X67 System-ENG - V3.20 PDF

X67 system
User's manual
Version: 3.20 (March 2018)

Model no.: MAX67-ENG
Translation of the original documentation

All values in this manual are current as of its publication. We reserve the right to change the contents of this manual
without notice. B&R Industrial Automation GmbH is not liable for technical/editorial errors or incomplete information
in this manual. In addition, B&R Industrial Automation GmbH shall not be liable for incidental or consequential
damages in connection with or arising from the furnishing, performance or use of this material. The software names,
hardware names and trademarks used in this document are registered by their respective companies.
Table of contents
1 General information.................................................................................................. 7
1.1 Manual history.................................................................................................................................................7
1.2 Introduction......................................................................................................................................................8
1.3 Intended use................................................................................................................................................... 8
1.4 Transport and storage.................................................................................................................................... 8
1.5 Mounting orientation........................................................................................................................................8
1.6 Operation.........................................................................................................................................................9
1.6.1 Protection against touching electrical parts.............................................................................................. 9
1.7 Environmentally friendly disposal....................................................................................................................9
1.7.1 Separation of materials............................................................................................................................. 9
1.8 Definition of this term......................................................................................................................................9
1.9 Abbreviations...................................................................................................................................................9
2 Safety guidelines.....................................................................................................10
2.1 Organization of safety notices...................................................................................................................... 10
2.2 Protection against electrostatic discharge.................................................................................................... 10
2.2.1 Packaging................................................................................................................................................ 10
2.2.2 Guidelines for proper ESD handling....................................................................................................... 11
3 System characteristics........................................................................................... 12
3.1 The X67 system............................................................................................................................................13
3.2 General product features.............................................................................................................................. 14
3.3 Reduced costs.............................................................................................................................................. 15
3.4 Flexibility........................................................................................................................................................15
3.5 EMC concept.................................................................................................................................................17
3.6 Communication..............................................................................................................................................17
3.7 System power supply....................................................................................................................................18
3.8 Configurable X2X Link address.................................................................................................................... 18
4 Mechanical and electrical configuration...............................................................19

4.1 Dimensions....................................................................................................................................................19
4.2 CAD support..................................................................................................................................................20
4.3 Installation..................................................................................................................................................... 20
4.3.1 Installing on an aluminum frame.............................................................................................................21
4.3.2 Top-hat rail installation.............................................................................................................................21
4.3.3 Installation on a mounting plate or directly on the machine................................................................... 22
4.4 Shielding and grounding............................................................................................................................... 23
4.5 Connectors.................................................................................................................................................... 24
4.6 The power supply concept............................................................................................................................24
4.6.1 Failure of I/O supply (ModuleOK)........................................................................................................... 25
4.7 Safe cutoff..................................................................................................................................................... 26
4.7.1 Description of function.............................................................................................................................26
4.7.2 Scope of application / Standards referenced..........................................................................................26
4.7.3 Intended use............................................................................................................................................27
4.7.4 Qualified personnel..................................................................................................................................27
4.7.5 System-specific information.....................................................................................................................27
4.7.6 General notices....................................................................................................................................... 28
4.7.7 Safety guidelines..................................................................................................................................... 32
4.8 X67 system cabling.......................................................................................................................................33
4.8.1 X2X Link cabling......................................................................................................................................33
4.8.2 X2X Link cabling on the bus controller................................................................................................... 35
4.8.3 X2X Link cabling on bus transmitter X20BT9400................................................................................... 36
4.8.4 I/O power supply cabling.........................................................................................................................37
4.9 Combining X2X Link systems.......................................................................................................................38
4.9.1 Connection overviews..............................................................................................................................38
4.9.2 Connection examples.............................................................................................................................. 39
4.10 Calculating the power requirements........................................................................................................... 43
X67 system User's Manual 3.20 3
Table of contents
4.10.1 Example 1..............................................................................................................................................43

4.10.2 Example 2..............................................................................................................................................43
5 Module overviews................................................................................................... 44
5.1 Module overview: Alphabetically...................................................................................................................44
5.2 Module overview: Grouped........................................................................................................................... 46
5.3 B&R ID codes............................................................................................................................................... 50
5.3.1 B&R ID codes sorted by model number................................................................................................. 50
5.3.2 B&R ID codes sorted by ID code........................................................................................................... 52
6 Accessories............................................................................................................. 54
6.1 General overview.......................................................................................................................................... 54
6.1.1 X2X Link and I/O power supply.............................................................................................................. 54
6.1.2 Module connections.................................................................................................................................55
6.1.3 Fieldbus systems..................................................................................................................................... 56
6.2 Pre-assembled cables...................................................................................................................................57
6.2.1 X2X Link cables...................................................................................................................................... 57
6.2.2 I/O power supply cables..........................................................................................................................62
6.2.3 M8 sensor cables.................................................................................................................................... 66
6.2.4 M12 sensor cables.................................................................................................................................. 69
6.2.5 Multifunction cables................................................................................................................................. 72
6.2.6 CAN bus / DeviceNet cables.................................................................................................................. 74
6.2.7 PROFIBUS DP cables.............................................................................................................................77
6.2.8 X67 POWERLINK/Ethernet cable........................................................................................................... 81
6.3 Field-assembled connectors......................................................................................................................... 84
6.3.1 I/O power supply..................................................................................................................................... 84
6.3.2 Sensors/Actuators....................................................................................................................................84
6.3.3 Special-purpose connectors.................................................................................................................... 85
6.3.4 CAN bus / DeviceNet.............................................................................................................................. 85
6.3.5 PROFIBUS DP / X2X Link...................................................................................................................... 86
6.3.6 POWERLINK/Ethernet............................................................................................................................. 86
6.4 Other accessories......................................................................................................................................... 87
6.4.1 Terminating resistor................................................................................................................................. 87
6.4.2 Connectors...............................................................................................................................................87
6.4.3 Threaded caps.........................................................................................................................................88
6.4.4 Plain text tags..........................................................................................................................................88
6.4.5 Mounting plates for top-hat rails............................................................................................................. 88
6.4.6 Installation tool.........................................................................................................................................88
7 International and national certifications...............................................................89

7.1 Overview of certifications.............................................................................................................................. 89
7.2 EU directives and standards (CE)................................................................................................................ 90
7.2.1 Overview of standards.............................................................................................................................93
7.2.2 Requirements for immunity to disturbances............................................................................................94
7.2.3 Emission requirements............................................................................................................................ 97
7.2.4 Mechanical conditions............................................................................................................................. 98
7.2.5 Electrical safety....................................................................................................................................... 99
7.3 UL / CSA.....................................................................................................................................................100
7.4 Other certifications...................................................................................................................................... 101
8 Data sheets............................................................................................................ 102

8.1 Analog input modules................................................................................................................................. 102
8.1.1 Summary................................................................................................................................................102
8.1.2 X67AI1223............................................................................................................................................. 103
8.1.3 X67AI1233............................................................................................................................................. 115
8.1.4 X67AI1323............................................................................................................................................. 128
8.1.5 X67AI1333............................................................................................................................................. 142
4 X67 system User's Manual 3.20
Table of contents
8.1.6 X67AI2744 with Rev. ≤B9..................................................................................................................... 157

8.1.7 X67AI4850............................................................................................................................................. 170
8.2 Analog mixed modules............................................................................................................................... 177
8.2.1 Summary................................................................................................................................................177
8.2.2 X67AM1223........................................................................................................................................... 178
8.2.3 X67AM1323........................................................................................................................................... 191
8.3 Analog output modules............................................................................................................................... 204
8.3.1 Summary................................................................................................................................................204
8.3.2 X67AO1223........................................................................................................................................... 205
8.3.3 X67AO1323........................................................................................................................................... 213
8.4 Bus controller modules............................................................................................................................... 221
8.4.1 Summary................................................................................................................................................221
8.4.2 X67BC4321-1........................................................................................................................................ 222
8.4.3 X67BC4321-10...................................................................................................................................... 233
8.4.4 X67BC4321.L08-10............................................................................................................................... 244
8.4.5 X67BC4321.L12-10............................................................................................................................... 255
8.4.6 X67BC5321............................................................................................................................................266
8.4.7 X67BC6321............................................................................................................................................276
8.4.8 X67BC6321.L08.....................................................................................................................................285
8.4.9 X67BC6321.L12.....................................................................................................................................294
8.4.10 X67BC7321-1...................................................................................................................................... 304
8.4.11 X67BC8321-1.......................................................................................................................................314
8.4.12 X67BC8321.L12...................................................................................................................................325
8.4.13 X67BC8331..........................................................................................................................................336
8.4.14 X67BC8513.L12...................................................................................................................................350
8.4.15 X67BC8780.L12...................................................................................................................................372
8.4.16 X67BCD321.L12(-1)............................................................................................................................ 392
8.4.17 X67BCE321.L12.................................................................................................................................. 403
8.4.18 X67BCG321.L12..................................................................................................................................415
8.4.19 X67BCJ321..........................................................................................................................................425
8.4.20 X67BCJ321.L12...................................................................................................................................436
8.5 Counter modules.........................................................................................................................................447
8.5.1 Summary................................................................................................................................................447
8.5.2 X67DC1198........................................................................................................................................... 448
8.5.3 X67DC2322........................................................................................................................................... 494
8.6 Digital input modules.................................................................................................................................. 506
8.6.1 Summary................................................................................................................................................506
8.6.2 X67DI1371............................................................................................................................................. 507
8.6.3 X67DI1371.L08...................................................................................................................................... 514
8.6.4 X67DI1371.L12...................................................................................................................................... 521
8.6.5 X67DI1372............................................................................................................................................. 528
8.7 Digital mixed modules.................................................................................................................................535
8.7.1 Summary................................................................................................................................................535
8.7.2 X67DM1321........................................................................................................................................... 536
8.7.3 X67DM1321.L12(-1).............................................................................................................................. 551
8.7.4 X67DM1321.L08.................................................................................................................................... 570
8.7.5 X67DM9321........................................................................................................................................... 588
8.7.6 X67DM9321.L12.................................................................................................................................... 603
8.7.7 X67DM9331.L12.................................................................................................................................... 622
8.8 Digital output modules................................................................................................................................ 634
8.8.1 Summary................................................................................................................................................634
8.8.2 X67DO1332........................................................................................................................................... 635
8.8.3 X67DO9332.L12.................................................................................................................................... 643
8.9 Digital valve control modules......................................................................................................................654
8.9.1 Summary................................................................................................................................................654
8.9.2 X67DV1311.L08.....................................................................................................................................655
8.9.3 X67DV1311.L12.....................................................................................................................................668

Table of contents
8.10 Communication modules...........................................................................................................................682

8.10.1 Summary..............................................................................................................................................682
8.10.2 X67IF1121-1.........................................................................................................................................683
8.11 Hub modules............................................................................................................................................. 703
8.11.1 Summary.............................................................................................................................................. 703
8.11.2 X67HB8880.L12................................................................................................................................... 704
8.12 Motor controllers....................................................................................................................................... 710
8.12.1 Summary..............................................................................................................................................710
8.12.2 X67MM2436.........................................................................................................................................711
8.12.3 X67SM2436......................................................................................................................................... 731
8.12.4 X67SM4320......................................................................................................................................... 786
8.13 reACTION I/O modules.............................................................................................................................826
8.13.1 Summary..............................................................................................................................................826
8.13.2 X67BC81RT.L12.................................................................................................................................. 827
8.14 Other modules...........................................................................................................................................864
8.14.1 Summary..............................................................................................................................................864
8.14.2 X67DS438A......................................................................................................................................... 865
8.14.3 X67UM1352......................................................................................................................................... 910
8.15 System supply modules............................................................................................................................ 922
8.15.1 Summary..............................................................................................................................................922
8.15.2 X67PS1300..........................................................................................................................................923
8.16 Temperature modules............................................................................................................................... 926
8.16.1 Summary..............................................................................................................................................926
8.16.2 X67AT1311...........................................................................................................................................927
8.16.3 X67AT1322.......................................................................................................................................... 937
8.16.4 X67AT1402.......................................................................................................................................... 947
9 Additional information.......................................................................................... 958

9.1 General data points.................................................................................................................................... 958
9.1.1 FirmwareVersion.................................................................................................................................... 958
9.1.2 HardwareVariant.................................................................................................................................... 958
9.1.3 ModuleID................................................................................................................................................958
9.1.4 SerialNumber......................................................................................................................................... 959
9.1.5 ModuleOK.............................................................................................................................................. 959
9.1.6 StaleData............................................................................................................................................... 959
9.2 Flatstream communication.......................................................................................................................... 960
9.2.1 Introduction............................................................................................................................................ 960
9.2.2 Message, segment, sequence, MTU.................................................................................................... 961
9.2.3 The Flatstream principle........................................................................................................................962
9.2.4 Registers for Flatstream mode..............................................................................................................963
9.2.5 Example of Forward functionality on X2X Link..................................................................................... 983

General information
1 General information
1.1 Manual history

Version Date Comment1)
3.20 March 2018 Added new module.
• X67BC8780.L12
Updated section "Accessories".
Updated data sheets.
3.10 July 2017 Added new module.
• X67HB8880.L12
Corrected cable color error in data sheets.
Updated data sheets.
3.00 March 2017 New edition
• Revised all sections.
• Modified section structure.
° Added separate section "Safety guidelines" after "General information".

° Moved all data sheets after section "Standards and certifications".
° Combined module overviews and B&R ID index into common section.
° Added new section "Additional information" after section "Data sheets".
° Removed model number index, index and appendices.
• Revised and updated section "Standards and certifications".
° Added detailed overview of standards and testing requirements.

° Added links to certificates on B&R website.
° Added "Applicable standards" for individual certifications.
° Updated names of standards throughout book.
• Updated all data sheets
° Updated or added register descriptions.

° Added pinouts and connection examples.
° Updated technical data.
2.01 April 2009 Additions/Corrections: BC5321, MM2436, SM2436, SM4320
2.00 March 2009 Added new module groups:
• Motor modules (MM2436, SM2436, SM4320)
• Other modules (DC1198, IF1121, UM1352)
Updated existing module groups:
• Bus controller modules (BC4321-1, BC8331, BC8321 replaced by BC8321-1)
• Digital output modules (DO9332.L12)
• Digital mixed modules (DM9321)
• Analog input modules (AI2744, AI4850)
New sections and appendices:
• System characteristics
• Mechanical and electrical configuration
• Standards and certifications
• Abbreviations
• B&R ID codes
Updated section "General information" (safety guidelines).
Updated section "Accessories".
• Cables
• Male connector
• Other accessories
1.40 April 2006 Added new modules (BC4321, BC5321, BC6321, BC6321.L08, BC6321.L12, BC8321, DI1371.L08, DI1371.L12,
DM1321.L08, DM1321.L12, DM9331.L12, DV1311.L08, DV1311.L12, AI1223, AI1323, AO1223, AO1323)
Replaced BC7321 with BC7321-1.
Added software filter description for AM1223 and AM1323.
1.3 May 2003 Added new modules (BC7321, AT1322, AT1402).
Added software description for DO1332 and AM1323.
Added digital and analog sensor cables.
1.2 August 2002 Added cable description.
1.1 July 2002 Added software description for DI1371, DM1321 and AM1223.
1.0 June 2002 First edition
1) Column "Comment" contains only the most important changes in this user's manual. Several updates, corrections and format variations are not included.

General information
1.2 Introduction
Programmable logic controllers, operating/monitoring devices (e.g. industrial PCs, Power Panels, Mobile Panels,
etc.) as well as uninterruptible power supplies have all been designed, developed and manufactured by B&R for
conventional use or for use with increased safety requirements (safety technology) in industry. They were not
designed, developed and manufactured for any use involving serious risks or hazards that could lead to death,
injury, serious physical damage or loss of any kind without the implementation of exceptionally stringent safety
precautions. In particular, such risks and hazards include the use of these devices to monitor nuclear reactions in
nuclear power plants, their use in flight control or flight safety systems as well as in the control of mass transportation
systems, medical life support systems or weapons systems.
When using programmable logic controllers or operating/monitoring devices as control systems together with a Soft
PLC (e.g. B&R Automation Runtime or comparable product) or Slot PLC (e.g. B&R LS251 comparable product),
safety precautions relevant to industrial control systems (e.g. the provision of safety devices such as emergency
stop circuits, etc.) must be observed in accordance with applicable national and international regulations. The same
applies for all other devices connected to the system, e.g. drives.
All tasks such as the installation, commissioning and servicing of devices are only permitted to be carried out by
qualified personnel. Qualified personnel are those familiar with the transport, mounting, installation, commission-
ing and operation of devices who also have the appropriate qualifications (e.g. IEC 60364-1). National accident
prevention regulations must be observed.
The safety notices, connection descriptions (type plate and documentation) and limit values listed in the technical
data are to be read carefully before installation and commissioning and must be observed.
1.3 Intended use

Electronic devices are never completely failsafe. If the programmable control system, operating/monitoring device
or uninterruptible power supply fails, the user is responsible for ensuring that other connected devices, e.g. motors,
are brought to a secure state.
In all cases, it is necessary to observe and comply with all applicable national and international standards and
guidelines, such as machinery directive 2006/42/EC.
1.4 Transport and storage

During transport and storage, devices must be protected against undue stress (mechanical loads, temperature,
moisture, corrosive atmospheres, etc.).
Devices contain components sensitive to electrostatic charges that can be damaged by inappropriate handling. It
is therefore necessary to provide the required protective measures against electrostatic discharge when installing
or removing these devices (see "Protection against electrostatic discharge" on page 10).
1.5 Mounting orientation

• Installation must be performed according to this documentation using suitable equipment and tools.
• Devices are only permitted to be installed by qualified personnel without voltage applied.
• General safety guidelines and national accident prevention regulations must be observed.
• Electrical installation must be carried out in accordance with applicable guidelines (e.g. line cross sections,
fuses, protective ground connections).
• Take the necessary steps to protect against electrostatic discharges (see "Protection against electrostatic
discharge" on page 10).

General information
1.6 Operation
1.6.1 Protection against touching electrical parts
To operate programmable logic controllers, operating and monitoring devices, and uninterruptible power supplies,
certain components must carry dangerous voltage levels. Touching one of these parts can result in a life-threatening
electric shock. This could lead to death, severe injury or damage to property.
Before turning on the programmable logic controller, operating/monitoring devices or uninterruptible power supply,
the housing must be properly grounded (PE rail). Ground connections must be established even when testing or
operating operating/monitoring devices or the uninterruptible power supply for a short time!
Before switching on the device, all parts that carry voltage must be securely covered. During operation, all covers
must remain closed.
1.7 Environmentally friendly disposal

All B&R control components are designed to inflict as little harm on the environment as possible.
1.7.1 Separation of materials
It is necessary to separate different materials so the device can undergo an environmentally friendly recycling
process.
Component Disposal
X67 modules, Electronics recycling
Cables
Cardboard box / Paper packaging Cardboard box / Paper recycling
Disposal must comply with applicable legal regulations.
1.8 Definition of this term

Term Description
SG3 System Generation 3 (SG3) - CPUs with Motorola processors.
The following CPUs belong to this series:
CP260, IF161, IP161, XP152, CP100, CP104, CP152, CP153, CP200, CP210, CP430, CP470, CP474, CP476, CP770,
CP774, PP15, PP21, PP35, PP41
SG4 System Generation 4 (SG4) - CPUs with Intel processors.
CP1483, CP1484, CP1485-1, CP1486, CP3484, CP3485-1, CP3486, PP45, PP100/200, PP300/400, MP100/200,
CP340, CP360, CP380, CP382, CP570, EC20, EC21, AC140, AC141, AR000, AR010, AR102, AR105, APC620, APC700,
APC810
SGC System Generation Compact CPUs (SGC) - CPUs with Motorola processors (Embedded µP).
CP0201, CP0291, CP0292, XC0201, XC0202, XC0292
Table 1: Definition of this term
1.9 Abbreviations
The following abbreviations appear throughout the user's manual, for example in data tables or descriptions of
pinouts.
Abbreviation Stands for Description
NC Normally closed Normally closed relay contact.
Not connected Used in pinout descriptions if a terminal or pin is not connected to a module.
ND Not defined In data tables, this stands for a value that has not been defined. This may be be-
cause a cable manufacturer does not provide certain technical data, for example.
NO Normally open Normally open relay contact.
TBD To be defined Used in technical data tables when certain information is not yet available. The
value will be provided later.

