Controller and inverter
Field device
Inverters Generic term for Lenze frequency inverters, servo inverters
PLC Programmable Logic Controller
(PLC)
Bus systems
CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system.
CANopen® is a communication protocol based on CAN. The Lenze system bus (CAN on
board) operates with a subset of this communication protocol.
CANopen® is a registered community trademark of the CAN user organisation CiA® (CAN
in Automation e. V.).
DeviceNet™ is a fieldbus system based on CAN (Controller Area Network).
DeviceNet™ is a trademark and patented technology, licensed by the user organisation
ODVA (Open DeviceNet Vendor Association), USA.
EtherCAT® (Ethernet for Controller and Automation Technology) is an Ethernet-based
fieldbus system which fulfils the application profile for industrial real-time systems.
EtherCAT® is a registered trademark and patented technology, licenced by Beckhoff
Automation GmbH, Germany.

1 About this documentation
1.3 Terminology used
13 Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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The Modbus protocol is an open communication protocol based on a client/server
architecture. It has been developed for the communication with programmable logic
controllers.
Further development is carried out by the international user organisation Modbus
Organization, USA.
PROFIBUS® (Process Field Bus) is a widely used fieldbus system for the automation of
machines and production lines.
PROFIBUS® is a registered trademark and patented technology licensed by the PROFIBUS
& PROFINET International (PI) user organisation.
PROFINET® (Process Field Network) is a real-time capable fieldbus system based on
Ethernet.
PROFINET® is a registered trademark and patented technology licensed by the PROFIBUS
& PROFINET International user organisation (PI).
Term Meaning

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 14
1 About this documentation
1.4 Definition of the notes used
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1.4 Definition of the notes used
The following signal words and symbols are used in this documentation to indicate dangers and
important information:
Safety instructions
Layout of the safety instructions:
Application notes
Pictograph and signal word!
(characterise the type and severity of danger)
Note
(describes the danger and gives information about how to prevent dangerous
situations)
Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage
Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.

Danger! Danger of personal injury through a general source of danger
Reference to an imminent danger that may result in death or serious personal injury
if the corresponding measures are not taken.

Stop! Danger of property damage
Reference to a possible danger that may result in property damage if the
corresponding measures are not taken.
Pictograph Signal word Meaning

Note! Important note to ensure trouble-free operation

Tip! Useful tip for easy handling

Reference to another document

2 Product description
15 Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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2 Product description
Features of the I/O system 1000
The I/O system 1000 is suitable for the implementation of complex automation applications
consisting of the following components: bus coupler module, I/O compound modules, and
backplane bus.
• Modular system
•Dimensions
• I/Ocompoundmodule109×76.5×12.5mm
• Bus coupler module 109 × 76.5 × 48.5 mm
• Mounting on standard DIN rail (35 mm)
• Shield connection to standard metal rail (10 × 3 mm)
• The two-piece structure (separation of electronics and process integration) enables a quick
exchange of modules in the event of service
• Wiring level via spring terminal (max. 1.5 mm²)
• Operation at DC 24 V (DC 20.4 … DC 28.8 V)
• Supply voltage of electronics and process level are separated
• Number of I/O compound modules
• A bus coupler can contain up to 64 modules
• Individual labelling by insertable labels (item designation)
• Electrical wiring diagrams are directly printed on the module
• Electrical isolation to the fieldbus and the process level
• Creation of electrical isolations by power supply modules

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 16
2 Product description
2.1 Device architecture
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2.1 Device architecture
Device architecture of the I/O system 1000
Bus coupler module
• CANopen: EPM-S110
•PROFIBUS:EPM-S120
• EtherCAT: EPM-S130
•PROFINET:EPM-S140
• DeviceNet: EPM-S150
• Modbus TCP: EPM-S160
I/O compound modules, max. 64
Connection to the bus system (CANopen/EtherCAT)
• CANopen, PROFIBUS: via a 9-pole Sub-D plug (see illustration)
• EtherCAT: RJ45, double
Internal backplane bus for communication between the bus coupler module and the I/O compound modules
• Side-by-side mounting of the module feet of the I/O compound modules provides for the electrical
connection to the bus coupler module.
Supply voltage DC 24 V, max. 10 A for consumers at output modules
• Side-by-side mounting of the module feet of the I/O compound modules provides for the electrical
connection to the bus coupler module.
Supply voltage DC 24 V for the electronics
• Side-by-side mounting of the module feet of the I/O compound modules provides for the electrical
connection to the bus coupler module.