Safety guidelines
2 Safety guidelines
2.1 Organization of safety notices

Safety notices in this manual are organized as follows:
Safety notice Description
Danger! Disregarding these safety guidelines and notices can be life-threatening.
Caution! Disregarding these safety guidelines and notices can result in severe injury or substantial damage to property.
Warning! Disregarding these safety guidelines and notices can result in injury or damage to property.
Information: This information is important for preventing errors.
Table 2: Organization of safety notices
2.2 Protection against electrostatic discharge

Electrical components that can be damaged by ESD (ElectroStatic Discharge) must be handled accordingly.
2.2.1 Packaging
• Electrical components with a housing

...do not require special ESD packaging, but must be handled properly.
(See "Electrical components with a housing" on page 11).
• Electrical components without a housing
...are protected by ESD-suitable packaging.

Safety guidelines
2.2.2 Guidelines for proper ESD handling
Electrical components with a housing

• Do not touch the connector contacts on the device (bus data contacts).
• Do not touch the connector contacts on connected cables
• Do not touch the contact tips on circuit boards
Electrical components without a housing

The following points apply in addition to the points listed under "Electrical components with a housing":
• Any persons handling electrical components or devices with installed electrical components must be
grounded.
• Components are only permitted to be touched on their narrow sides or front plate.
• Components should always be stored in a suitable medium (ESD packaging, conductive foam, etc.).
Information:
Metallic surfaces are not suitable storage surfaces.
• Components should not be subjected to electrostatic discharge (e.g. through the use of charged plastics).
• Ensure a minimum distance of 10 cm from monitors and TV sets.
• Measuring instruments and equipment must be grounded.
• Probes on potential-free measuring instruments must be discharged on sufficiently grounded surfaces be-
fore taking measurements.
Individual components
• ESD protective measures for individual components are thoroughly integrated at B&R (conductive floors,
footwear, arm bands, etc.).
• These increased ESD protective measures for individual components are not necessary for customers
handling B&R products.

System characteristics
3 System characteristics
Decentralized machine concepts increasingly call for distributed I/O concepts. Ideally, these components are in-
stalled directly on-site on nearly any area of the machine. To accomplish this, however, the I/O modules must be
rated IP67.
The remote X67 system meets these demands perfectly. This system also makes it possible to reduce costs
in many areas, including cabling, the control cabinet, commissioning and service. With a completely distributed
structure, the X67 system provides the highest level of flexibility.
To get the most out of a remote I/O system, performance is key. The X67 meets this prerequisite with update times
under one millisecond for 1000 digital and 50 analog inputs and outputs.
A maximum of 253 modules can be operated on a single line, with a distance up to 100 m between 2 modules.
Traditional I/O systems are located centrally in the control cabinet, with extensive wiring required for sensors and
actuators. In addition, modular machine designs often require intermediate connections with multi-pin connectors.
Remote I/O modules can only reach their full potential, however, if additional distribution boxes can be eliminated
completely. This is why the optimal solution has to include I/O modules with robust IP67 protection that can be
placed directly in harsh industrial environments.

3.1 The X67 system

The X67 system consists of bus controller, I/O, function and system supply modules that can be wired using
standard M8 and M12 connectors.
Bus controllers
Bus controllers are the components used to connect to fieldbus systems. Equipped with digital
interfaces that can be configured as inputs or outputs, they are already full-fledged I/O modules.
The ability to connect additional modules makes bus controllers extremely flexible and efficient.
Like a modular system, the fieldbus device can be expanded. From the point of view of the
fieldbus, it still remains a single device. The integrated X2X Link connection makes it possible to
effortlessly connect various X67 modules over long distances.
The X67 system is extremely effective in addition to inexpensive. If the fieldbus needs to be
changed, only the bus controller changes. The rest stays the same – on the machine and through-
out the documentation.
Digital modules
There are many different types of X67 digital modules available:
• 8-/16-channel input modules
• 8-channel output modules. Each channel can handle 2 amps. The maximum total load
is 8 amps.
• 8-/16-channel mixed modules with individually configurable channels
• Valve control modules
• Motor modules
This flexibility reduces the number of modules while simplifying logistics and stock management.
The number of inputs and outputs can always be tailored exactly to requirements.
Analog modules
The X67 system offers input and output modules, as well as mixed modules with 4 channels each
for measuring current or voltage signals.
Modules for measuring temperature using a resistance temperature detector or thermocouple

round out the product range. A special male M12 connector for temperature compensation of the
measurement point is also available as an accessory for these modules.
One feature common to all analog modules is the complete shielding. The cable shield has seam-
less 360° contact with the shielding on the module.
Function modules
The X67 system offers special function modules:
• Multifunctional counter module for absolute and incremental encoder and more
• Communication module: Combining RS-232 or RS-485/RS-422 and digital I/O is a com-
pact solution for many types of applications. This makes it possible to connect barcode
readers and the corresponding trigger sensor with just one module.
System power supply

The ability to perform diagnostic functions must remain in every operating mode. This is an ex-
tremely important aspect of operational safety for the entire machine. For this reason, the power
supply for I/O is completely isolated from the power supply for communication on X67 systems.
Even if the I/O power supply is interrupted, communication and diagnostic capabilities remain.
Flexible system supply modules are used for this purpose. A system supply module can supply 2
lines. Any number of system supply modules can be used in an X67 installation, allowing maxi-
mum availability by implementing a redundant supply design.

3.2 General product features

X67 modules have a plastic housing for use in harsh industrial environments. The devices are fully sealed and are
therefore extremely resistant to mechanical stress. Integrated LEDs provide clear status indications on the machine,
logically distributed on the individual channels, for the X2X Link status and the entire I/O section. Solutions such
as central fastening using two screws allow easy installation, even when using wedge nuts in standard aluminum
frames.
All connections are made using standard M8 or M12 connectors. The X2X Link connectors are keyed to prevent
mix-ups with the M12 analog connectors.
X2X Link is based on shielded copper cables. Each module has one integrated male and female connector, one
X2X Link input and one X2X Link output. An additional T-connector is not needed. Each module is operated syn-
chronously. That means reading inputs or writing outputs takes place synchronous to the X2X Link cycle. In addition
to cyclic communication, X2X Link also offers acyclic communication, e.g. to load parameters onto the module.
By default, it is not necessary to configure the node number switches on X67 modules. The modules are automat-
ically identified by the system when booting using their X2X Link position.
Figure 1: X67 system - X2X Link communication

3.3 Reduced costs

Reduced wiring
Instead of having to extensively wire each individual sensor or actuator to the control cabinet over long distances,
the X67 system reduces the amount of work down to a single bus cable and a 24 VDC power supply. This applies
to the entire machine. Considerable potential for savings exists even when compared to passive distributors since
connecting a sensor to the X67 system replaces all of the input wiring to the control cabinet.
The shortest commissioning times
Connection via the mechanical, pre-assembled standard cables make this possible. Wiring errors are a thing of
the past. Preparation for operation starts with the construction of the machine. Lengthy inspection of the wiring
is no longer necessary.
Minimized service costs
Correcting errors is a snap with individual sensors and actuators that can be quickly replaced simply by unplugging
as well as extensive diagnostic functions that allow errors to be detected immediately.
3.4 Flexibility
One system for all machine designs Unlimited expansion possibilities
Whether a compact machine or a large plant, this I/O system The X67 system is extremely flexible, handling removable
can be adapted to the machine's architecture to meet every machine modules, optional expansions and even future up-
demand for every level of performance. The X67 system of- grades to the machine architecture with ease.
fers ultimate freedom.
Open communication Minimum control cabinet space

POWERLINK, CAN bus, CANopen, DeviceNet PROFIBUS This system opens up the space normally needed for laying
DP, etc. – the fieldbus may change, but the X67 I/O system cables or placing terminals, I/O modules or additional distri-
from B&R always remains the same. bution boxes.
PLC PLC
Control cabinet Control cabinet
PLC X67 X67 X67 X67

Control cabinet Bus controller
PLC X67 X67 X67 X67

Bus controller
Control cabinet
X67 X67 X67 X67

PLC Bus controller
Control cabinet
X67 X67 X67 X67

Bus controller
Figure 2: X67 system - Expanding the control cabinet by other means

Open Adaptable
X67 is an I/O solution for all standard fieldbus Digital channels that can be configured as in-
systems and for direct connections to B&R con- puts or outputs allow the solution to be tailored
trollers. The fieldbus may change, but the I/O sys- to the requirements and reduce the total number
tem always remains the same. and variety of modules needed.
Compact Unmistakable
Optimal ergonomics and an extremely compact Visual status indicators on the modules and ad-
design allow the X67 system to fit anywhere on vanced status messages via the bus enable
the machine. clear-cut diagnostics. Warning and error thresh-
olds for I/O power supply, single-channel diag-
nostics and open circuit detection are just a few
examples.
Flexible Robust
100 m between modules without restrictions pro- These completely sealed modules are the epito-
vides more than enough room for reserves, mak- me of robustness, with features for maximizing
ing it easy to set up a configuration even when electromagnetic immunity hidden inside.
modules are far apart.
Fast Plug-and-run
Cycle times well below a millisecond also guar- Pre-assembled standard cables and automat-
antee the necessary reserves for your applica- ic module identification reduce installation and
tion. Synchronous I/O processing goes without commissioning work to an absolute minimum.
saying.
Safe Protected
Communication and I/O are completely isolated These systems are equipped with integrated re-
electrically. Disturbances or voltage dips on the I/ verse polarity protection, short circuit protection,
O side do not affect the bus. Performing diagnos- protection when switching inductances and the
tics is always possible. highest level of protection for the electronics as
well.
Powerful Well-supplied
I/O power via 2 pairs of leads provides up to 8 Many sensors and actuators require a 24 VDC
amps for outputs or supplies additional modules. power supply. With X67 modules, this is integrat-
ed in all digital connections and also provides pro-
tection against short circuits.
Shielded Expandable
Seamless 360° shield grounding from the ca- X67 systems can be expanded by 250 modules
ble over the connector directly on the thread- with up to 100 m between them.
ing of the M12 connector, through to the metal
backplane of the module and over the mounting
screws straight to the machine provides a com-
plete ground connection for all bus and analog
signals.
Centered Multi-talented
The central position of the two mounting screws Synchronous I/O processing, adjustable software
prevents misalignment of the housing in standard filters, integrated counter functions, flexible stan-
aluminum frames with wedge nut installations. dard functions, and more – these are intelligent
products perfect for the most versatile applica-
tions.

3.5 EMC concept

An important feature of the X67 construction is the sophisticated EMC concept. The cable shield is brought into
the X67 module via the connector (complete 360° shielding). Inside the X67 housing, all components including the
base plate make contact with the same ground. The final link in the chain is the connection between the base plate
mounting screw and the machine which completes the ground contact from the cable to the machine. This is done
for bus connections and analog connections using M12 connectors.
3.6 Communication
The goal of development was to free individual modules from the backplane to achieve a real remote system. The
X67 system uses a cable to replace the conventional backplane and connect the modules together. The name of
this "decentralized backplane" is "X2X Link" .
The X67 system offers many connection possibilities: X2X Link for direct connection of CPUs or IPCs with aPCI
modules or PCI cards. Indirect connections or connections to non-B&R CPUs utilize the various fieldbus systems
POWERLINK, CAN, CANopen, DeviceNet, and PROFIBUS DP.
X67 system
X2X Link - Remote backplane
PLC CANopen, DeviceNet, PROFIBUS DP

IPC + SoftPLC
POWERLINK
Fieldbus
Bus
controller X67 system
X2X Link
POWERLINK
Bus
controller X67 system
X2X Link
X20 system
Drives
Power Panel

3.7 System power supply

The X67's decentralized structure allows modules to be placed in different power supply groups as needed. For
example, this allows various modules to be connected to different voltage protection circuits or different emergency
stop groups to be implemented.
The entire X2X Link network is operated totally independently of the I/O power supply. In addition to the commu-
nication lines, the connection cable contains 2 wires used to supply the X2X Link electronics for each module.
Electrically, this is totally isolated from the I/O section. For this reason, power failures on the I/O side (e.g. due
to short circuit, open circuit or emergency stop) only stop operation of the I/O section. The bus section continues
to function with the corresponding status messages being sent to the CPU. This feature is essential in allowing
errors to be analyzed quickly and corrected.
The X2X Link power supply is guaranteed by system supply modules.
System supply System supply

module X67 system module
X2X Link
U1 U1-1 U1-2 U1 U1-3

24 VDC 24 VDC 24 VDC 24 VDC 24 VDC
3.8 Configurable X2X Link address

The remote X2X Link backplane, which connects the individual I/O modules with each other, is set up to be self-
addressing. Because of this, it is not necessary to set the node numbers. The module address is assigned according
to its position in the X2X Link line.
In certain cases, e.g. when configurations of modular machines change, it is necessary to define specific module
groups at a fixed address, regardless of the preceding modules in the line.
For this purpose, there are modules in both the X20 system and the X67 system with node number switches that
allow you to set the X2X Link address. All subsequent modules refer to this offset and use it automatically for
addressing purposes.
X20 system
Bus module with

node number switches
X67 system
#10 #11 #12 #30 #31 #20 #21 #22 #50 #51 #52
X2X Link

Mechanical and electrical configuration
4 Mechanical and electrical configuration
4.1 Dimensions
X67 modules
53 42
85
X67 high-density modules
53 42
155

4.2 CAD support

To ensure CAD support, the dimensions are included in the ECAD macros in 2D. STEP data is available to allow
3D viewing.
The STEP data can be found in the Downloads section of the B&R website at www.br-automation.com under the
respective module.
4.3 Installation
X67 modules can be installed in several different ways:
• "Installing on an aluminum frame" on page 21
• "Top-hat rail installation" on page 21
• "Installation on a mounting plate or directly on the machine " on page 22
Important!
Since electromagnetic disturbances are deflected via the base plate on the back, it is important to
ensure that the mounting location has good conductivity!
The mounting location must also be connected with ground potential with good conductivity.
Information:
The following must be taken into consideration to ensure IP67 protection:
• The union nuts on female/male connectors must be tightly secured with the specified tighten-
ing torque. The tightening torque value can be found in the module data sheet or the section
"Connectors" on page 24.
• Female/Male connectors that are not being used must be closed with threaded caps!
– Threaded caps M8, 50 pcs.: X67AC0M08

– Threaded caps M12, 50 pcs.: X67AC0M12
Information:
Shock and vibration resistance values (see "International and national certifications" on page 89)
apply only if cables are installed securely.
Attaching an X67 module

The thickness of the base plate (1.5 mm) should be taken into consideration when defining the screw length.
The grooved imprint in the base plate ensures that the screws do not become loose, even without an additional
retaining ring.
The recommended tightening torque for the M4 screw is 0.6 Nm.
1.5
M4 screw
Figure 3: X67 system - Fastening an X67 module

4.3.1 Installing on an aluminum frame
Installation on an aluminum frame is done using 2 wedge nuts and M4 screws.
Figure 4: Installation on an aluminum frame
Important!
For coated or anodized surfaces, the isolating coated or anodized layer in the area of the base plate
for X67 modules must be removed.
4.3.2 Top-hat rail installation
An X67 module can be installed on a top-hat rail using top-hat rail mounting plate X67ACTS35.
Figure 5: Top-hat rail installation

4.3.3 Installation on a mounting plate or directly on the machine
X67 modules can also be mounted on a mounting plate or directly on the machine.
Figure 6: Installation on a mounting plate
4.3.3.1 Drilling template for X67 modules
The modules are mounted using M4 screws.

X67 modules X67 high-density modules
Outer contour (X67 module)
Outer contour (X67 high-density module)
4.7 4.7
74.6 ±0.2
85
144.5 ±0.3
4.7
155
53
4.7
53

4.4 Shielding and grounding

When using standard cables available from B&R, the cable shield is brought into the X67 module via the connector
(complete 360° shielding). Inside the X67 housing, all components including the base plate make contact with the
same ground. The final link in the chain is the mounting screw, which connects the base plate and the machine
part / mounting plate and completes the seamless ground contact from the cable to the machine part / mounting
plate. A contact with good conductivity between the X67 module base plate and the machine part / mounting plate
is absolutely required.
Figure 7: X67 system - Shielding and grounding
Important!
The shielding at both ends of the cable must be professionally grounded on field-assembled cables!

4.5 Connectors
The connectors for the X67 system are designed as circular connectors. In addition to field-assembled male con-
nectors, B&R also offers pre-assembled cables for X2X Link, fieldbus and I/O functions.
The following connectors are used with the X67 system:
Threads Tightening torque
M8 0.4 Nm
M12 0.6 Nm
M16 1.0 Nm
Information:
When using third-party connectors, we strongly recommend ensuring that the contacts are gold (Au)
coated.
B&R connectors are designed for use with X67 components (see "General overview" on page 54).
4.6 The power supply concept
Danger!
In order to guarantee a specific power supply, a SELV power supply that conforms to EN 60204-1 must
be used to supply the bus, SafeIO and SafeLOGIC controller.
If the power supply is grounded (PELV system), then only a GND connection is permitted for grounding.
Grounding types that have ground connected to +24 VDC are not permitted.
The X67's decentralized structure allows modules to be placed in different power supply groups as needed. This
allows various modules to be connected to different voltage protection circuits or different emergency stop groups
to be implemented.
The entire X2X Link network is operated totally independently of the I/O power supply. In addition to the commu-
nication lines, the connection cable contains 2 wires used to supply the X2X Link electronics for each module.
Electrically, this is totally isolated from the I/O section. For this reason, power failures on the I/O side (e.g. due
to short circuit, open circuit or emergency stop) only stop operation of the I/O section. The bus section continues
to function with the corresponding status messages being sent to the CPU. This feature is essential in allowing
errors to be analyzed quickly and corrected.
The X2X Link power supply is guaranteed by system supply modules.
A potential group involves multiple X67 modules that are supplied via a shared supply feed.
X2X Link
X67 X67 X67 X67 X67 X67 X67 X67 X67

U1/24 VDC
U2/24 VDC
Figure 8: Power supply design with the help of 2 different potential groups

X67 I/O modules are power consumers on the X2X Link. System supply modules feed in the power. System supply
modules should be planned according to the calculated power requirements. Since they supply voltage in both
directions, they can be arranged either at the beginning or between the consumers. Redundant configurations are
also possible by adding more system supply modules.
X2X Link
X67 X67 X67 X67 X67 X67 X67 X67

System supply
U1/24 VDC
U2/24 VDC
Figure 9: X2X Link power supply through flexible application of system supply modules
The bus controllers can supply several modules on the X2X Link without an additional system supply module.
Fieldbus X2X Link
X67 X67 X67 X67

Bus controller
U1/24 VDC
U2/24 VDC
Figure 10: X2X Link power supply via bus controllers
4.6.1 Failure of I/O supply (ModuleOK)
Status "ModuleOK" consists of different module parameters and is available for monitoring the X67 modules. When
the I/O supply voltage is lost, data point "ModuleOK" provides the value 0 (false).

4.7 Safe cutoff
Information:
B&R keeps user's manuals as current as possible. From a safety standpoint however, the current
certified version of the document must be used.
The current certified document is available for download from the B&R website at www.br-automa-
tion.com.
4.7.1 Description of function
Operating principle "Safe cutoff of a potential group" allows the user to implement safety functions that satisfy the
requirements of EN ISO 13849-1:2015 within a B&R system when using an external safety relay.
The safety function is limited to cutting off or interrupting the power to connected actuators.
Functionality
An external safety relay is connected to the I/O power supply for the potential group. When the functional safe state
is requested or state "Failsafe" occurs, then this safety relay cuts off the I/O power supply of the potential group.
The power is then also cut off for all actuators connected to this potential group.
4.7.2 Scope of application / Standards referenced
The operating principle is confined to machine manufacturing applications and therefore implicitly to the following
standards:
• EN ISO 13849-1:2015 / EN ISO 13849-2:2012
Requirements of other standards are not taken into consideration.