0
64... ...
4

1




2 Product description
2.2 Available bus coupler modules
17 Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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2.2 Available bus coupler modules
Type designation Short designation Description
EPM-S110 CANopen CANopen bus coupler module
EPM-S120 PROFIBUS PROFIBUS bus coupler module
EPM-S130 EtherCAT EtherCAT bus coupler module
EPM-S140 PROFINET Bus coupler module PROFINET
EPM-S150 DeviceNet Bus coupler module DeviceNet
EPM-S160 Modbus TCP Bus coupler module Modbus TCP
Note!
Bus coupler module EPM-S130 (EtherCAT)
Only I/O compound modules EPM-Sxxx from hardware version 1B are supported.

Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17 18
2 Product description
2.3 Available I/O compound modules
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2.3 Available I/O compound modules
Type designation Short designation Description Process data
Digital-I/O
EPM-S200 DI2, DC 24V 2 digital inputs 2 bits
EPM-S201 DI4, DC 24V 4 digital inputs 4 bits
EPM-S202 DI8, DC 24V 8 digital inputs 8 bits
EPM-S203 DI4, DC 24V 4 digital inputs
• Three-wire conductor connection
4 bits
EPM-S204 DI2, NPN, DC 24V 2 digital inputs NPN 2 bits
EPM-S205 DI4, NPN, DC 24V 4 digital inputs NPN 4 bits
EPM-S206 DI8, NPN, DC 24V 8 digital inputs NPN 8 bits
EPM-S207 DI2 Time Stamp, DC 24V 2 digital inputs ENP Write 8 bytes
EPM-S300 DO2, DC 24V, 0.5A 2 digital outputs, 0.5 A 2 bits
EPM-S301 DO4, DC 24V, 0.5A 4 digital outputs, 0.5 A 4 bits
EPM-S302 DO8, DC 24V, 0.5A 8 digital outputs, 0.5 A 8 bits
EPM-S303 DO2, NPN, DC 24V, 0.5A 2 digital outputs, npn 2 bits
EPM-S304 DO4, NPN, DC 24V, 0.5A 4 digital outputs, npn 4 bits
EPM-S305 DO8, NPN, DC 24V, 0.5A 8 digital outputs, npn 8 bits
EPM-S306 DO2, DC 24V, 2A 2 digital outputs, 2 A 2 bits
EPM-S308 DO2, relay 230V, 3A 2 relay outputs 2 bits
EPM-S309 DO4, DC 24V, 2A 4 digital outputs, 2 A 4 bits
EPM-S310 DO2 Time Stamp, DC 24V 2 digital outputs, 0.5 A, ENP 8 bytes, reading
2 bytes, writing
Analog I/O
EPM-S400 AI2, 12BIT, DC 0…10V 2 analog inputs, 0 … 10 V DC 4 bytes
EPM-S401 AI4, 12BIT, DC 0…10V 4 analog inputs, 0 … 10 V DC 8 bytes
EPM-S402 AI2, 12BIT, DC 0/4…20mA 2 analog inputs, 0/4 … 20 mA 4 bytes
EPM-S403 AI4, 12BIT, DC 0/4…20mA 4 analog inputs, 0/4 … 20 mA 8 bytes
EPM-S406 AI2, 16BIT, DC +/-10V 2 analog inputs
for voltage measurement ±10 V
4 bytes
EPM-S408 AI2, 16BIT, DC 0/4…20mA 2 analog inputs
for current measurement
4 bytes
EPM-S500 AO2, 12BIT, DC 0…10V 2 analog outputs, 0 … 10 V DC 4 bytes
EPM-S501 AO4, 12BIT, DC 0…10V 4 analog outputs, 0 … 10 V DC 8 bytes
EPM-S502 AO2, 12BIT, DC 0/4…20mA 2 analog outputs, 0/4 … 20 mA 4 bytes
EPM-S503 AO4, 12BIT, DC 0/4…20mA 4 analog outputs, 0/4 … 20 mA 8 bytes
Temperature measurement
EPM-S404 AI2, 16BIT, resistor 4 analog inputs
for resistance measurement
4 bytes
EPM-S405 AI2, 16BIT, thermo 2 analog inputs
for thermocouple measurement
4 bytes
Counter
EPM-S600 Counter 1, DC 24V 1 counter 32 bits, 24 V DC
(reading, setting, comparing)
12 bytes, reading
10 bytes, writing
EPM-S601 Counter 2, DC 24V 2 counters 32 bits, 24 V DC
(reading, setting)
12 bytes, reading
12 bytes, writing