4.7.3 Intended use
It is the user's responsibility to clarify guidelines for the use of components necessary for the safety function with
the respective authorities and to ensure these guidelines are met.
B&R will not assume warranty or liability for damages that occur due to:
• Improper use
• Non-observance of standards and guidelines
• Unauthorized modifications to devices, connections and settings
• Operation of unauthorized or unsuitable devices or device groups
• Failure to follow the safety notices covered in this manual
• Malfunctions caused by the external safety relay
4.7.4 Qualified personnel
The safety function must be implemented by personnel with appropriate training in safety technology and knowl-
edge of applicable regulatory and technical requirements.
Use of safety-related products is restricted to the following persons:
• Qualified personnel who are familiar with relevant safety concepts for automation technology as well as
applicable standards and regulations
• Qualified personnel who plan, develop, install and commission safety equipment in machines and systems
Qualified personnel in the context of this manual's safety guidelines are those who, because of their training,
experience and instruction combined with their knowledge of relevant standards, regulations, accident prevention
guidelines and operating conditions, are qualified to carry out essential tasks and recognize and avoid potentially
dangerous situations.
In this regard, sufficient language skills are also required in order to be able to properly understand this manual.
4.7.5 System-specific information
The operating principle applies to a potential group.

All potential groups are generally only permitted to be supplied by 1 power supply module. The possible further
processing of the power supply on the module is not permitted to result in multiple supply instances.
In the X20 system, only modules of type X20BM01, X20BM23 and X20BM26 that ensure the interruption of the
internal I/O power supply to the left are permitted to be used as bus modules for power supply modules.
On modules X20PS9400 and X20PS3300, only the I/O power supply (+24 V I/O) is permitted to be switched with
the safety relay. The bus power supply (+24 V BC/X2X L.) must be isolated.
When using module X67PS1300 to supply power to the X67 potential group, only the I/O power supply (+24 V I/O)
is permitted to be switched with the safety relay. The bus power supply (+24 V BC/X2X L.) must be isolated.
The operating principle is limited to the modules listed in the following certificate.
Certificate
PDF Website > Downloads > Certificates > Safety technology > X20, X67 > Safe cutoff of potential groups

4.7.6 General notices
4.7.6.1 Installation notes
Modules must be protected against impermissible dirt and contaminants. The maximum permissible level of dirt and
contaminants is pollution degree II as specified in standard EN 60664-1. This can be achieved through installation
in a control cabinet that provides IP54 protection.
When using this operating principle, uncoated X20 modules are not permitted to be operated in condensing relative
humidity or at ambient temperatures below 0°C.
4.7.6.2 Timing
4.7.6.2.1 Worst-case scenario
The cutoff time for the potential group must be applied based on consideration of the worst-case scenarios for the
respective group. For the corresponding group, see certificate "Safe cutoff of potential groups". If modules from
different groups are combined in a potential group, then the worst-case cutoff time of the group with the longest
duration applies.
• Group 1: Max. 500 ms
• Group 2: Max. 1 s
• Group 3: Max. 3 s
This time is needed to guarantee that energy stored within the module is discharged and the actuators are cut off
in worst-case scenarios. The cutoff times needed for the upstream external safety relay and actuator must also
be added.
Worst-case conditions for "Output = Off"
• Digital output: <5 V
• Analog output: <100 mV
4.7.6.2.2 Load-dependent cutoff time
The actual cutoff time can be calculated with the following formula.
tspec Actual cutoff time

Ctot Total capacity of all modules in the potential group (e.g. 10 modules with 47 µF + 3 modules with 150 µF → Ctot = 920 µF).
Uin Supply voltage
Uoff Voltage, if Output = Off
Iload External load
Table 3: Description of parameters

Module Internal capacity of module
X20MM4455 900 µF
X20MM4456
X20MM2436 150 µF
X20SM1426
X20SM1436
X20PS3300 220 nF
X20PS9400
Remaining modules 1) 47 µF
Table 4: Internal capacity of X20 modules

1) Only modules listed in certificate "Safe cutoff of potential groups".

X67SM4320 600 µF
X67AO1223 500 µF
X67AO1323
X67AM1223
X67AM1323
X67SM2436
X67MM2436
Table 5: Internal capacity of X67 modules


7XVxxx.xx-1x 100 µF
Table 6: Internal capacity of 7XV modules

If the result is greater than the worst-case time for the respective potential group, then the worst-case scenario
from section "Worst-case scenario" on page 28 applies.
Information:
• The calculated load-dependent cutoff time must be verified by a test measurement!
• At the time a safety function is requested, there is no guarantee that the outputs used to cal-
culate the load-dependent cutoff time are enabled. For example, if an output is disabled at the
time of a request, then the respective internal capacities in the module will not be discharged in
the calculated time (tspec). The worst-case time of the respective potential group must be taken
into account. If the output is enabled by the functional application (shown in the sketch as the
interval tapplication) during the worst-case time of the respective potential group, then the output
subsequently remains enabled for the calculated time.
Safety function request

U
Uin
Worst-case cutoff
Load-dependent cutoff
Uoff
Time
t application t spec
Worst-case time
Figure 11: Output behavior following safety request
4.7.6.3 Potential group structure
The potential group is only permitted to be made up of modules listed in the following certificate. Modules not listed
in this certificate endanger the "absence of feedback" of the external cutoff and therefore the safety function.
Certificate
PDF Website > Downloads > Certificates > Safety technology > X20, X67 > Safe cutoff of potential groups
To ensure clarity and that the external cutoff is triggered when a fault occurs, installing multiple power supply
sources in a potential group is not permitted.
SELV/PELV power supplies must be used for both the bus supply (X2X) and the I/O power supply; otherwise,
safety-related malfunctions can occur due to overvoltages.
For modules with isolated I/O potential for sensors and actuators, the upstream safety relay must shut off the supply
for both the sensors and actuators; otherwise, energy regeneration cannot be excluded.

4.7.6.4 Circuit examples
1. Single-channel without feedback

The following example shows a load being cutoff using the emergency stop safety function. Only safe actuators
such as motors or input "Enable" of an ACOPOS/ACOPOSmulti drive are permitted to be used as the load in this
case.
Power supply
of +24 VDC potential group
23 24 (inputs and outputs)
Reference potential of
+24 VDC Safety GND potential group, 0 VDC Outputs Load
13 relay 14 (inputs and outputs)
Emergency stop
Figure 12: Single-channel without feedback - Circuit example

Provided that the external components being used (emergency stop switch, safety relay, load) satisfy the respective
requirements, this example can achieve PL e (performance level as specified in EN ISO 13849-1:2015).
2. Dual-channel with feedback
The following example shows a load being cutoff using the emergency stop safety function. Feedback allows errors
in the actuator to also be detected, and a cutoff is also possible if a fault event occurs due to the full dual-channel
design. Whether or not 2 fully isolated potential groups – as shown in the example – are necessary depends on
the application and how the safety solution is designed.
Power supply +24 VDC

X1
(inputs and outputs)
23 24
Reference potential of
+24 VDC GND potential group, 0 VDC Outputs
13 14 (inputs and outputs)
Safety
relay
Power supply
X2
Emergency stop Reference potential of
GND potential group, 0 VDC Outputs
Load
Figure 13: Dual-channel with feedback - Circuit example

Provided that the external components being used (emergency stop switch, safety relay, load) satisfy the respective
requirements, this example can achieve PL e.

3. Example with power supply module X20SP1130

The following examples show a load being cut off using safe power supply module X20SP1130 along with safe
input module X20SI4100 and the "emergency stop" safety function.
X20DO2322
X20SI4100 X20SP1130
Load
Emergency stop
+
+24 VDC
Figure 14: Circuit example with power supply module X20SP1130
X20SI4100 X20SP1130
+24 VDC
GND X67 X67 X67

Emergency stop
+
+24 VDC
Figure 15: Circuit example with power supply module X20SP1130 and X67
Provided that the external components being used (emergency stop switch, load) satisfy the respective require-
ments, these examples can achieve PL e.
4.7.6.5 Wiring information
The operating principle "Safe cutoff of a potential group" only applies to the B&R modules being used. All other
parts of the safety chain such as the application, upstream sensors or downstream actuators are NOT included
in this principle.
For this reason, it is important to take the following points into consideration:
• Ensure proper wiring of the safety relay with the I/O supply. A short circuit between the output of the safety
relay and an external 24 V voltage source can cause an unintended supply of 24 V to the internal supply
voltage of the potential group. As a result, the safety function can no longer be guaranteed, which means
that ALL of the channels in the potential group can no longer be cut off by the upstream safety relay.
• Make sure that ALL of the potential group's input and output channels and the connected sensors and
actuators are wired properly. A short circuit between an input or output of the potential group and an external
24 V voltage source can cause the unintended feedback of 24 V to the internal supply voltage of the
potential group. As a result, the safety function can no longer be guaranteed, which means that ALL of the
output channels in the potential group can no longer be cut off by the upstream safety relay.
• In accordance with EN ISO 13849-2:2012, appendix D.2, table D.4, a short circuit between any 2 conductors
can be excluded, provided that:
° They are permanently installed and protected against external damage (e.g. using a cable duct or
armored conduit)
° OR they are in separate plastic-sheathed cables
° OR they are installed within an electrical enclosure. This requires that the lines as well as the area
for electrical equipment meet the respective requirements [see EN 60204-1]
° OR they are individually shielded with a ground connection

4.7.7 Safety guidelines
This section provides a summary of safety notices for the user.
Danger!
Please observe the following safety notices. Failure to observe any of the following notices can lead
to the failure of the safety function and may result in serious injury.
• The safety relay determines which category (according to EN ISO 13849-1:2015) is achieved.
• When using the operating principle, it is the user's responsibility to adhere to the relevant
standards and safety directives. The notices provided in sections "Description of function"
on page 26 through "Qualified personnel" on page 27 regarding functionality, applicable stan-
dards, proper use and qualified personnel are also to be observed.
• The safety function is limited to cutting off or interrupting the power to connected devices.
Safety functions that require actively powering on an actuator in a safe state cannot be imple-
mented with this function.
• For all potentials supplying the modules, SELV/PELV power supplies must be used.
• The potential groups for which the operating principle is applied are only permitted to contain
modules listed from certificate "Safe cutoff of potential groups".
• When applying the operating principle to uncoated X20 modules, the modules are not permitted
to be operated in condensing relative humidity or at ambient temperatures below 0°C.
• It is not permitted to mix modules from different systems (X20, X67, 7XV) within a potential
group.
• It is not permitted to install multiple power supply modules in a potential group (particularly
with regard to power supply modules that also supply the bus supply).
• Ensure that the upstream safety relay is wired properly.
• Ensure that ALL sensors and actuators connected to the potential group are wired properly.
• Be aware of the maximum safety-related response time when cutting off the potential group
based on the groups being used (see section "Worst-case scenario" on page 28). The cutoff
times needed for the upstream external safety relay and actuator must also be added. Cutoff
times shorter than the worst-case times can be achieved using the formula defined in section
"Load-dependent cutoff time" on page 28.
• The calculated load-dependent cutoff time must be verified by a test measurement!
• For modules with isolated I/O potential for sensors and actuators, the upstream safety relay
must shut off the supply for both the sensors and actuators.
• The ground connections should be used as functional ground and not as protective ground and
must not be connected to the 24 V supply voltage (GND is permitted). In addition, no protective
components are permitted to be used between the ground and the 24 V supply voltage.

4.8 X67 system cabling

Due to the high degree of flexibility offered by the X67 system, a few things must be taken into consideration when
wiring:
• Maximum number of X67 modules in one X2X line (253)
• Maximum distance between X67 modules
• Distance between the system supply modules
• Station number assignment
• Permissible current consumption
• Suitable connectors must be used for the X67 system (see section "Connectors" on page 24).
Possibilities for cabling the X67 system:
• X2X Link power supply with X67 system supply, X67 bus controller or X20 bus transmitter
• Isolated X2X Link and I/O power supply
• Creating electrical potential groups
4.8.1 X2X Link cabling
X2X Link connections:

• X67 module: M12, B-keyed connections (A → Input, B → Output)
• Interface module / master system: 4-pin terminal block
The maximum distance between 2 X67 stations is 100 meters.
Information:
System supply module X67PS1300 cannot be used to bridge distances since it does not regenerate
the signal.
Station numbers are automatically assigned according to the order of X67 modules (cable sequence).
Information:
All subsequent station numbers are shifted when an X67 station is connected/removed. The system
supply module is not included in this calculation, however, and does not receive its own station num-
ber!
100 m 100 m
PLC X2X Link

IPC + SoftPLC
X67 X67 X67 X67 X67 X67 X67

System supply
U1/24 VDC
U2/24 VDC
X67 X67 X67 X67

System supply
Figure 16: X2X Link cabling

The supply voltage for the X2X Link is reduced by line resistance (line length).
Information:
Be aware of voltage drops in the line!
Depending on the power consumption and type of modules being used, 15 or more X67 modules can be supplied
by system supply module X67PS1300. However, this does not mean that 100 m distance between each station
is possible (i.e. a total length of n x 100 m).
Information:
Regardless of the number of stations, the supply voltage is affected at total lengths over 100 m. There-
fore, additional system supply modules must be added when necessary.
100 m 100 m
PLC X2X Link

IPC + SoftPLC
X67 X67 X67 X67 X67 X67 X67 X67

U1/24 VDC
U2/24 VDC
Figure 17: X2X Link cabling - Depending on the line length

All system supply modules integrated in an X67 system must be distributed accordingly along the length of the line
to avoid excessive voltage drops caused by the line length!
Incorrect
X2X Link
X67 X67 X67 X67 X67 X67 X67 X67 X67 X67 X67
24 VDC
Correct
X2X Link
X67 X67 X67 X67 X67 X67 X67 X67 X67 X67 X67
24 VDC
Figure 18: X2X Link cabling - Distribution of system supply modules
Information:
All system supply modules must be distributed evenly throughout the system!

4.8.2 X2X Link cabling on the bus controller

• Bus controller: M12, B-keyed connection (B → Output)
Additional X67 stations can be connected without system supply module X67PS1300 depending on the power
output of the bus controller.
The I/O image is made according to the order (cable sequence) of the X67 modules.
Information:
All subsequent I/O slots are shifted when an X67 station is connected/removed.
Max. 100 m
PLC Network
IPC + SoftPLC Fieldbus
X67 X67 X67 X67 X67 X67 X67 X67

Bus controller System supply
U1/24 VDC
U2/24 VDC
X67 X67 X67
Figure 19: X2X Link cabling - Supply via bus controller

4.8.3 X2X Link cabling on bus transmitter X20BT9400

• X20BT9400: X20 terminal block
Depending on the mounting orientation of the X20 system, 8 (horizontal installation) or 6 (vertical installation) X67
stations can be connected without system supply module X67PS1300.
Information:
All subsequent station numbers are shifted when an X67 station is connected/removed.
X2X Link
X20 bus transmitter BT9400

X67 X67 X67 X67 X67 X67
X2X Link
U1/24 VDC Power supply I/O power supply I/O power supply
Figure 20: X2X Link cabling - Supply via bus transmitter X20BT9400
If more than 8 or 6 X67 stations are connected to bus transmitter X20BT9400, then only the X67PS1300 system
supply modules being used can be included when calculating the power requirements.
X2X Link
X20 bus transmitter BT9400

X67 X67 X67 X67 X67 X67 X67
System supply
X2X Link X2X Link

U1/24 VDC Power supply Power supply
U2/24 VDC I/O power supply I/O power supply
I/O power supply
X67 X67 X67 X67 X67
Figure 21: X2X Link cabling - Supply via X20 bus transmitter and X67 system supply

4.8.4 I/O power supply cabling
X67 module power supply connectors1):

• I/O modules, system supply:
Connections C (input) and D (routing) are equal (pins connected).
• Bus controller:
Connection C: 1 pair for I/O power supply, 1 pair for X2X Link supply
Connector D: Routing of I/O power supply
Permissible 1) current consumption
• I/O modules: 8 A (without temperature derating)
• Bus controller: 4 A (without temperature derating)
Without the I/O power supply, the application has no access to the data points (see section "Failure of I/O supply
(ModuleOK)" on page 25)! Only the station number is secured by an intact X2X Link power supply. The application
can account for this accordingly if the I/O power supply is integrated in the emergency stop design (see section
"The power supply concept" on page 24).
X2X Link
X67 X67 X67 X67 X67 X67 X67

System supply module
U1/24 VDC
U2/24 VDC Max. 8 A Max. 8 A
U3/24 VDC
Max. 8 A
X67 X67 X67 X67

System supply module
Figure 22: I/O power supply cabling - Isolated X2X Link and I/O power supply
Be aware of any differences in permissible current consumption between the bus controller and other modules:
Fieldbus
X67 X67 X67 X67 X67 X67 X67 X67 X67 X67
Bus controller System supply module
U1/24 VDC Max. 4 A Max. 8 A
U2/24 VDC Max. 8 A
Figure 23: I/O power supply cabling - Permissible current consumption
1) For exact or possibly deviating technical data, please refer to the documentation for the corresponding X67 module.

4.9 Combining X2X Link systems

The X2X Link provides a complete remote backplane, which is used for communicating between bus modules and
over the X2X Link cable. Systems based on X2X Link can be combined with one another as needed.
4.9.1 Connection overviews
The following connection overviews illustrate combinations of different systems that are based on X2X Link. The
model numbers indicate which standard cables available from B&R can be used to connect with one another.
Combining X20, X67 and compact I/O system
X2X Link X2X Link X2X Link X2X Link X2X Link X2X Link
Attachment cables Connection cables Open-ended cables Attachment cables Open-ended cables Attachment cables
X67CA0X21.xxxx X67CA0X01.xxxx X67CA0X41.xxxx X67CA0X21.xxxx X67CA0X41.xxxx X67CA0X21.xxxx
X67CA0X31.xxxx X67CA0X11.xxxx X67CA0X51.xxxx X67CA0X31.xxxx X67CA0X51.xxxx X67CA0X31.xxxx
X67PS1300 X67 I/O X67 I/O X20 system X67PS1300 X67 I/O X67 I/O
I/O power supply I/O power supply 24 V Compact

24 V
Attachment cables Connection cables 24 V I/O system
X67CA0P20.xxxx X67CA0P00.xxxx
24 V
Combining X20, X67 and valve terminal connections
X2X Link X2X Link X2X Link X2X Link X2X Link
Attachment cables Connection cables Open-ended cables Attachment cables Open-ended cables
X67CA0X21.xxxx X67CA0X01.xxxx X67CA0X41.xxxx X67CA0X21.xxxx X67CA0X41.xxxx
X67CA0X31.xxxx X67CA0X11.xxxx X67CA0X51.xxxx X67CA0X31.xxxx X67CA0X51.xxxx
IP67 XV IP20 XV
X67PS1300 X67 I/O X20 system X67PS1300 X67 I/O
I/O power supply I/O power supply 24 V I/O power supply

24 V
Attachment cables Connection cables Open-ended cables
X67CA0P20.xxxx X67CA0P00.xxxx X67CA0P40.xxxx
24 V With 7XVxxx.xx-21

4.9.2 Connection examples
4.9.2.1 X20 system
Connection example with bus receiver X20BR9300
BR
X2X
X2X\
X2X⊥
X2X Link + + I/O

power supply _ _ power supply
+24 VDC
GND
Signal Cable type Model number

X2X Link In Open-ended cables 1) X67CA0X41.xxxx
X67CA0X51.xxxx
Cable for custom assembly X67CA0X99.xxxx
1) In connection with X67 modules.
Connection example with bus transmitter X20BT9100
BT
X2X\
X2X
X2X⊥
+24 VDC
GND

X2X Link Out Attachment cables 1) X67CA0X21.xxxx
X67CA0X31.xxxx

Connection example with bus transmitter X20BT9400
BT
X2X\
X2X
X2X⊥
X2X+
10 A slow-blow
X67 X2X Link + + I/O
Power supply _ _ Power supply
+24 VDC
GND

X2X Link Out Attachment cables 1) X67CA0X21.xxxx
X67CA0X31.xxxx
4.9.2.2 Compact I/O system
1)
X2X+ (optional)
1
1)
X2X+ (optional)
2
In: X2X White

3
In: X2X⊥ Black

4
In: X2X\ Blue

5
Shield
6
Out: X2X White

7
Out: X2X⊥ Black

8
Out: X2X\ Blue

9 10 11 12
+ Shield
+24 VDC power supply
Supply ⊥
-
1) Used to forward the X2X Link power supply when using IP67 modules.
X2X Link In Open-ended cables1) X67CA0X41.xxxx
X67CA0X51.xxxx
X2X Link Out Attachment cables1) X67CA0X21.xxxx
X67CA0X31.xxxx
X2X Link in/out Cable for custom assembly X67CA0X99.xxxx
1) Bridge for X2X+ in connection with X67 modules.

4.9.2.3 Valve connection
Connection example with 7XVxxx.xx-11/-12

Bend red wire end back and insulate
(e.g. with heat shrink tubing)
In: X2X White
1
In: X2X⊥ Black
2
In: X2X\ Blue
3
Shield
4
Out: X2X White
5
Out: X2X⊥ Black
6
Out: X2X\ Blue
7
Shield
8
+24 VDC for X2X Link
9 10 11
+ Supply ⊥
+24 VDC for I/O
X2X Link and -
-
I/O power supply

X67CA0X51.xxxx
X67CA0X31.xxxx
Connection example with 7XVxxx.xx-21
In: X2X White

1
In: X2X⊥ Black

2
In: X2X\ Blue

3
Shield
4
Out: X2X White

5
Out: X2X⊥ Black

6
Out: X2X\ Blue

7
Shield
8
X2X+ Red
9 10 11
I/O power supply Supply ⊥ Blue and black

+24 VDC power supply Brown and white

X67CA0X51.xxxx
X67CA0X31.xxxx
I/O power supply Open-ended cables1) X67CA0P40.xxxx
X67CA0P50.xxxx

Connection example with 7XVxxx.xx-51/-62

X2X Link X2X Link
STATUS 2 STATUS 1
I/O power supply I/O power supply

Supply Routing

X2X Link Connection cables1) X67CA0X01.xxxx
X67CA0X11.xxxx
I/O power supply Connection cables1) X67CA0P00.xxxx
X67CA0P10.xxxx
4.9.2.4 Connecting X2X Link interfaces with internal power supply
Information:
X2X Link is supplied via the red wire. X2X Link is supplied internally on the IF789 and LS189. An external
power supply is therefore not needed.
In order to prevent short circuits on the housing, braided shield or cable shield, the red wire end must
be insulated, e.g. using a heat shrink tubing.
To improve EMC immunity, the cable shield must be grounded on both sides. The supply line to the IF789 and
LS189 should be grounded over a wide area close to the shield. The grounding on the X67 side is done via the
connector on pre-assembled cables.
IF789 or LS189: Cables:
TB704 X67CA0Xx1.xxxx
White X2X 1
1
Black X2X⊥ 2
2
Blue X2X\ 3
3
Shield SHLD 4
4
Bend the red wire end backwards and

e.g. isolate with heat shrink tubing
Figure 24: X2X Link attachment cables - Installation diagram
Information:
If the cable shield is not grounded, transmission errors may occur when strong electromagnetic inter-
ference occurs.

4.10 Calculating the power requirements

The power provided by the bus controllers and system supply modules is shown with a "+" sign. The power required
by modules is shown with a "-" sign. To calculate the power requirements, the positive and negative power values
must be added together. The sum is not permitted to be less than zero.
4.10.1 Example 1
Calculation of the X2X Link power requirements and the module power required internally on the basis of the given
hardware configuration. The X2X Link power requirements are balanced. X67PS1300 is not necessary. The internal
module power consumption and the sensor/actuator power supply must come from the external power supply.
X67BC7321-1 X67DM1321 X67DM1321 X67DM1371
Module X2X Link performance [W] Internal module power [W]

X67BC7321-1 +3.00 10.30
X67DM1321 -0.75 2.50
X67DM1321 -0.75 2.50
X67DI1371 -0.75 1.00
Total +0.75 +16.30
4.10.2 Example 2
Calculation of the X2X Link power requirements and the module power required internally on the basis of the given
hardware configuration. The X2X Link power requirements calculation produces a surplus of +11,25 W. Therefore,
one X67PS1300 is sufficient. The internal module power consumption and the sensor/actuator power supply must
come from the external power supply.
X67AM1223 X67AM1223 X67PS1300 X67DM1321 X67DO1332 X67AT1322
Module X2X Link performance [W] Internal module power [W]

X67AM1223 -0.75 3.00
X67AM1223 -0.75 3.00
X67PS1300 +15.00 3.00 +
15.00
X67DM1321 -0.75 2.50
X67DO1332 -0.75 2.00
X67AT1322 -0.75 1.50
Total +11.25 +30.00

Module overviews
5 Module overviews
5.1 Module overview: Alphabetically

Model number Short description Page
X67AI1223 X67 analog input module, 4 inputs, ±10 V, 12-bit converter resolution, configurable input filter, open circuit detection 103
X67AI1323 X67 analog input module, 4 inputs, 0 to 20 mA or 4 to 20 mA, 12-bit converter resolution, configurable input filter 128
X67AI2744 X67 analog input module, 2 full-bridge strain gauge inputs, 24-bit converter resolution 157
X67AI4850 X67 analog input module, 4 inputs, potentiometer displacement gauge 14-bit 170
X67AM1223 X67 analog mixed module, 2 inputs, 2 outputs, ±10 V, 12-bit converter resolution, configurable input filter, open circuit detection 178
for inputs
X67AM1323 X67 analog mixed module, 2 inputs, 2 outputs 0 to 20 mA, 12-bit converter resolution, configurable input filter 191
X67AO1223 X67 analog output module, 4 inputs, ±10 V, 12-bit converter resolution 205
X67AO1323 X67 analog output module, 4 outputs, 0 to 20 mA, 12-bit converter resolution 213
X67AT1311 X67 temperature input module, 4 inputs for resistance measurement, 2-wire or 4-wire measurement, PT100, resolution 0.01 K 927
X67AT1322 X67 temperature input module, 4 inputs for resistance measurement, 2-wire or 4-wire measurement, PT100, PT1000, KTY10, 937
KTY84, resolution 0.1 K
X67AT1402 X67 temperature input module, 4 thermocouple inputs, Type J, K, S, resolution 0.1 K 947
X67BC4321-1 X67 bus controller, 1 CANopen interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 24 222
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, I/O power supply possible via CAN bus connector
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, CAN bus electrically isolated,
X67BC4321.L08-10 X67 bus controller, 1 CANopen interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 244
24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, CAN bus electrically isolated, M8 connectors, high-density
module
module
X67BC5321 X67 bus controller, 1 DeviceNet interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 24 266
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC6321 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 276
24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC6321.L08 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or out- 285
puts, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, M8 connectors, high-density module
X67BC7321-1 X67 bus controller, 1 CAN I/O interface, extended CAN I/O function, X2X Link power supply 3 W, 8 digital channels config- 304
urable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC81RT.L12 X67 bus controller, 2 POWERLINK interfaces, X2X Link power supply 15 W, reACTION Technology module, 2 digital inputs, 24 827
VDC, <1 µs, 3 digital channels, 5 VDC, <1 µs, configurable as inputs or outputs, 2 digital channels, 24 VDC, 0.4 A, <1 µs, con-
figurable as inputs or outputs, 2 analog inputs ±10 V, 5 µs 200 kHz sampling frequency, 13-bit converter resolution (including
sign), configurable input filter, 1 analog output ±10 V, 2.5 µs, 13-bit converter resolution (including sign), M12 connectors, high-
density module
X67BC8321-1 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 314
X67BC8321.L12 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or out- 325
X67BC8331 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 336
24 VDC, 2 A, configurable input filter
puts, 24 VDC, 0.5 A, configurable input filter, 1 event counters 50 kHz, 1 analog input 0 to 20 mA, 12-bit, M12 connectors, high-
density module
X67BC8780.L12 X67 POWERLINK bus controller, 1x CAN interface, with active wiring help for 8x M12 connections (star wiring), M12 connec- 372
tions, LED status indicators, high-density module
X67BCD321.L12 X67 bus controller, 1 EtherNet/IP interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 392
24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, M12 connectors, high-density module
X67BCD321.L12-1 X67 bus controller, 1 EtherNet/IP interface, X2X Link supply 15 W, 16 digital channels configurable as inputs or outputs, 24 392
VDC, 0.5 A, pinning variant, configurable input filter, 2 event counters 50 kHz, M12 connectors, high-density module
X67BCE321.L12 X67 bus controller, 1 PROFINET interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 403
X67BCG321.L12 X67 bus controller, 1 EtherCAT interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 415
X67BCJ321 X67 bus controller, 1 Modbus TCP/UPD interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or out- 425
puts, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BCJ321.L12 X67 bus controller, 1 Modbus TCP/UDP interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or 436
outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, M12 connectors, high-density module
X67DC1198 X67 digital counter module, 2x 3 inputs 5 V for SSI 1 Mbit/s or ABR 250 kHz, 8 digital channels 24 VDC, 0.1 A, configurable as 448
inputs or outputs or 4 AB counters 100 kHz or 4x comparator outputs or 2x PWM outputs, local time measurement functions
X67DC2322 X67 resolver module, 2x 14-bit resolver input BRX/BRT, 2 digital inputs, 24 VDC, sink, 2 digital outputs, 0.5 A, source 494
X67DI1371 X67 digital input module, 8 inputs, 24 VDC, sink, input filter 1 ms 507
X67DI1371.L08 X67 digital input module, 16 inputs, 24 VDC, sink, input filter 1 ms, M8 connectors, high-density module 514

Module overviews
X67DI1372 X67 digital input module, 8 inputs, 24 VDC, source, 1 ms input filter 528
X67DM1321 X67 digital mixed module, 8 channels configurable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event coun- 536
ters 50 kHz
X67DM1321.L08 X67 digital mixed module, 16 channels configurable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event coun- 570
ters 50 kHz, M8 connectors, high-density module
X67DM1321.L12-1 X67 digital mixed module, 16 channels configurable as input or output, 24 VDC, 0.5 A, pinning variant, configurable input filter, 551
2 event counters 50 kHz, M12 connectors, high-density module
ters 50 kHz X2X Link address switch
ters 50 kHz, M12 connectors, X2X Link address switch, high-density module
X67DM9331.L12 X67 digital mixed module, 8 channels configurable as inputs or outputs, 24 VDC, 2 A, configurable input filter, single-channel 622
sensor/actuator supply monitoring, M12 connectors, X2X Link address switch, high-density module
X67DO1332 X67 digital output module, 8 outputs, 24 VDC, 2 A, readable output status 635
X67DO9332.L12 X67 digital output module, 8 outputs, 24 VDC, 2 A, single-channel actuator power supply monitoring, M12 connectors, X2X Link 643
address switch, high-density module
X67DS438A X67 digital signal module, 4x IO-Link master V1.1, 4 digital channels configurable as inputs or outputs, 3-wire connections, Net- 865
Time function
X67DV1311.L08 X67 digital valve control module, 16 digital outputs, 24 VDC, 0.1 A, 1 M16 connection, 16 digital inputs, 24 VDC, sink, config- 655
urable input filter, M8 connectors, high-density module
X67HB8880.L12 X67 8-port industrial hub (layer 2), 10/100 Mbit/s with autonegotiation, automatic MDIX, 8x M12, 8-32 VDC 704
X67IF1121-1 X67 interface module, 1 RS232 interface, 1 RS422/RS485 interface, 2 digital channels configurable as inputs or outputs, 24 683
VDC, 0.5 A, configurable input filter, 2 inputs 24 VDC, sink, configurable input filter
X67MM2436 X67 PWM motor module, I/O power supply 24-38.5 VDC ±25%, 2 PWM motor bridges, 3 A continuous current, 5 A peak cur- 711
rent, 2x 3 digital inputs 24 VDC, sink, configurable as incremental encoder
X67PS1300 X67 system supply module 24 VDC, X2X Link power supply 15 W, reverse polarity protection, short circuit protection, overload 923
protection, parallel connection possible, redundancy operation possible
X67SM2436 X67 stepper motor module, I/O power supply 24-38.5 VDC ±25%, max. 8 A, 2 motor connections, 3 A continuous current, 5 A 731
peak current, 2x 3 digital inputs 24 VDC, sink, configurable as incremental encoder, NetTime function
X67SM4320 X67 stepper motor module, I/O power supply 24 VDC ±25%, 4 motor connections, 1 A continuous current, 1.5 A peak current, 786
NetTime function
X67UM1352 X67 universal mixed module, 1 input for full-bridge strain gauge evaluation, 24-bit, 4 digital inputs, 24 VDC, sink, 1 digital out- 910
put, 0.5 A, source, 1 digital output, 1 A, source

Module overviews
5.2 Module overview: Grouped

Analog inputs
for inputs
Analog mixed modules

for inputs
Analog outputs
for inputs
X67AO1223 X67 analog output module, 4 inputs, ±10 V, 12-bit converter resolution 205

Module overviews
Bus controllers
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, I/O power supply possible via CAN bus connector
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, CAN bus electrically isolated,
module
module
X67BC5321 X67 bus controller, 1 DeviceNet interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 24 266
X67BC6321 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 276
X67BC7321-1 X67 bus controller, 1 CAN I/O interface, extended CAN I/O function, X2X Link power supply 3 W, 8 digital channels config- 304
urable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
density module
X67BC8321-1 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 314
X67BC8331 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or outputs, 336
puts, 24 VDC, 0.5 A, configurable input filter, 1 event counters 50 kHz, 1 analog input 0 to 20 mA, 12-bit, M12 connectors, high-
density module
X67BC8780.L12 X67 POWERLINK bus controller, 1x CAN interface, with active wiring help for 8x M12 connections (star wiring), M12 connec- 372
X67BCD321.L12 X67 bus controller, 1 EtherNet/IP interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 392
X67BCE321.L12 X67 bus controller, 1 PROFINET interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 403
X67BCD321.L12-1 X67 bus controller, 1 EtherNet/IP interface, X2X Link supply 15 W, 16 digital channels configurable as inputs or outputs, 24 392
VDC, 0.5 A, pinning variant, configurable input filter, 2 event counters 50 kHz, M12 connectors, high-density module
X67BCG321.L12 X67 bus controller, 1 EtherCAT interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or outputs, 415
X67BCJ321 X67 bus controller, 1 Modbus TCP/UPD interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs or out- 425
puts, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BCJ321.L12 X67 bus controller, 1 Modbus TCP/UDP interface, X2X Link power supply 15 W, 16 digital channels configurable as inputs or 436
outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, M12 connectors, high-density module
Communication modules
X67IF1121-1 X67 interface module, 1 RS232 interface, 1 RS422/RS485 interface, 2 digital channels configurable as inputs or outputs, 24 683
VDC, 0.5 A, configurable input filter, 2 inputs 24 VDC, sink, configurable input filter
Counter functions

Module overviews
Digital inputs
ters 50 kHz
Digital mixed modules

ters 50 kHz
Digital outputs
ters 50 kHz
X67DO9332.L12 X67 digital output module, 8 outputs, 24 VDC, 2 A, single-channel actuator power supply monitoring, M12 connectors, X2X Link 643
NetTime function

Module overviews
Digital valve control

Hub modules
Motor modules
NetTime function
Multifunction
Other functions
X67DS438A X67 digital signal module, 4x IO-Link master V1.1, 4 digital channels configurable as inputs or outputs, 3-wire connections, Net- 865
Time function
reACTION I/O modules

density module
System supply
X67PS1300 X67 system supply module 24 VDC, X2X Link power supply 15 W, reverse polarity protection, short circuit protection, overload 923
protection, parallel connection possible, redundancy operation possible
Temperature measurement
X67AT1311 X67 temperature input module, 4 inputs for resistance measurement, 2-wire or 4-wire measurement, PT100, resolution 0.01 K 927
X67AT1322 X67 temperature input module, 4 inputs for resistance measurement, 2-wire or 4-wire measurement, PT100, PT1000, KTY10, 937

Module overviews
5.3 B&R ID codes

Module ID codes are displayed in Automation Studio error messages, for example. The ID code and following
tables can be used to determine the affected module and associated data sheet.
5.3.1 B&R ID codes sorted by model number

Model number B&R ID code (hex.) B&R ID code (dec.) on page
X67AI1223 0x16F1 5873 103
X67AI1233 0xAB1B 43803 115
X67AI1323 0x16F2 5874 128
X67AI1333 0xAB1C 43804 142
X67AI2744 0x8820 34848 157
X67AI4850 0x9957 39255 170
X67AM1223 0x1465 5221 178
X67AM1323 0x1466 5222 191
X67AO1223 0x16F3 5875 205
X67AO1323 0x16F4 5876 213
X67AT1311 0xD21B 53787 927
X67AT1322 0x1488 5256 937
X67AT1402 0x1486 5254 947
X67BC4321-1 0xA40E 41998 222
X67BC4321-1 - I/O Module 0x1311 4881 222
X67BC4321-10 0xA90D 43277 233
X67BC4321-10 - I/O Module 0xB528 46376 233
X67BC4321.L08-10 0xB129 45353 244
X67BC4321.L08-10 - I/O Module 0xB529 46377 244
X67BC4321.L12-10 0xB12A 45354 255
X67BC4321.L12-10 - I/O Module 0xB52A 46378 255
X67BC5321 0x17D5 6101 266
X67BC5321 - I/O Module 0x1311 4881 266
X67BC6321 0x1436 5174 276
X67BC6321 - I/O Module 0x1311 4881 276
X67BC6321.L08 0x1AEB 6891 285
X67BC6321.L08 - I/O Module 0x1A1C 6684 285
X67BC6321.L12 0x1AEC 6892 294
X67BC6321.L12 - I/O Module 0x1A1D 6685 294
X67BC7321-1 0x18CB 6347 304
X67BC7321-1 - I/O Module 0x1311 4881 304
X67BC81RT.L12 0xE2DC 58076 827
X67BC81RT.L12 - I/O Module 0xE2DF 58079 827
X67BC8321-1 0x1E37 7735 314
X67BC8321-1 - I/O Module 0x1311 4881 314
X67BC8321.L12 0xA90E 43278 325
X67BC8331 0xA7A5 42917 336
X67BC8331 - I/O Module 0x1311 4881 336
X67BC8513.L12 0xB3AC 45996 350
X67BC8513.L12 - I/O Module 0xB3CD 46029 350
X67BC8780.L12 0xED84 60804 372
X67BCD321.L12 0xACF7 44279 392
X67BCD321.L12 - I/O Module 0xB1E7 45543 392
X67BCD321.L12-1 0xDABF 55999 392
X67BCD321.L12-1 - I/O Module 0xDACE 56014 392
X67BCE321.L12 0xC5E8 50664 403
X67BCE321.L12 - I/O Module 0xD9CB 55755 403
X67BCG321.L12 0xACF8 44280 415
X67BCG321.L12 - I/O Module 0xB402 46082 415
X67BCJ321 0xAD3B 44347 425
X67BCJ321 - I/O Module 0xADA3 44451 425
X67BCJ321.L12 0xAD3C 44348 436
X67BCJ321.L12 - I/O Module 0x1A1D 6685 436
X67DC1198 0x18D0 6352 448
X67DC2322 0xA5C7 42439 494
X67DI1371 0x1434 5172 507
X67DI1371.L08 0x1A1A 6682 514
X67DI1371.L12 0x1A1B 6683 521
X67DI1372 0xC5E9 50665 528
X67DM1321 0x1311 4881 536
X67DM1321.L08 0x1A1C 6684 570
X67DM1321.L12 0x1A1D 6685 551
X67DM1321.L12-1 0xDAC0 56000 551
X67DM9321 0x199B 6555 588
X67DM9321.L12 0x199B 6555 603

Module overviews
X67DM9331.L12 0x1B15 6933 622
X67DO1332 0x1467 5223 635
X67DO9332.L12 0x2658 9816 643
X67DS438A 0xCAAE 51886 865
X67DV1311.L08 0x1AED 6893 655
X67DV1311.L12 0x1AEE 6894 668
X67IF1121-1 0xA90F 43279 683
X67MM2436 0x2273 8819 711
X67SM2436 0x1DCB 7627 731
X67SM4320 0x1DCC 7628 786
X67UM1352 0x1CDF 7391 910