2 Product description
2.3 Available I/O compound modules
19 Lenze · I/O system 1000 · Reference Manual · DMS 5.0 EN · 09/2016 · TD17
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EPM-S602 Counter 1, DC 5V 1 counter 32 bits, 5 V DC
(reading, setting)
8 bytes, reading
10 bytes, writing
EPM-S603 Counter 2, DC 24V 2 counters 32 bits, 24 V DC
(reading)
12 bytes, reading
4 bytes, writing
Encoder evaluation
EPM-S604 SSI 1 SSI absolute value encoder 6 bytes, reading
Pulse width modulation (PWM)
EPM-S620 PWM 2, DC 24V 2 digital outputs, 0.5 A PWM 12 bytes, reading
4 bytes, writing
Communication
EPM-S640 RS232 RS232 module -
EPM-S650 RS422/RS485 RS422/RS485 module -
Note!
I/O compound modules EPM-S207/EPM-S310
For using the modules EPM-S207 and EPM-S310, the L_SM3_DriveUtil.lib function
library provides the function blocks L_SMC_AbortTrigger_FastIO and
L_SMC_TouchProbe_FastIO.
If, for instance, motor positions are to be evaluated via these modules, additional
modules with ticker function are required, as e.g. EPM-S600 (HTL), EPM-S602 (TTL) or
EPM-S604 (SSI) for detecting the encoder signals.
I/O compound modules EPM-S640/EPM-S650
For using the modules EPM-S640 and EPM-S650, the L_COM_EPMS640 function library
is available.
Bus coupler module EPM-S130 (EtherCAT)
Only I/O compound modules EPM-Sxxx from hardware version 1B are supported.
Type designation Short designation Description Process data

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2 Product description
2.4 Digital-I/O EPM-S207, EPM-S310 – time stamp function (example)
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2.4 Digital-I/O EPM-S207, EPM-S310 – time stamp function (example)
The example shows in which order the time stamp entries are stored and processed.
Here, a module is projected that assigns 20 bytes for five time stamp entries in the output area.
At the given times of the ticker, the outputs should have the following states:
The values of the table result in the following time diagram:
[2-1] Time diagram: Example time stamp function
Note!
The time stamp modules EPM-S207 and EPM-S310 can only be operated on front
modules with an integrated μs ticker.
Consecutive
number (RN)
Ticker value
in μs
Status DO 0
(Bit 7)
Status DO 1
(Bit 6)
Enable DO 0
(Bit 5)
Enable DO 1
(Bit 4)
0x01 6000 0 0 1 1
0x02 12506 1 0 1 1
0x03 34518 1 1 1 1
0x04 49526 0 0 1 1
0x05 54529 0 1 1 1
0x06 3500 1 1 1 1
0x07 12443 1 0 1 1
0x08 20185 0 0 1 1
0x09 30140 1 0 1 1
0x0A 37330 0 0 1 1
0x0B 40000 0 0 0 0