Module overviews
5.3.2 B&R ID codes sorted by ID code

X67BC4321-1 - I/O Module 0x1311 4881 222
X67BC5321 - I/O Module 0x1311 4881 266
X67BC6321 - I/O Module 0x1311 4881 276
X67BC7321-1 - I/O Module 0x1311 4881 304
X67BC8321-1 - I/O Module 0x1311 4881 314
X67BC8331 - I/O Module 0x1311 4881 336
X67DM1321 0x1311 4881 536
X67DI1371 0x1434 5172 507
X67BC6321 0x1436 5174 276
X67AM1223 0x1465 5221 178
X67AM1323 0x1466 5222 191
X67DO1332 0x1467 5223 635
X67AT1402 0x1486 5254 947
X67AT1322 0x1488 5256 937
X67AI1223 0x16F1 5873 103
X67AI1323 0x16F2 5874 128
X67AO1223 0x16F3 5875 205
X67AO1323 0x16F4 5876 213
X67BC5321 0x17D5 6101 266
X67BC7321-1 0x18CB 6347 304
X67DC1198 0x18D0 6352 448
X67DM9321 0x199B 6555 588
X67DM9321.L12 0x199B 6555 603
X67DI1371.L08 0x1A1A 6682 514
X67DI1371.L12 0x1A1B 6683 521
X67BC6321.L08 - I/O Module 0x1A1C 6684 285
X67DM1321.L08 0x1A1C 6684 570
X67BCJ321.L12 - I/O Module 0x1A1D 6685 436
X67DM1321.L12 0x1A1D 6685 551
X67BC6321.L08 0x1AEB 6891 285
X67BC6321.L12 0x1AEC 6892 294
X67DV1311.L08 0x1AED 6893 655
X67DV1311.L12 0x1AEE 6894 668
X67DM9331.L12 0x1B15 6933 622
X67UM1352 0x1CDF 7391 910
X67SM2436 0x1DCB 7627 731
X67SM4320 0x1DCC 7628 786
X67BC8321-1 0x1E37 7735 314
X67MM2436 0x2273 8819 711
X67DO9332.L12 0x2658 9816 643
X67AI2744 0x8820 34848 157
X67AI4850 0x9957 39255 170
X67BC4321-1 0xA40E 41998 222
X67DC2322 0xA5C7 42439 494
X67BC8331 0xA7A5 42917 336
X67BC4321-10 0xA90D 43277 233
X67BC8321.L12 0xA90E 43278 325
X67IF1121-1 0xA90F 43279 683
X67AI1233 0xAB1B 43803 115
X67AI1333 0xAB1C 43804 142
X67BCD321.L12 0xACF7 44279 392
X67BCG321.L12 0xACF8 44280 415
X67BCJ321 0xAD3B 44347 425
X67BCJ321.L12 0xAD3C 44348 436
X67BCJ321 - I/O Module 0xADA3 44451 425
X67BC4321.L08-10 0xB129 45353 244
X67BC4321.L12-10 0xB12A 45354 255
X67BCD321.L12 - I/O Module 0xB1E7 45543 392
X67BC8513.L12 0xB3AC 45996 350
X67BC8513.L12 - I/O Module 0xB3CD 46029 350
X67BCG321.L12 - I/O Module 0xB402 46082 415
X67BC4321-10 - I/O Module 0xB528 46376 233
X67BC4321.L08-10 - I/O Module 0xB529 46377 244
X67BC4321.L12-10 - I/O Module 0xB52A 46378 255
X67BCE321.L12 0xC5E8 50664 403
X67DI1372 0xC5E9 50665 528
X67DS438A 0xCAAE 51886 865
X67AT1311 0xD21B 53787 927
X67BCE321.L12 - I/O Module 0xD9CB 55755 403
X67BCD321.L12-1 0xDABF 55999 392

Module overviews
X67DM1321.L12-1 0xDAC0 56000 551
X67BCD321.L12-1 - I/O Module 0xDACE 56014 392
X67BC81RT.L12 0xE2DC 58076 827
X67BC81RT.L12 - I/O Module 0xE2DF 58079 827
X67BC8780.L12 0xED84 60804 372

Accessories
6 Accessories
6.1 General overview

B&R offers pre-assembled cables, connectors and other accessories for the various connections on X67 modules.
Information:
The color of the wires used in field-assembled cables may deviate from the standard. Make sure to
check the proper pinout.
Additional information about the various cables can be found in the respective documentation (see
"Pre-assembled cables" on page 57) or the pinouts in the respective data sheets.
The following overview shows all available accessories for each connector or fieldbus.
6.1.1 X2X Link and I/O power supply
X2X Link
X2X Link
Attachment cables X2X Link
Connection cables
X67CA0X21.xxxx Open-ended cables
X67CA0X01.xxxx
X67CA0X31.xxxx X67CA0X41.xxxx
X67CA0X11.xxxx
X67CA0X51.xxxx
I/O I/O I/O I/O

I/O power supply
I/O power supply I/O power supply Open-ended cables
Attachment cables Connection cables X67CA0P40.xxxx
I/O
X2X Link
M12 cable, 5-pin Model number Information

Attachment cables X67CA0X21.xxxx 0.5 to 50 m; straight connector
X67CA0X31.xxxx 2 to 25 m; angled connector
Connection cables X67CA0X01.xxxx 0.25 to 50 m; straight connector
X67CA0X11.xxxx 0.25 to 50 m; angled connector
Open-ended cables X67CA0X41.xxxx 2 to 15 m; straight connector
X67CA0X51.xxxx 2 to 5 m; angled connector
Free cable X67CA0X99.xxxx 100 to 500 m
Field-assembled connectors Model number Information
Input X67AC0X01 Cage clamp connection
X67AC2X01 Screw clamp connection
Output X67AC0X21 Cage clamp connection
Other Model number
Threaded caps X67AC0M12

Accessories
I/O power supply

Attachment cables X67CA0P20.xxxx 0.25 to 50 m; straight connector
X67CA0P30.xxxx 0.25 to 50 m; angled connector
Connection cables X67CA0P00.xxxx 0.25 to 15 m; straight connector
Open-ended cables X67CA0P40.xxxx 0.25 to 5 m; straight connector
Input X67AC0P00 Piercing connection
Output X67AC0P20 Piercing connection
Other Model number
6.1.2 Module connections
M8, 3-pin; Digital inputs/outputs

Attachment cables X67CA0D40.xxxx 2 to 20 m; straight connector
X67CA0D50.xxxx 2 to 20 m; angled connector
Male connector Model number Information
Input X67AC0D00 Piercing connection
Other Model number
M12, 5-pin; Analog and digital inputs and outputs, motor, communication

Attachment cables X67CA0A41.xxxx 2 to 20 m; straight connector
X67CA0A51.xxxx 2 to 20 m; angled connector
Male connector Model number Information
Input X67AC0A00 Cage clamp connection
X67AC2A00 Screw clamp connection
X67AC9A02 Thermocouple connector
Other Model number
M12, 12-pin; counter, encoder

Attachment cables X67CA0I41.xxxx 2 to 10 m; straight connector
X67CA0I51.xxxx 2 to 5 m; angled connector
Other Model number

Accessories
6.1.3 Fieldbus systems
CAN bus / DeviceNet

Attachment cables X67CA0C22.xxxx 5 to 50 m; straight connector
X67CA0C32.xxxx 5 to 50 m; angled connector
Connection cables X67CA0C02.xxxx 2 to 40 m; straight connector
Input X67AC0C21 Cage clamp connection
X67AC2C21 Screw clamp connection
Output X67AC0C01 Cage clamp connection
X67AC2C01 Screw clamp connection
Other Model number
Terminating resistor X67AC9C03
Y-connector X67AC8C00
PROFIBUS

Attachment cables X67CA0B22.xxxx 5 to 50 m; straight connector
X67CA0B32.xxxx 5 to 50 m; angled connector
Connection cables X67CA0B12.xxxx 0.5 to 15 m; straight connector
Open-ended cables X67CA0B52.xxxx 5 to 50 m; straight connector
Input X67AC0X01 Cage clamp connection
Output X67AC0X21 Cage clamp connection
Other Model number
Terminating resistor X67AC9B03
POWERLINK

Attachment cables X67CA0E41.xxxx 1 to 50 m; straight connector
X67CA3E41.xxxx 15 m; straight connector; can be used in cable drag chains
Connection cables X67CA0E61.xxxx 1 to 20 m; straight connector
Inputs/Outputs X67AC2E01 Insulation piercing connection
Other Model number

Accessories
6.2 Pre-assembled cables

6.2.1 X2X Link cables
Short description, model number
Length X2X Link connection cable X2X Link attachment cable X2X Link open-ended cables
0.25 m1) X67CA0X01.0002 X67CA0X11.0002 X67CA0X41.0002
0.3 m X67CA0X01.0003
0.4 m X67CA0X01.0004
0.5 m X67CA0X01.0005 X67CA0X11.0005 X67CA0X21.0005
1m X67CA0X01.0010 X67CA0X11.0010 X67CA0X21.0010 X67CA0X41.0010
1.3 m X67CA0X01.0013
1.5 m X67CA0X01.0015
1.7 m X67CA0X01.0017
2m X67CA0X01.0020 X67CA0X11.0020 X67CA0X21.0020 X67CA0X31.0020 X67CA0X41.0020 X67CA0X51.0020
2.5 m X67CA0X01.0025 X67CA0X41.0025
3m X67CA0X01.0030 X67CA0X21.0030
4m X67CA0X01.0040 X67CA0X31.0040
5m X67CA0X01.0050 X67CA0X11.0050 X67CA0X21.0050 X67CA0X31.0050 X67CA0X41.0050 X67CA0X51.0050
7.5 m X67CA0X01.0075
8m X67CA0X01.0080
10 m X67CA0X01.0100 X67CA0X11.0100 X67CA0X21.0100 X67CA0X31.0100 X67CA0X41.0100
15 m X67CA0X01.0150 X67CA0X11.0150 X67CA0X21.0150 X67CA0X31.0150 X67CA0X41.0150
20 m X67CA0X21.0200
25 m X67CA0X01.0250 X67CA0X11.0250 X67CA0X21.0250 X67CA0X31.0500
50 m X67CA0X01.0500 X67CA0X11.0500 X67CA0X21.0500
1) Standard length = 0.2 m.
Length Tolerances for cable lengths

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm

Length X2X Link cables for custom assembly
100 m X67CA0X99.1000
500 m X67CA0X99.5000

Accessories
6.2.1.1 Technical data
Product ID X67CA0X01 X67CA0X11 X67CA0X21 X67CA0X31 X67CA0X41 X67CA0X51 X67CA0X99

General information
Note Halogen-free
Durability Flame resistant
Connection M12, 4-pin, M12, 4-pin, M12, 4-pin, M12, 4-pin, M12, 4-pin, M12, 4-pin, -
straight angled straight angled straight angled
Type Connection cables Attachment cables Open-ended cables -
Cable cross section
Data cables
AWG 2x 24 AWG
mm² 2x 0.25 mm²
Supply lines
AWG 2x 22 AWG
mm² 2x 0.34 mm²
Cable construction
Signal lines
Shield Paired shield with aluminum foil
Stranding Twisted pair wires
Cable stranding 0.35 mm2 (22 AWG) with filler
Complete shielding Tinned copper braiding, coverage >85%
Outer sheathing
Material Thermoplastic polyurethane (TPU)
Color Violet
Labeling B&R X67CA0Xxx.xxxx Rev. G0 ESCHA FC1) -
Lines
Type Tinned copper ETB1
Data line: fine stranded wire (19x 0.13 mm)
Supply line: Fine stranded wire (19x 0.15 mm)
Wire colors
Data cables Blue, white
Supply lines Red, black
Wire insulation
Data cables Cell polyethylene (PE)
Supply lines Polyethylene (PE)
Electrical characteristics
Nominal current Max. 4 A / contact at 40°C
Operating voltage Max. 250 V
Degree of insulation Category II in accordance with IEC 61076-2
Conductor resistance Data line: ≤78 Ω/km
Supply line: ≤55 Ω/km
Insulation resistance ≥100 MΩ
Operating conditions
EN 60529 protection
Connector/Coupling IP67, only when screwed in -
Environmental conditions
Temperature
Transport -40 to 80°C
Fixed installation -40 to 80°C
Flexible installation2) -25 to 60°C
Mechanical characteristics
Dimensions
Length Various
Diameter 6.9 mm ±0.2 mm
Bend radius ≥15x outer diameter
Drag chain data
Acceleration Max. 4 m/s²
Flex cycles Min. 2 million
Speed Max. 3 m/s
Weight 0.063 kg/m
Table 7: X67CA0Xxx - Technical data

1) xx.xxxx: Group number and cable length.
2) In cable drag chain operation.

Accessories
6.2.1.2 X67CA0X01.xxxx
Dimensions
Length xxxx
⌀15
⌀15
M12
50.4 45.7
Pinout
Male connector Pin Name Wire colors Female connector
1 X2X+ Red
2 1 2 X2X White 1 5 2
3 X2X⊥ Black
3 4 4 X2X\ Blue 4 3
5 NC -
B-keyed B-keyed
M12 1) SHLD -
1) Shield on M12 knurled-head screw in 360° design
6.2.1.3 X67CA0X11.xxxx
Dimensions
Length xxxx
37.5 37.5
28.7
33.5
⌀15
M12
⌀15
Pinout
1 X2X+ Red
2 1 2 X2X White 1 5 2
3 X2X⊥ Black
3 4 4 X2X\ Blue 4 3
5 NC -
B-keyed B-keyed
M12 1) SHLD -
6.2.1.4 X67CA0X21.xxxx
Dimensions
Length xxxx
⌀15
45.7 50
Pinout
Female connector Pin Name Wire colors Open
1 X2X+ Red
1 5 2 2 X2X White
3 X2X⊥ Black For custom
4 3 4 X2X\ Blue wiring
5 NC -
B-keyed
M12 1) SHLD -
Information:
See note in section "Connecting X2X Link interfaces with internal power supply" on page 42.

Accessories
6.2.1.5 X67CA0X31.xxxx
Dimensions
Length xxxx
37.5
28.7
50
⌀15
Pinout
1 X2X+ Red
1 5 2 2 X2X White
3 X2X⊥ Black For custom
4 3 4 X2X\ Blue wiring
5 NC -
B-keyed
M12 1) SHLD -
Information:
6.2.1.6 X67CA0X41.xxxx
Dimensions
Length xxxx
⌀15
M12
50
50.4
Pinout
Male connector Pin Name Wire colors Open
2 1 1 X2X+ Red
2 X2X White
For custom
3 4 3 X2X⊥ Black
wiring
4 X2X\ Blue
B-keyed M12 1) SHLD -
Information:

Accessories
6.2.1.7 X67CA0X51.xxxx
Dimensions
Length xxxx
37.5
33.5
50
M12
⌀15
Pinout
2 1 1 X2X+ Red
2 X2X White
For custom
3 4 3 X2X⊥ Black
wiring
4 X2X\ Blue
B-keyed M12 1) SHLD -
Information:
6.2.1.8 X67CA0X99.xxxx
Dimensions
Pinout
Name Wire colors
X2X+ Red
X2X White
For custom For custom
X2X⊥ Black
wiring wiring
X2X\ Blue
SHLD -

Accessories
6.2.2 I/O power supply cables

Length Power connection cable Power attachment cable Power open-ended cable
0.25 m1 X67CA0P00.0002 X67CA0P10.0002 X67CA0P20.0002 X67CA0P30.0002 X67CA0P40.0002 X67CA0P50.0002
0.5 m X67CA0P00.0005 X67CA0P50.0004
1m X67CA0P00.0010 X67CA0P10.0010 X67CA0P20.0010
1.5 m X67CA0P00.0015
2m X67CA0P00.0020 X67CA0P10.0020 X67CA0P20.0020 X67CA0P30.0020 X67CA0P40.0020 X67CA0P50.0020
5m X67CA0P00.0050 X67CA0P10.0050 X67CA0P20.0050 X67CA0P30.0050 X67CA0P40.0050 X67CA0P50.0050
10 m X67CA0P00.0100 X67CA0P10.0100 X67CA0P20.0100 X67CA0P30.0100
15 m X67CA0P00.0150 X67CA0P10.0150 X67CA0P20.0150 X67CA0P30.0150
20 m X67CA0P20.0200 X67CA0P30.0200
25 m X67CA0P20.0250
30 m X67CA0P20.0300 X67CA0P30.0300
50 m X67CA0P20.0500 X67CA0P30.0500
1 Standard length = 0.2 m.

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm

Accessories
Product ID X67CA0P00 X67CA0P10 X67CA0P20 X67CA0P30 X67CA0P40 X67CA0P50

General information
Note PVC- and silicone-free
LABS- (PWIS-) and halogen-free
Durability Good chemical and oil resistance
Flame resistant
Good UV and ozone resistance
Connection M8, 4-pin, straight M8, 4-pin, angled M8, 4-pin, straight M8, 4-pin, angled M8, 4-pin, straight M8, 4-pin, angled
Type Connection cables Attachment cables Open-ended cables
Cable cross section
AWG 4x 22 AWG
mm² 4x 0.34 mm²
Cable construction
Complete shielding Not shielded
Outer sheathing
Material Polyurethane (PUR)
Color Black
Labeling B&R X67CA0Pxx.xxxx Rev. G0 ESCHA FC1)
Lines
Wire insulation Polypropylene (PP) 9Y
Wire colors Brown, black, blue, white
Type Uncoated copper ETP1
Fine stranded wire (42x 0.1 mm / 42x 38 AWG), class 5
Stranding 4-wire twisted pair
Conductor resistance ≤57 Ω/km
EN 60529 protection
Connector/Coupling IP67, only when screwed in
Temperature
Dimensions
Length Various
Drag chain data
Acceleration Max. 5 m/s2
Flex cycles 5 million
Speed Max. 3.3 m/s
Table 8: X67CA0Pxx - Technical data


Accessories
6.2.2.2 X67CA0P00.xxxx
Dimensions
Length xxxx
⌀9.6
⌀9.6
M8
41.4 35.1
Pinout
M8 male connector, 4-pin Pin Name Wire colors M8 female connector, 4-pin
2 4 1 24 VDC Brown 4 2
2 24 VDC White
1 3 3 GND Blue 3 1
4 GND Black
6.2.2.3 X67CA0P10.xxxx
Dimensions
Length xxxx
23.5 23.5
16.9
23.2
⌀9.6
M8
⌀9.6
Pinout
M8 male connector, 4-pin Pin Name Wire colors M8 female connector, 4-pin
2 4 1 24 VDC Brown 4 2
2 24 VDC White
1 3 3 GND Blue 3 1
4 GND Black
6.2.2.4 X67CA0P20.xxxx
Dimensions
Length xxxx
9.6
⌀
35.1 50
Pinout
M8 female connector, 4-pin Pin Name Wire colors Open
4 2 1 24 VDC Brown
2 24 VDC White For custom
3 1 3 GND Blue wiring
4 GND Black
Information:
Both wires must be used since the current load is split.

Accessories
6.2.2.5 X67CA0P30.xxxx
Dimensions
Length xxxx
23.5
16.9
50
⌀9.6
Pinout
M8 female connector, 4-pin Pin Name Wire colors Open
4 2 1 24 VDC Brown
4 GND Black
Information:
6.2.2.6 X67CA0P40.xxxx
Dimensions
Length xxxx
⌀9.6
M8
41.4 50
Pinout
M8 male connector, 4-pin Pin Name Wire colors Open
2 4 1 24 VDC Brown
4 GND Black
Information:
6.2.2.7 X67CA0P50.xxxx
Dimensions
Length xxxx
23.5
23.2
50
M8
⌀9.6
Pinout
M8 male connector, 4-pin Pin Name Wire colors Open
2 4 1 24 VDC Brown
4 GND Black
Information:

Accessories
6.2.3 M8 sensor cables

Short description
Length M8 sensor cables
2m X67CA0D40.0020 X67CA0D50.0020
5m X67CA0D40.0050 X67CA0D50.0050
10 m X67CA0D40.0100 X67CA0D50.0100
15 m X67CA0D40.0150 X67CA0D50.0150
20 m X67CA0D40.0200 X67CA0D50.0200

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm

Accessories
Product ID X67CA0D40 X67CA0D50

General information
Flame resistant
Connection M8, 3-pin, straight M8, 3-pin, angled
Type Attachment cables
Cable cross section
AWG 3x 22 AWG
mm² 3x 0.34 mm²
Cable construction
Complete shielding Not shielded
Outer sheathing
Color Gray
Labeling B&R X67CA0Dxx.xxxx Rev. G0 ESCHA FC1)
Lines
Wire colors Brown, black, blue
EN 60529 protection
Temperature
Dimensions
Length Various
Drag chain data
Acceleration Max. 5 m/s2
Speed Max. 3.3 m/s
Table 9: X67CA0Dxx - Technical data


Accessories
6.2.3.2 X67CA0D40.xxxx
Dimensions
Length xxxx
⌀9.6
M8
41.4 50
Pinout
4 1 Sensor/actuator power supply 24 VDC Brown
3 GND Blue For custom
1 3 4 Input/Output x Black wiring
6.2.3.3 X67CA0D50.xxxx
Dimensions
Length xxxx
23.5
23.2
50
M8
⌀9.6
Pinout
4 1 Sensor/actuator power supply 24 VDC Brown
3 GND Blue For custom
1 3 4 Input/Output x Black wiring

Accessories
6.2.4 M12 sensor cables

Short description
Length M12 sensor cables
2m X67CA0A41.0020 X67CA0A51.0020
5m X67CA0A41.0050 X67CA0A51.0050
10 m X67CA0A41.0100 X67CA0A51.0100
15 m X67CA0A41.0150 X67CA0A51.0150
20 m X67CA0A41.0200 X67CA0A51.0200

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm

Accessories
Product ID X67CA0A41 X67CA0A51

General information
Flame resistant
Cable cross section
AWG 5x 22 AWG
mm² 5x 0.34 mm²
Cable construction
Complete shielding Tinned copper braiding, coverage 84%, 0.25 mm2 with filler
Outer sheathing
Material Polyurethane (PUR) UL
Color Gray
Labeling B&R X67CA0Axx.xxxx Rev. G0 ESCHA FC1)
Lines
Wire colors Brown, black, blue, white, gray
Stranding 5 wires stranded using filler
EN 60529 protection
Temperature
Dimensions
Length Various
Drag chain data
Acceleration Max. 5m/s²
Speed Max. 1.6 m/s
Table 10: X67CA0Axx - Technical data


Accessories
6.2.4.2 X67CA0A41.xxxx
Dimensions
Length xxxx
⌀15
M12
50.4 50
Pinout
1 Brown
2 1 2 White
5 Pinout, see
3 Blue
module description For custom wiring
3 4 4 Black
5 1) Gray
A-keyed
M12 2) SHLD -
1) Do not use the gray connecting line in connection with X67 modules for which pin 5 is used as a shield connection. The cable shield for this cable is connected
using a union nut.
6.2.4.3 X67CA0A51.xxxx
Dimensions
Length xxxx
37.5
33.5
50
M12
⌀15
Pinout
1 Brown
2 1 2 White
5 Pinout, see
3 Blue
module description For custom wiring
3 4 4 Black
5 1) Gray
A-keyed
M12 2) SHLD -
1) Do not use the gray connecting line in connection with X67 modules for which pin 5 is used as a shield connection. The cable shield for this cable is connected
using a union nut.

Accessories
6.2.5 Multifunction cables

Short description
Length Multifunction attachment cable
2m X67CA0I41.0020 X67CA0I51.0020
5m X67CA0I41.0050 X67CA0I51.0050
10 m X67CA0I41.0100

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm
Product ID X67CA0I41 X67CA0I51

General information
Note Halogen-free
Free of CFCs and cadmium
Durability Oil resistant in accordance with VDE 0472, Part 803
Flame-retardant in accordance with VDE 0472, Part 804 / B
Salt water resistant
Cable cross section
AWG 12x 28 AWG
mm² 12x 0.14 mm²
Cable construction
Complete shielding Copper braiding, coverage >84%
Outer sheathing
Material Polyether polyurethane (PUR)
Color Gray
Labeling B&R X67CA0Ixx.xxxx Rev. G0 yyyyyyy ESCHA FC1)
Lines
Wire colors Brown, black, blue, white, gray, green, pink, yellow, red, violet, gray/pink, red/blue
Type El copper bare conductors
Fine stranded wire (72x 0.05 mm / 72x 44 AWG)
Nominal current 1.5 A / Contact in accordance with IEC 60512-3
Operating voltage 30 V
Insulation resistance >109Ω in accordance with IEC 60512-2
EN 60529 protection
Connector/Coupling IP67, only when screwed in, in accordance with IEC 60529
Temperature
Flexible installation 0 to 90°C
Dimensions
Length Various
Table 11: X67CA0Ixx - Technical data

1) xx.xxxx: Group number and length of the cable;
yyyyyyy: Cable number

Accessories
6.2.5.2 X67CA0I41.xxxx
Dimensions
Length xxxx
⌀15
M12
52.3
50
Pinout
1 Brown
2 Blue
5 3 White
6 4 4 Green
11
7 3 5 Pink
12 2 6 Yellow
Pinout, see module description For custom wiring
10 7 Black
8
8 Gray
9 1
9 Red
A-keyed 10 Purple
11 Gray/Pink
12 Red/Blue
6.2.5.3 X67CA0I51.xxxx
Dimensions
Length xxxx
37.5
35.3
50
M12
⌀15
Pinout
1 Brown
2 Blue
5 3 White
6 4 4 Green
11
7 3 5 Pink
12 2 6 Yellow
Pinout, see module description For custom wiring
10 7 Black
8
8 Gray
9 1
9 Red
A-keyed 10 Purple
11 Gray/Pink
12 Red/Blue

Accessories
6.2.6 CAN bus / DeviceNet cables

Length Connection cables Attachment cables
2m X67CA0C02.0020
5m X67CA0C02.0050 X67CA0C22.0050 X67CA0C32.0050
10 m X67CA0C02.0100
15 m X67CA0C02.0150 X67CA0C22.0150 X67CA0C32.0150
20 m X67CA0C02.0200
35 m X67CA0C02.0350
40 m X67CA0C02.0400
50 m X67CA0C22.0500 X67CA0C32.0500

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm

Accessories
Product ID X67CA0C02 X67CA0C22 X67CA0C32

General information
Note Halogen-free
Durability Flame resistant
Connection M12, 4-pin, straight M12, 4-pin, straight M12, 4-pin, angled
Type Connection cables Attachment cables
Cable cross section
Data cables
AWG 2x 24 AWG
mm² 2x 0.25 mm²
Supply lines
AWG 2x 22 AWG
mm² 2x 0.34 mm²
Cable construction
Signal lines
Shield Paired shield with aluminum foil
Stranding Twisted pair wires
Cable stranding 0.35 mm² (22 AWG) with filler
Outer sheathing
Material Thermoplastic polyurethane (TPU)
Color Violet
Labeling B&R X67CA0Cxx.xxxx Rev. G0 ESCHA FC1)
Lines
Type Tinned copper ETB1
Data line: fine stranded wire (19x 0.13 mm)
Supply line: Fine stranded wire (19x 0.15 mm)
Wire colors
Data cables Blue, white
Supply lines Red, black
Wire insulation
Data cables Cell polyethylene (PE)
Supply lines Polyethylene (PE)
Conductor resistance Data line: ≤78 Ω/km
Supply line: ≤55 Ω/km
EN 60529 protection
Temperature
Dimensions
Length Various
Bend radius TBD
Drag chain data
Acceleration Max. 4 m/s²
Speed Max. 3 m/s
Weight 0.063 kg/m
Table 12: X67CA0Cxx - Technical data


Accessories
6.2.6.2 X67CA0C02.xxxx
Dimensions
Length xxxx
⌀15
⌀15
M12
46.9 41.9
Pinout
2 1 1 SHLD Tracer wire / Shield 1 2
5 2 V+ Red 5
3 4 3 CAN GND Black 4 3
4 CAN_H White
A-keyed 5 CAN_L Light blue A-keyed
6.2.6.3 X67CA0C22.xxxx
Dimensions
Length xxxx
⌀15
41.9 50
Pinout
1 2 1 SHLD Tracer wire / Shield
5 2 V+ Red
For custom
4 3 3 CAN GND Black
wiring
4 CAN_H White
A-keyed 5 CAN_L Light blue
6.2.6.4 X67CA0C32.xxxx
Dimensions
Length xxxx
31.5
26.4
50
⌀15
Pinout
1 2 1 SHLD Tracer wire / Shield
5 2 V+ Red
For custom
4 3 3 CAN GND Black
wiring
4 CAN_H White
A-keyed 5 CAN_L Light blue

Accessories
6.2.7 PROFIBUS DP cables

Length Connection cables Attachment cables Open-ended cables
0.5 m X67CA0B12.0005
2m X67CA0B12.0020
5m X67CA0B12.0050 X67CA0B22.0050 X67CA0B32.0050 X67CA0B52.0050
10 m X67CA0B12.0100
15 m X67CA0B12.0150 X67CA0B22.0150 X67CA0B32.0150 X67CA0B52.0150
50 m X67CA0B22.0500 X67CA0B32.0500 X67CA0B52.0500

0 to <1 m +2 cm
1 m to <10 m +5 cm
10 m to xx m +10 cm

Accessories
Product ID X67CA0B12 X67CA0B22 X67CA0B32 X67CA0B52

General information
Flame resistant
Connection M12, 4-pin, angled M12, 4-pin, straight M12, 4-pin, angled M12, 4-pin, angled
Type Connection cables Attachment cables Open-ended cables
Cable cross section
AWG 2x 22 AWG
mm² 2x 0.34 mm²
Cable construction
Outer sheathing
Color Violet
Labeling B&R X67CA0Bxx.xxxx Rev. G0 ESCHA FC1)
Lines
Wire insulation Foam polyethylene (PE) with skin layer
Wire colors Red, green
Type Uncoated copper ETB1
Fine stranded wire (19x 0.15 mm), class 5
EN 60529 protection
Temperature
Dimensions
Length Various
Drag chain data
Acceleration Max. 5m/s²
Flex cycles Min. 1 million
Speed Max. 3.3 m
Table 13: X67CA0Bxx - Technical data


Accessories
6.2.7.2 X67CA0B12.xxxx
Dimensions
L xxxx
37.5 37.5
28.7
33.5
⌀15
M12
⌀15
Pinout
2 1 1 NC - 1 2
2 A Green
3 4 3 NC - 4 3
4 B Red
B-keyed M121) SHLD - B-keyed
6.2.7.3 X67CA0B22.xxxx
Dimensions
Length xxxx
⌀15
45.7 50
Pinout
1 2 1 NC -
2 A Green
For custom
4 3 3 NC -
wiring
4 B Red
B-keyed M121) SHLD -
6.2.7.4 X67CA0B32.xxxx
Dimensions
Length xxxx
37.5
28.7
50
⌀15
Pinout
1 2 1 NC -
2 A Green
For custom
4 3 3 NC -
wiring
4 B Red
B-keyed M12 SHLD -

Accessories
6.2.7.5 X67CA0B52.xxxx
Dimensions
Length xxxx
37.5
33.5
50
M12
⌀15
Pinout
2 1 1 NC -
2 A Green
For custom
3 4 3 GND -
wiring
4 B Red
B-keyed M121) SHLD -

Accessories
6.2.8 X67 POWERLINK/Ethernet cable

Length Attachment cables - RJ45 to M12 Connection cables - M12 to M12
1m X67CA0E41.0010 X67CA0E61.0010
2m X67CA0E41.0020 X67CA0E61.0020
3m X67CA0E41.0030
5m X67CA0E41.0050 X67CA0E61.0050
10 m X67CA0E61.0100
15 m X67CA0E41.0150 X67CA0E61.0150
X67CA3E41.0150
20 m X67CA0E61.0200
50 m X67CA0E41.0500

0 to <10 m +10 cm
10 m to <50 m +2% of the length

Accessories
Product ID X67CA0E41 X67CA0E61 X67CA3E41

General information
Note Halogen-free
Durability Flame-retardant in accordance with IEC 60332-1-2 Oil resistant in accor-
dance with EN 60811-2-1
Flame-retardant in accor-
dance with IEC 60332-1-2
UV resistant in accor-
dance with UL 2556
Connection RJ45 to M12; 4-pin M12 to M12, 4-pin RJ45 to M12; 4-pin
Type Attachment cables Connection cables
Cable cross section
AWG 4x 22 AWG
mm² 4x 0.34 mm²
Cable construction
Complete shielding Aluminum-clad foil (overlapping), tinned copper braiding, 85% covering
Outer sheathing
Color Green
Labeling B&R X67CA0Exx.xxxx Rev. C01)
Lines
Wire insulation Polyethylene (PE)
Wire colors White, yellow, blue, orange
Type Tinned copper stranded wire
Fine stranded wire (7x 0.25 mm / 7x 30 AWG)
Conductor resistance ≤120 Ω/km at 20°C
Transfer properties Category 5 / Class D up to 100 MHz in accordance with ISO/
IEC 11801 (EN50173-1), ISO/IEC 24702 (EN 50173-3)
Transfer rate 10/100 Mbit/s
Insulation resistance ≥500 MΩ/km at 20°C
EN 60529 protection
Cables IP67
Male M12 connector IP67, only when screwed in
RJ45 connector IP20, only when connected properly
Temperature
Flexible installation -20 to 60°C
Dimensions Various
Length
Drag chain data
Acceleration - 4 m/s²
Flex cycles - Min. 3 million
Speed - 4 m/s
Weight 0.062 kg/m 0.061 kg/m
Table 14: X67CAxExx - Technical data


Accessories
6.2.8.2 X67CA0E41.xxxx and X67CA3E41.xxxx
This cable is offered in 2 variants:

• X67CA0Exx: Standard variant
• X67CA3Exx: Can be used in cable drag chains
Dimensions
Length xxxx
⌀15
M12
49.2
30
58
Pinout
Male RJ45 connector Pin Name Diagram M12 connector
1-1 TXD Shield
3 2
2-3 RXD Yellow
1 1
3-2 TXD\
2 Orange 2
6-4 RXD\
White 4 1
3 3
1 6 Blue D-keyed
6 4
6.2.8.3 X67CA0E61.xxxx
Dimensions
Length xxxx
⌀15
⌀15
M12
M12
49.2 49.2
Pinout
Male connector Pin Name Diagram Male connector
1-2 TXD Shield
3 2 3 2
2-1 RXD Yellow
1 1
3-4 TXD\
2 White 2
4-3 RXD\
4 1 Orange 4 1
3 3
D-keyed 4 Blue 4 D-keyed

Accessories
6.3 Field-assembled connectors

6.3.1 I/O power supply
Model number Short description Figure
I/O supply
X67AC0P00 X67 male M8 connector, 4-pin, piercing connection
Table 15: X67AC0P00 - Order data

I/O supply
X67AC0P20 X67 female M8 connector, 4-pin, piercing connection
Table 16: X67AC0P20 - Order data
6.3.2 Sensors/Actuators
Sensors / actuators
X67AC0D00 X67 male M8 connector, 3-pin, piercing connection
Table 17: X67AC0D00 - Order data

Sensors / actuators
X67AC0A00 X67 male M12 connector, 5-pin, A-keyed, cage clamp connec-
tion
Table 18: X67AC0A00 - Order data

Sensors / actuators
X67AC2A00 X67 male M12 connector, 5-pin, A-keyed, screw clamp connec-
tion

Accessories
6.3.3 Special-purpose connectors

Special plugs
X67AC9A02 X67 M12 thermocouple connector, for temperature compensa-
tion at measurement points, screw clamp connections
6.3.4 CAN bus / DeviceNet

CAN bus / DeviceNet
X67AC0C01 X67 male M12 connector, 5-pin, A-keyed, shielded, cage clamp
connection
Table 21: X67AC0C01 - Order data

CAN bus / DeviceNet
X67AC2C01 X67 male M12 connector, 5-pin, A-keyed, shielded, screw clamp
connection

CAN bus / DeviceNet
X67AC0C21 X67 female M12 connector, 5-pin, A-keyed, shielded, cage
clamp connection

CAN bus / DeviceNet
X67AC2C21 X67 female M12 connector, 5-pin, A-keyed, shielded, screw
clamp connection

Accessories
6.3.5 PROFIBUS DP / X2X Link

PROFIBUS DP / X2X Link
X67AC0X01 X67 male M12 connector, 5-pin, B-keyed, shielded, cage clamp
connection
Table 25: X67AC0X01 - Order data

X67AC2X01 X67 male M12 connector, 5-pin, B-keyed, shielded, screw clamp
connection

X67AC0X21 X67 female M12 connector, 5-pin, B-keyed, shielded, cage
clamp connection

X67AC2X21 X67 female M12 connector, 5-pin, B-keyed, shielded, screw
clamp connection
6.3.6 POWERLINK/Ethernet
POWERLINK/Ethernet
X67AC2E01 X67 male M12 connector, 4-pin, D-keyed, shielded, insulation
piercing connection
Table 29: X67AC2E01 - Order data

Accessories
6.4 Other accessories

6.4.1 Terminating resistor
Terminating resistor
X67AC9C03 X67 CAN M12 terminating resistor

Terminating resistor
X67AC9B03 X67 PROFIBUS DP M12 terminating resistor
Table 31: X67AC9B03 - Order data
6.4.2 Connectors
Connectors
X67AC8C00 X67 CAN Y-connector

Connectors
X67AC8B01 X67 PROFIBUS DP Y-connector
Table 33: X67AC8B01 - Order data

Accessories
6.4.3 Threaded caps

Threaded caps
X67AC0M08 X67 M8 threaded caps, 50 pcs.
X67AC0M12 X67 M12 threaded caps, 50 pcs.
Table 34: X67AC0M08, X67AC0M12 - Order data
6.4.4 Plain text tags

Plain text tag
X67AC0SH1 X67 plain text tag
Table 35: X67AC0SH1 - Order data
6.4.5 Mounting plates for top-hat rails

Mounting plates for DIN rails
X67ACTS35 X67 top-hat rail mounting plate
X67ACTS35.0010 X67 top-hat rail mounting plate, 10 pcs.
Table 36: X67ACTS35, X67ACTS35.0010 - Order data
6.4.6 Installation tool
The connectors and couplings of pre-assembled X67 cables have additional width across flats on the knurled-head
screw that can be used for an installation tool. A torque wrench (M8 or M12) is available as an accessory to make
installation easy. It can be used to ensure the absolute safety of the connection to the X67 module.
Mounting tools
X67ACTQMX X67 torque wrench set, for X67 M8 and M12 connectors, for hex-
head connectors
Table 37: X67ACTQMX - Order data

International and national certifications
7 International and national certifications
Products and services from B&R comply with applicable standards. This includes international standards from
organizations such as ISO, IEC and CENELEC, as well as national standards from organizations such as UL, CSA,
DNV GL, etc. We are committed to ensuring the reliability of our products in an industrial environment.
Information:
Certifications that apply to a particular module are available at the following places:
• The data sheet's technical data under "Certifications".
• At www.br-automation.com in the technical data under "Products" in section "Certifications"
• On the side of the module housing
7.1 Overview of certifications

Markings Function certificate authority Region
CE marking Notified bodies Europe (EU)
Functional safety (CE) Notified bodies Europe (EU)
Explosion protection (CE) Notified bodies Europe (EU)
Underwriters Laboratories Inc. (UL) Canada

UL
(certification for US and Canada) USA
Canadian Standards Association (CSA) Canada

CSA
(certification for US and Canada) USA
Federal agency on
Former Russian
GOST-R technical regulat-
Federation
ing and metrology
Federal agency on
Eurasian
Eurasian Conformity (EAC) technical regulat-
Trade Union
ing and metrology
Radio Research
Korean Conformity (KC) Korea
Agency (RRA)
Australia
Regulatory Compliance Mark (RCM) ACMA
Oceania

7.2 EU directives and standards (CE)

CE markings
The respective product complies with all applicable EU directives and relevant har-
monized standards.
Certification of these products is performed in cooperation with accredited testing lab-

oratories.
Europe (EU)
EMC directive 2014/30/EU

All devices satisfy the protection requirements of the "EMC directive" and are designed for industrial use:
Applicable standards from this directive:

EN 61131-2 Programmable logic controllers
- Part 2: Guidance for inspection and routine testing
EN 61000-6-2 Electromagnetic compatibility (EMC)
- Part 6-2: Generic standards - Immunity standard for industrial environments
- Part 6-4: Generic standards ; Generic standards - Emission standard for industrial environments
Low voltage directive 2014/35/EU

The low voltage directive applies to electrical equipment with a nominal voltage from 50 to 1000 VAC and from
75 to 1500 VDC.
All devices within the area of application of this directive satisfy the its protection requirements.
Applicable standard from this directive:

The corresponding declaration of conformity is available for download from the B&R website. For information about
the versions of applicable standards, see the declaration of conformity.
Declaration of conformity
PDF
Homepage > Downloads > Certificates > Declarations of conformity > Declaration of conformity PLC

Machinery directive 2006/42/EC

Functional safety
In accordance with the machinery directive, safety technology products are designed,
developed, tested and labeled for special applications providing protection to machin-
ery and personnel.
Certification of these products is performed exclusively in cooperation with EU-autho-

Europe (EU) rized bodies (Notified Bodies).

SIL 3:
IEC 61508-1 Functional safety of electrical / electronic / programmable electronic safety-related systems
- Part 1: General requirements
- Part 2: Requirements for electrical/electronic/programmable electronic safety-related systems
- Part 3: Software requirements
IEC 61508-4 Functional safety of electrical/electronic/programmable electronic safety-related systems - Part 4: Definitions and abbre-
viations
EN 62061 Safety of machinery - Functional safety of safety-related electrical, electronic and programmable electronic control systems
IEC 61511-1 Functional safety - Safety instrumented systems for the process industry sector
- Part 1: Framework, definitions, system, hardware and software requirements
PL e, Cat. 4:
EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems
- Part 1: General principles for design
Declarations of conformity, certificates and any other safety-related documentation can be downloaded from the
B&R website. For information about the versions of applicable standards, see the declaration of conformity.
PDF
Homepage > Downloads > Certificates > Declarations of conformity > Declaration of conformity FS PLC
Certificate
PDF
Homepage > Downloads > Certificates > Safety technology > X20, X67
User's manual
PDF
Homepage > Downloads > Safety technology > Integrated Safety Technology User's Manual

ATEX directive 2014/34/EU

ATEX / Zone 2 Products with this marking are suitable for use in potentially explosive environments.
The X20 system is certified for use in environments with explosive gases with a normal
level of safety (Zone 2).
Certification of these products is performed exclusively in cooperation with EU-autho-

rized bodies (Notified Bodies).
II 3G Ex nA nC IIA T5 Gc
Europe (EU) Each module is also accompanied by an information sheet providing detailed instal-
lation and safety guidelines.

EN 60079-0 Explosive atmospheres
Part 0: Equipment - General requirements
- Part 15: Equipment protection by type of protection "n"
The declaration of conformity and certificate can be downloaded from the B&R website. For information about the
versions of applicable standards, see the declaration of conformity.
PDF
Website > Downloads > Certificates > Declaration of conformity > Declaration of conformity - ATEX X67
Certificate
PDF
Website > Downloads > Certificates > ATEX > X67 > TÜV 05 ATEX 7201 X

7.2.1 Overview of standards

Standard Description
EN ISO 13849-1 Safety of machinery - Safety-related parts of control systems
- Part 1: General principles for design
EN 55011 Industrial, scientific and medical equipment - Radio frequency disturbance characteristics - Limits and methods of measurement
(CISPR 11)
EN 55016-2-1 Specification for radio disturbance and immunity measuring apparatus and methods
(CISPR 16-2-1) - Part 2-1: Methods of measurement of disturbances and immunity - Conducted disturbance measurements
EN 55016-2-3 Specification for radio disturbance and immunity measuring apparatus and methods
(CISPR 16-2-3) - Part 2-3: Methods of measurement of disturbances and immunity - Radiated disturbance measurements
EN 55022 Information technology equipment - Radio disturbance characteristics - Limits and methods of measurement
(CISPR 22)
EN 60068-2-6 Environmental testing
- Part 2-6: Procedures - Test Fc: Vibration (sinusoidal)
EN 60068-2-27 Environmental testing
- Part 2-27: Test procedure - Test Ea and guidance: Shock
EN 60068-2-311) Environmental testing
- Part 2-31: Test procedure - Test Ec: Rough handling shocks, mainly for devices
Part 0: Equipment - General requirements
- Part 15: Equipment protection by type of protection "n"
EN 60529 Degrees of protection provided by enclosures (IP code)
EN 60664-1 Insulation coordination for equipment within low-voltage systems
- Part 1: Principles, requirements and tests
EN 60721-3-2 Classification of environmental conditions
- Part 3: Classification of groups of environmental parameters and their severities - Section 2: Transport and handling
EN 60721-3-5 Classification of environmental conditions
- Part 3: Classification of groups of environmental parameters and their severities - Section 5: Usage on and in land vehicles
- Part 4-2: Testing and measurement techniques - Electrostatic discharge immunity test
- Part 4-3: Testing and measurement techniques - Radiated, radio-frequency, electromagnetic field immunity test
- Part 4-4: Testing and measurement techniques - Electrical fast transient/burst immunity test
- Part 4-5: Testing and measuring techniques - Surge immunity test
- Part 4-6: Testing and measurement techniques - Immunity to conducted disturbances, induced by radio-frequency fields
- Part 4-8: Testing and measuring techniques - Power frequency magnetic field immunity test
- Part 4-11: Testing and measuring techniques - Voltage dips, short interruptions and voltage variations
- Part 4-29: Testing and measurement techniques - Voltage dips, short interruptions and voltage variations on d.c. input power
port immunity tests
- Part 6-2: Generic standards - Immunity standard for industrial environments
- Part 6-4: Generic standards - Emission standard for industrial environments
- Part 1: General requirements
- Part 2: Requirements for electrical/electronic/programmable electronic safety-related systems
- Part 3: Software requirements
- Part 4: Definitions and abbreviations
IEC 61511-1 Functional safety - Safety instrumented systems for the process industry sector
- Part 1: Framework, definitions, system, hardware and software requirements
EN 62061 Safety of machinery
- Functional safety of safety-related electrical, electronic and programmable electronic control systems
1) Replacement for EN 60068-2-32

7.2.2 Requirements for immunity to disturbances

Test carried out in
Immunity Requirements in accordance with
accordance with
EN 61131-2: Product standard -
Programmable logic controllers
Electrostatic discharge (ESD) EN 61000-4-2
EN 61000-6-2: Generic standard -
Immunity to disturbances in industrial sectors
High-frequency electromagnetic fields (HF field) EN 61000-4-3
High-speed transient electrical disturbances (Burst) EN 61000-4-4
Surge voltages (Surge) EN 61000-4-5
Conducted disturbances EN 61000-4-6
Magnetic fields with electrical frequencies EN 61000-4-8
Voltage dips (AC) Programmable logic controllers
Short-term interruptions (AC) EN 61000-4-11
Voltage fluctuations (AC) EN 61000-6-2: Generic standard -
Short-term interruptions (DC) EN 61131-2: Product standard -
EN 61000-4-29
Voltage fluctuations (DC) Programmable logic controllers
Evaluation criteria for performance

Criteria During testing After testing
The PLC system shall continue to operate as intended.
A The PLC system shall continue to operate as intended.
No loss of function or performance.
Degradation of performance accepted. The PLC system shall continue to operate as intended.
B No change of operating mode. Temporary degradation of performance must be self-recover-
No irreversible loss of stored data. able.
Loss of functions accepted, but no destruction of hardware or The PLC system shall continue to operate as intended automat-
C
software (programme or data). ically, after manual restart or power off/power on.
Degradation or failure of functionality that can no longer be re-
D PLC system permanently damaged or destroyed.
stored.

Electrostatic discharge (ESD)

Test carried out in accordance with Requirements in accordance with Requirements in accordance with
EN 61000-4-2 EN 61131-2 / Zone B EN 61000-6-2
Contact discharge (CD) to conductive external ±4 kV
parts Criteria B
Air discharge (AD) to insulating external parts ±8 kV
Criteria B
High-frequency electromagnetic fields (HF field)

EN 61000-4-3 EN 61131-2 / Zone B EN 61000-6-2
Housing, completely wired 80 MHz to 1 GHz, 10 V/m
1.4 GHz to 2 GHz, 3 V/m
2 GHz to 2.7 GHz, 1 V/m
Criteria A
High-speed transient electrical disturbances (Burst)

EN 61000-4-4 EN 61131-2 / Zone B EN 61000-6-2
AC power inputs ±2 kV / 5 kHz
Criteria B
AC power outputs ±2 kV / 5 kHz1) ±2 kV / 5 kHz
Criteria B Criteria B
AC other I/Os ±2 kV / 5 kHz1) -
Criteria B
DC mains inputs/outputs ±2 kV / 5 kHz1)
Criteria B
Other I/Os and interfaces ±1 kV / 5 kHz1)
Criteria B
1) Only for connections with a permitted line length >3 m.
Surge voltages (Surge)

EN 61000-4-5 EN 61131-2 / Zone B EN 61000-6-2
AC mains inputs/outputs ±1 kV
Line / line Criteria B
AC mains inputs/outputs ±2 kV
Line / ground Criteria B
DC mains inputs/outputs ±0.5 kV1) ±0.5 kV
Line / line Criteria B Criteria B
DC power inputs ±0.5 kV1) ±0.5 kV
Line / ground Criteria B Criteria B
DC power outputs ±0.5 kV1) ±0.5 kV
Line / ground Criteria B Criteria B
Signal connections, unshielded ±1 kV1)
All shielded lines ±1 kV1) -
Conducted disturbances
EN 61000-4-6 EN 61131-2 / Zone B EN 61000-6-2
AC mains inputs/outputs 10 V
150 kHz to 80 MHz
80% AM (1 kHz)
Criteria A
DC mains inputs/outputs 10 V
150 kHz to 80 MHz
80% AM (1 kHz)
Criteria A
Other I/Os and interfaces 10 V1)
150 kHz to 80 MHz
80% AM (1 kHz)
Criteria A
Magnetic fields with electrical frequencies

EN 61000-4-8 EN 61131-2 / Zone B EN 61000-6-2
Housing, completely wired 30 A/m
3 axes (x, y, z)
50/60 Hz1)
Criteria A
1) Mains frequency per manufacturer data

Voltage dips
EN 61000-4-11 EN 61131-2 / Zone B EN 61000-6-2
AC power inputs 0% residual voltage
250/300 periods (50/60 Hz)1)
20 attempts
Criteria C
40% residual voltage
10/12 periods (50/60 Hz)1)
20 attempts
Criteria C
70% residual voltage
25/30 periods (50/60 Hz)1)
20 attempts
Criteria C
Short-term interruptions
EN 61000-4-11 / EN 61000-4-29 EN 61131-2 / Zone B EN 61000-6-2
AC power inputs 0% residual voltage 0% residual voltage
0.5 periods (50/60 Hz)1) 1 period (50/60 Hz)1)
20 interruptions 3 interruptions
Criteria A Criteria B
DC power inputs 0% residual voltage -
≥10 ms (PS2)
20 interruptions
Criteria A
Voltage fluctuations
EN 61000-4-11 / EN 61000-4-29 EN 61131-2 / Zone B EN 61000-6-2
AC power inputs -15% / +10% -
Test duration per 30 minutes
Criteria A
DC power inputs -15% / +20% -
Test duration per 30 minutes
Criteria A

7.2.3 Emission requirements

Phenomenon Test carried out in accordance with Limits in accordance with
EN 55011 / EN 55022 Programmable logic controllers
Emissions related to lines
EN 55016-2-1 EN 61000-6-4: Generic standard -
Emissions in industrial sectors
EN 55011 / EN 55022 Programmable logic controllers
Radiated emissions
EN 55016-2-3 EN 61000-6-4: Generic standard -
Emissions in industrial sectors
Emissions related to lines

Test carried out in accordance with Limits in accordance with Limits in accordance with
EN 55011 / EN 55022 / EN 55016-2-1 EN 61131-2 / Zone B EN 61000-6-4
AC mains connection 150 kHz to 500 kHz
150 kHz to 30 MHz 79 dB (µV) quasi-peak value
66 dB (µV) average value
500 kHz to 30 MHz
73 dB (µV) quasi-peak value
Telecommunications / network connection - 150 kHz to 500 kHz
150 kHz to 30 MHz 97 to 87 dB (µV) quasi-peak value
53 to 40 dB (µA) quasi-peak value
84 to 74 dB (µV) average value
40 to 30 dB (µA) average value
- 500 kHz to 30 MHz
87 dB (µV) quasi-peak value
43 dB (µA) quasi-peak value
30 dB (µA) average value
Radiated emissions
Test carried out in accordance with Limits in accordance with Limits in accordance with
EN 55011 / EN 55022 / EN 55016-2-3 EN 61131-2 / Zone B EN 61000-6-4
Electric field / Measured from 10 m 30 MHz to 230 MHz
30 MHz to 1 GHz 40 dB (µV/m) quasi-peak value
230 MHz to 1 GHz
47 dB (µV/m) quasi-peak value
Electric field / Measured from 3 m - 1 GHz to 3 GHz1)
1 GHz to 6 GHz1) 76 dB (µV/m) peak value
56 dB (µV/m) average value
- 3 GHz to 6 GHz1)
80 dB (µV/m) peak value
60 dB (µV/m) average value
1) Depending on highest internal frequency

7.2.4 Mechanical conditions

Testing Test carried out in accordance with Requirements in accordance with
Vibration (sinusoidal) / Operation EN 60068-2-6 Programmable logic controllers
EN 60721-3-5 / Class 5M3
Shock / Operation EN 60068-2-27 Programmable logic controllers
EN 60721-3-5 / Class 5M3
EN 60721-3-2 / Class 2M1
Vibration (sinusoidal) / Transport (packaged) EN 60068-2-6 EN 60721-3-2 / Class 2M2
EN 60721-3-2 / Class 2M3
EN 60721-3-2 / Class 2M1
Shock / Transport (packaged) EN 60068-2-27
EN 60721-3-2 / Class 2M2
Free fall / Transport (packaged) EN 60068-2-311) Programmable logic controllers
EN 60721-3-2 / Class 2M1
EN 60721-3-2 / Class 2M1
Toppling / Transport (packaged) EN 60068-2-31 EN 60721-3-2 / Class 2M2
EN 60721-3-2 / Class 2M3
Vibration (sinusoidal) / Operation

Test carried out in accor- Requirements in accordance with Requirements in accordance with
dance with EN 61131-2 EN 60721-3-5 / Class 5M3
EN 60068-2-6
Vibration (sinusoidal) / Frequency Amplitude Frequency Amplitude
Operation1) 5 to 8.4 Hz Deflection 2 to 8 Hz Deflection
3.5 mm 7.5 mm
8.4 to 150 Hz Acceleration 1 g2) 8 to 200 Hz Acceleration 2 g2)
- - 200 to 500 Hz Acceleration 4 g2)
20 sweeps for each axis3)
1) Uninterrupted duty with movable frequency in all 3 axes (x, y, z); 1 octave per minute
2) 1 g = 10 m/s²
3) 2 sweeps = 1 frequency cycle (fmin → fmax → fmin)
Shock / Operation
EN 60068-2-27 EN 61131-2 EN 60721-3-5 / Class 5M3
Shock / Acceleration 15 g Acceleration 30 g
Operation1) Duration 11 ms Duration 11 ms
18 shocks 18 shocks
1) Pulse (half-sine) stress in all 3 axes (x, y, z)
Vibration (sinusoidal) / Transport (packaged)

Test carried out in accor- Requirements in accordance with Requirements in accordance with Requirements in accordance with
dance with EN 60721-3-2 / Class 2M1 EN 60721-3-2 / Class 2M2 EN 60721-3-2 / Class 2M3
EN 60068-2-6
Vibration (sinusoidal) / Frequency Amplitude Frequency Amplitude Frequency Amplitude
Transport (packaged)1) 2 to 9 Hz Deflection 2 to 9 Hz Deflection 2 to 8 Hz Deflection
3.5 mm 3.5 mm 7.5 mm
9 to 200 Hz Acceleration 9 to 200 Hz Acceleration 8 to 200 Hz Acceleration
1 g2) 1 g2) 2 g 2)
200 to 500 Hz Acceleration 200 to 500 Hz Acceleration 200 to 500 Hz Acceleration
1.5 g2) 1.5 g2) 4 g2)
20 sweeps for each axis3)
1) Uninterrupted duty with movable frequency in all 3 axes (x, y, z); 1 octave per minute
2) 1 g = 10 m/s²
3) 2 sweeps = 1 frequency cycle (fmin → fmax → fmin)
Shock / Transport (packaged)

EN 60068-2-27 EN 60721-3-2 / Class 2M1 EN 60721-3-2 / Class 2M2
Shock / Type I
Transport (packaged)1) Acceleration 10 g
Duration 11 ms
18 shocks
Type II Type II
- Acceleration 30 g
Duration 6 ms
18 shocks
1) Pulse (half-sine) stress in all 3 axes (x, y, z)

Free fall / Transport (packaged)

Tests in accordance with EN Requirements in accordance with Requirements in accordance with Requirements in accordance
60068-2-31 EN 61131-2 with shipping packaging EN 61131-2 with shipping packaging with EN 60721-3-2 / Class 2M1
Free fall / Weight Height Weight Height Weight Height
Transport (packaged) <10 kg 1.0 m <10 kg 0.3 m <20 kg 0.25 m
10 to 40 kg 0.5 m 10 to 40 kg 0.3 m 20 to 100 kg 0.25 m
>40 kg 0.25 m >40 kg 0.25 m >100 kg 0.1 m
5 attempts
Toppling / Transport (packaged)

Test carried out in accor- Requirements in accordance with Requirements in accordance Requirements in accordance
dance with EN 60721-3-2 / Class 2M1 with EN 60721-3-2 / Class 2M2 with EN 60721-3-2 / Class 2M3
EN 60068-2-31
Toppling / Weight Required Weight Required Weight Required
Transport (packaged) <20 kg Yes <20 kg Yes <20 kg Yes
20 to 100 kg - 20 to 100 kg Yes 20 to 100 kg Yes
>100 kg - >100 kg - >100 kg Yes
Topple on all edges
7.2.5 Electrical safety
Overvoltage category
Requirement per EN 61131-2 Definition per EN 60664-1
Overvoltage category II Equipment of "Overvoltage category II" is energy-consuming equipment to be supplied by the fixed installation.
Pollution degree
Requirement per EN 61131-2 Definition per EN 60664-1
Pollution degree 2 Only non-conductive pollution occurs. Occasionally, however, temporary conductivity caused by condensation
is to be expected.
Protection rating provided by enclosure (IP code)

Requirement per Meaning of codes per EN Meaning for the protection of equipment Meaning for the protection of personnel
manufacturer 60529
IP67 First number Dust-proof Protected against touching dangerous parts
IP6x with conductor.
Second number Protected against the effects of temporary sub-
IPx7 mersion in water.

7.3 UL / CSA
UL Underwriters Laboratories (UL)
Products with this marking have been tested by Underwriters Laboratories and are
listed as "Industrial Control Equipment" in category NRAQ (programmable controllers)
with file number E115267.
This marking is valid for the USA and Canada and simplifies the certification of your
machines and systems in these regions.
Ind. Cont. Eq.
E115267
Canada / USA
Standards applied:
UL 508 Standard for industrial control equipment
UL 61010-1 Safety requirements for electrical equipment for measurement, control, and laboratory use - Part 1: General requirements
UL 61010-2-201 Standard for Safety Requirements for Electrical Equipment for Measurement, Control, and Laboratory Use - Part 2-201:
Particular Requirements for Control Equipment
CSA C22.2 No. 142-M1987 Process control equipment
CSA C22.2 No. 61010-1 Safety requirements for electrical equipment for measurement, control and laboratory use - Part 1: General requirements
CSA C22.2 No. 61010-2-201 Safety requirements for electrical equipment for measurement, control, and laboratory use - Part 2-201: Particular require-
ments for control equipment
Certificate
PDF
Homepage > Downloads > Certificates > UL > X67 > E115267 UL Certificate of Compliance X67
CSA HazLoc Canadian Standards Association (CSA)

Products with this marking have been tested by the Canadian Standards Association
and are suitable for use in potentially explosive environments.
The products are listed in CLASS 2258 (Process control equipment - For hazardous
locations) with file number 244665.
The X20 system is certified for Hazardous Locations Class I, Division 2.
HazLoc Cl. I, Div. 2 Each certified module is accompanied by an information sheet providing detailed in-
Group ABCD
0-60°C T5 stallation and safety guidelines.
Canada / USA
This marking is valid for the USA and Canada and simplifies the certification of your
machines and systems in these regions.
Standards applied:
CSA C22.2 No. 0-M1991 General Requirements - Canadian Electrical Code Part II
CSA C22.2 No. 142-M1987 Process control equipment
CSA C22.2 No. 213-M1987 Non-incendive electrical equipment for use in Class I, Division 2 hazardous locations
UL Std No. 916:2007 Energy Management Equipment
ANSI/ISA 12.12.01:2007 Nonincendive Electrical Equipment for Use in Class I and II, Division 2 and Class III, Division 1 and 2 Hazardous (Classified)
Locations
Certificate
PDF
Homepage > Downloads > Certificates > HazLoc > CSA > X20, X67 > 244665 CSA HazLoc Certificate of Compliance X20, X67

7.4 Other certifications

GOST-R GOST-R
Products with this marking have been tested by an accredited testing laboratory and
approved for import to the Russian Federation (based on EU compliance).
EAC Eurasian Conformity (EAC)
approved for import (based on EU compliance) to the newly founded Eurasian Eco-
nomic Union (Russia, Belarus, Kazakhstan, etc.).
KC Korean Conformity (KC)
approved for import to the Korean market (based on EU compliance).
RCM Regulatory Compliance Mark (RCM)

certified by the ACMA. This marking is valid in Australia/Oceania and simplifies the
certification of your machines and systems in these areas (based on EU compliance).

Data sheets • Analog input modules • Summary
8 Data sheets
8.1 Analog input modules

Analog input modules convert measured values (voltages, currents) into numerical values, which can be processed
by the PLC.
In the PLC, analog data is always in 16-bit 2s complement regardless of the resolution. Therefore, the resolution
of the module used does not have to be taken into consideration when creating an application program.
Every channel on an analog input module has a status LED.
8.1.1 Summary
X67AI1223 X67 analog input module, 4 inputs, ±10 V, 12-bit converter resolution, configurable input filter, open circuit 103
detection
X67AI1233 X67 analog input module, 4 inputs, ±10 V, 16-bit converter resolution, configurable input filter, open circuit 115
detection

Data sheets • Analog input modules • X67AI1223
8.1.2 X67AI1223
Data sheet version: 3.10
8.1.2.1 General information
The module is equipped with 4 inputs with 12-bit digital converter resolution. The input signal range is ±10 V.
■ 4 analog inputs ±10 V
■ Open/Short circuit detection
■ Configurable digital input filters
■ Very short cycle times
■ Optimal shield grounding on all channels
8.1.2.2 Order data

Analog input modules
X67AI1223 X67 analog input module, 4 inputs, ±10 V, 12-bit converter res-
olution, configurable input filter, open circuit detection
Table 38: X67AI1223 - Order data

Required accessories
For a general overview, see "Accessories - General overview" on page 54.

Model number X67AI1223

Short description
I/O module 4 analog inputs ±10 V
General information
B&R ID code 0x16F1
Status indicators I/O function for each channel, supply voltage, bus function
Diagnostics
Inputs Yes, using status LED and software
I/O power supply Yes, using status LED and software
Connection type
X2X Link M12, B-keyed
Inputs 4x M12, A-keyed
I/O power supply M8, 4-pin
Power consumption
Internal I/O 3W
X2X Link power supply 0.75 W
Electrical isolation
Channel - Bus Yes
Channel - Channel No
Certification
CE Yes
KC Yes
UL cULus E115267
Industrial control equipment
HazLoc cCSAus 244665
Process control equipment
for hazardous locations
Class I, Division 2, Groups ABCD, T5
ATEX Zone 2, II 3G Ex nA IIA T5 Gc
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Nominal voltage 24 VDC
Voltage range 18 to 30 VDC
Integrated protection Reverse polarity protection
Power consumption
Sensor supply Max. 12 W 1)
Analog inputs
Input ±10 V
Input type Differential input
Digital converter resolution 12-bit
Conversion time 400 µs for all inputs
Output format INT
Output format
Voltage INT 0x8001 - 0x7FFF / 1 LSB = 0x0010 = 4.882 mV
Input impedance in signal range 20 MΩ
Input protection Protection against wiring with supply voltage
Permitted input signal Max. ±30 V
Output of the digital value during overload
Below lower limit 0x8001
Above upper limit 0x7FFF
Conversion procedure Successive approximation
Max. error at 25°C
Gain 0.1% 2)
Offset 0.05% 3)
Max. gain drift 0.011%/°C 2)
Max. offset drift 0.009%/°C 3)
Common-mode rejection
DC >50 dB
50 Hz >50 dB
Common-mode range ±11 V
Crosstalk between channels <-70 dB
Nonlinearity <0.1% 3)
Isolation voltage between input and bus 500 VEff
Input filter
Cutoff frequency 1 kHz
Slope 40 dB
Sensor supply
Voltage I/O power supply minus voltage drop for short circuit protection
Voltage drop for short circuit protection at 500 mA Max. 2 VDC
Summation current Max. 0.5 A
Table 39: X67AI1223 - Technical data

Short circuit protection Yes
Mounting orientation
Any Yes
Installation at elevations above sea level
0 to 2000 m No limitations
>2000 m Reduction of ambient temperature by 0.5°C per 100 m
EN 60529 protection IP67
Temperature
Operation -25 to 60°C
Derating -
Storage -40 to 85°C
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
Torque for connections
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) The power consumption of the sensors connected to the module is not permitted to exceed 12 W.
2) Based on the current measured value.
3) Based on the entire measurement range.
8.1.2.4 LED status indicators
Figure LED Color/Status Description

Status indicator 1: Status indicator for X2X Link
Left/Right Green (left) Red (right) Description
Off Off No supply via X2X Link
Status indicator 1: On Off X2X Link supplied, communication OK
Left: Green, Right: Red Off On X2X Link supplied, but X2X Link communication is not function-
ing
On On PREOPERATIONAL: X2X Link supplied, module not initialized
I/O LEDs: Status indicator for the corresponding analog input
1-4 Color Status Description
Green On A/D converter running
Blinking Input signal overflow or underflow
Off Open circuit or disconnected sensor
Status indicator 2: Status indicator for module function
Left Color Status Description
Green Off No power to module
Single flash RESET mode
Blinking PREOPERATIONAL mode
On RUN mode
Right Color Status Description
Status indicator 2: Red Off No power to module or everything OK
Left: Green, Right: Red
On Error or reset status
Single flash Warning/Error on an I/O channel.
Overflow or underflow of the analog inputs.
Double flash Supply voltage not in the valid range

8.1.2.5 Connection elements
X2X Link
Connection A: Input
Connection B: Output
Analog inputs 1 to 4
24 VDC I/O power supply

Connection C: Supply
Connection D: Routing
8.1.2.6 X2X Link
This module is connected to X2X Link using pre-assembled cables. The connection is made using M12 circular
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4
1 Shield connection made via threaded insert in the module
A → B-keyed (male), input

B 3 B → B-keyed (female), output
4
1
8.1.2.7 24 VDC I/O power supply
The I/O power supply is connected via M8 connectors C and D. The I/O power supply is connected via connector
C (male). Connector D (female) is used to route the I/O power supply to other modules.
Information:
The maximum permissible current for the circular connector is 8 A (4 A per pin).
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
C → Connector (male) in module, feed for I/O power supply
D 2 D → Connector (female) in module, routing of I/O power supply
1

8.1.2.8 Pinout
Shield
1 +24 VDC
X1 to X4 2 AI +
M12 ① 3 GND
4 AI -
5 Shield
① X67CA0A41.xxxx: M12 sensor cable, straight

X67CA0A51.xxxx: M12 sensor cable, angled
8.1.2.8.1 Connections X1 to X4
M12, 5-pin Pinout

Connections 1/2 Pin Name
1 24 VDC sensor supply
1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
4 1) Shielding also provided by threaded insert in the module.
3
X1 to X4 → A-keyed (female), input
3
2
4
1
5
Connections 3/4
8.1.2.9 Connection example

Voltage source
AI +
1 2
+ +24 VDC
AI -
5 Connection x
GND 4 3

8.1.2.10 Input circuit diagram
±10 V analog input

1...4
+
1 2
Input value
A/D converter 5
4 3
I/O status -
LED (green)
Short circuit protection

Monitoring of the
I/O power supply C +24 V D
2 2
1 4 4 1
3 3
Reverse polarity protection
GND
VDR
>30 V

8.1.2.11 Register description
8.1.2.11.1 General data points
In addition to the registers listed in the register description, the module also has other more general data points.
These registers are not specific to the module but contain general information such as serial number and hardware
version.
These general data points are listed in section "General data points" on page 958.
8.1.2.11.2 Function model 0 - Standard
Register Name Data type Read Write

Cyclic Acyclic Cyclic Acyclic
Configuration
16 ConfigOutput01 (configuration of input filter) USINT ●
Communication
0 AnalogInput01 INT ●
30 StatusInput01 USINT ●
8192 asy_ModulID UINT ●
8196 asy_SupplyStatus USINT ●
8208 asy_SupplyInput USINT ●
8.1.2.11.3 Function model 254 - Bus controller
Register Offset1) Name Data type Read Write

Configuration
16 - ConfigOutput01 (configuration of input filter) USINT ●
Communication
0 0 AnalogInput01 INT ●
30 - StatusInput01 USINT ●
8192 - asy_ModulID UINT ●
8196 - asy_SupplyStatus USINT ●
8208 - asy_SupplyInput USINT ●
1) The offset specifies the position of the register within the CAN object.
8.1.2.11.3.1 CAN I/O bus controller

The module occupies 1 analog logical slot on CAN I/O.

8.1.2.11.4 Analog signal - Configuration
8.1.2.11.4.1 Configuring the input filter
Name:
ConfigOutput01
This register is used to define the filter level and input ramp limitation of the input filter.
Data type Values
USINT See bit structure.
Bit structure:
Bit Description Value Information
0-2 Defines the filter level 000 Filter switched off
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
111 Filter level 128
3 Reserved 0
4-6 Defines the input ramp limit 000 The input value is used without limitation
001 Limit value = 0x3FFF (16383)
100 Limit value = 0x07FF (2047)
7 Reserved 0
8.1.2.11.5 Analog signal - Communication
8.1.2.11.5.1 Analog inputs
The input state is collected with a fixed offset to the network cycle and transferred in the same cycle.
8.1.2.11.5.2 Input values of analog inputs
Name:
AnalogInput01 to AnalogInput04
The analog input value is mapped in this register.
Data type Value Input signal:
INT -32768 to 32767 Voltage signal -10 to 10 V
8.1.2.11.5.3 Status of the inputs
Name:
StatusInput01
This register is used to monitor the module inputs. A change in the monitoring status generates an error message.
The following states are monitored depending on the settings:
Data type Values
Bit structure:
0-1 Channel 1 00 No error
01 Below lower limit value
10 Above upper limit value
11 Open circuit
... ...
11 Open circuit

8.1.2.11.6 Input filter
This module is equipped with a configurable input filter. The minimum cycle time must be >500 μs. Filtering is
disabled for shorter cycle times.
If the input filter is active, then the scan rate for the channels is measured in ms. The time offset between the
channels is 200 μs. The conversion takes place asynchronously to the network cycle.
8.1.2.11.6.1 Input ramp limitation
Input ramp limitation can only take place when a filter is used; the input ramp is limited before filtering takes place.
The amount the input value changes is checked to make sure that specified limits are not exceeded. If the values
are exceeded, the adjusted input value is equal to the old value ± the limit value.
Configurable limit values:
Value Limit value
0 The input value is used without limitation.
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Input ramp limitation is well suited for suppressing disturbances (spikes). The following examples show the function
of the input ramp limitation based on an input jump and a disturbance.
Example 1
The input value jumps from 8000 to 17000. The diagram shows the adjusted input value with the following settings:
Input ramp limitation = 4 = 0x07FF = 2047
Filter level = 2
Input value
Internally adjusted input value before filtering
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump
Figure 25: Adjusted input value for input jump

Example 2
A disturbance interferes with the input value. The diagram shows the adjusted input value with the following settings:
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Figure 26: Adjusted input value for disturbance
8.1.2.11.6.2 Filter level
A filter can be defined to prevent large input jumps. This filter is used to bring the input value closer to the actual
analog value over a period of several bus cycles.
Filtering takes place after input ramp limitation.
Formula for calculating the input value:
Value Old Input value
Value New = Value Old - +
Filter level Filter level
Adjustable filter levels:
Value Filter level
0 Filter switched off
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

The following examples show how filtering works in the event of an input jump or disturbance.
Example 1
The input value jumps from 8000 to 16000. The diagram shows the calculated value with the following settings:
Input ramp limitation = 0
Filter level = 2 or 4
Input value
Calculated value: Filter level 2
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump
Figure 27: Calculated value during input jump

Example 2
A disturbance interferes with the input value. The diagram shows the calculated value with the following settings:
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Figure 28: Calculated value during disturbance

8.1.2.11.7 Reading the module ID
Name:
asy_ModulID
This register offers the possibility to read the module ID.
Data type Values
UINT Module ID
8.1.2.11.8 Operating limit status registers
Name:
asy_SupplyStatus
This register can be used to read the status of the operating limits.
Data type Values
Bit structure:
0 I/O power supply within/outside warning limits 0 Within the warning limits (18 to 30 V)
1 Outside of the warning limits (<18 V or >30 V)
1-7 Reserved 0
8.1.2.11.9 I/O supply voltage
Name:
asy_SupplyInput
This register contains the I/O supply voltage measured by the module.
Data type Values Information
USINT 0 to 255 Resolution 1 V
8.1.2.11.10 Minimum cycle time
The minimum cycle time defines how far the bus cycle can be reduced without communication errors occurring.
Note that very fast cycles decrease the idle time available for handling monitoring, diagnostics and acyclic com-
mands.
Minimum cycle time
Inputs without filtering 250 µs
Inputs with filtering >500 µs
8.1.2.11.11 Minimum I/O update time
The minimum I/O update time defines how far the bus cycle can be reduced while still allowing an I/O update to
take place in each cycle.
Minimum I/O update time
Inputs without filtering:
All channels per bus cycle 400 µs
2 channels per bus cycle 300 µs
1 channel per bus cycle 300 µs
Inputs with filtering 1 ms

8.1.3 X67AI1233
The module is equipped with 4 inputs with 16-bit digital converter resolution. The input signal range is ±10 V.
■ 4 analog inputs ±10 V
■ 16-bit digital converter resolution
■ Open/Short circuit detection
8.1.3.2 Order data

X67AI1233 X67 analog input module, 4 inputs, ±10 V, 16-bit converter res-
olution, configurable input filter, open circuit detection



Short description
I/O module 4 analog inputs ±10 V
General information
B&R ID code 0xAB1B
Diagnostics
Connection type
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Analog inputs
Input ±10 V
Output format INT
Output format
Voltage INT 0x8001 - 0x7FFF / 1 LSB = 0x0001 = 305.2 µV
Max. error at 25°C
Gain 0.12% 2)
Offset 0.06% 3)
Max. gain drift 0.01 %/°C 2)
Max. offset drift 0.0075% / °C 3)
DC >50 dB
50 Hz >50 dB
Input filter
Slope 40 dB
Sensor supply

Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


ing
Blinking Open circuit, overflow or underflow of the input signal
Status indicator 2: On RUN mode
Red Off No power to module or everything OK

X2X Link
Connection A: Input

8.1.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.1.3.8 Pinout
Shield
1 +24 VDC
X1 to X4 2 AI +
M12 ① 3 GND
4 AI -
5 Shield

M12, 5-pin Pinout

1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
3
3
2
4
1
5
Connections 3/4

Voltage source
AI +
1 2
+ +24 VDC
AI -
5 Connection x
GND 4 3

±10 V analog input

1...4
+
1 2
Input value
A/D converter 5
4 3
I/O status -
LED (green)

Monitoring of the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

Configuration
20 ConfigOutput03 (lower limit value) INT ●
22 ConfigOutput04 (upper limit value) INT ●
Communication
30 Status of the inputs USINT ●
UnderflowAnalogInput01 Bit 0
OverflowAnalogInput01 Bit 1
... ...

Configuration
20 - ConfigOutput03 (lower limit value) INT ●
22 - ConfigOutput04 (upper limit value) INT ●
Communication
30 - Status of the inputs USINT ●
... ...

Name:
ConfigOutput01
Data type Values
Bit structure:
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
3 Reserved 0
7 Reserved 0
8.1.3.11.4.2 Limit values
The input signal is monitored at the upper and lower limit values.
Limit value (default) Voltage signal ±10 V
Upper maximum limit value +10 V +32767 (0x7FFF)
Lower minimum limit value -10 V -32767 (0x8001)
Other limit values can be defined if necessary. Limit values are valid for all channels and activated automatically
by writing to the limit value registers. From this point on, the analog values will be monitored and limited according
to the new limits. The results of monitoring are displayed in the status register.
Lower limit value
Name:
ConfigOutput03
This register can be used to configure the lower limit for analog values. If the analog value goes below the limit
value, it is frozen at this value and the corresponding error status bit is set.
Data type Values
INT -32768 to 32767
Information:
The default value of -32768 corresponds to the minimum default value of -10 VDC.
Keep in mind that this setting applies to all channels!

Upper limit value
Name:
ConfigOutput04
This register can be used to configure the upper limit for analog values. If the analog value goes above the limit
Data type Values
INT -32768 to 32767
Information:
The default value of 32767 corresponds to the maximum default value at +10 VDC.
Input values of analog inputs
Name:
Status of the inputs
Name:
UnderflowAnalogInput01 to UnderflowAnalogInput04
OverflowAnalogInput01 to OverflowAnalogInput04
Data type Values
Bit structure:
0 UnderflowAnalogInput011) 0 No error
1 OverflowAnalogInput011) 0 No error
... ...
6 UnderflowAnalogInput041) 0 No error
7 OverflowAnalogInput041) 0 No error
1) An open circuit is indicated by the "UnderflowAnalogInput0x" and "OverflowAnalogInput0x" bits being set simultaneously.
Limiting the analog value

In addition to the status information, the analog value is set to the values listed below by default when an error
occurs. The analog value is limited to the new values if the limit values were changed.
Error status Digital value for error (default values)
Open circuit +32767 (0x7FFF)
Above upper limit value +32767 (0x7FFF)
Below lower limit value -32767 (0x8001)

Input filter
Input ramp limitation
Value Limit value
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Example 1
Filter level = 2
Input value
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Filter level
Value Filter level
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

Example 1
Input value
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]

8.1.3.11.5.2 Reading the module ID
Name:
asy_ModulID
Data type Values
UINT Module ID
8.1.3.11.5.3 Operating limit status registers
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
8.1.3.11.5.4 I/O supply voltage
Name:
asy_SupplyInput
mands.
Minimum cycle time
Inputs without filtering 400 µs for all inputs
Information:
All 4 channels are converted. If the last conversion is not yet complete at the beginning of a cycle, then
the new conversion will be shifted to the start of the next cycle.

8.1.4 X67AI1323
The module is equipped with 4 inputs with 12-bit digital converter resolution. The input signal range is 0 to 20 mA
or 4 to 20 mA.
■ 4 analog inputs 0 to 20 mA or 4 to 20 mA
■ Limit detection
8.1.4.2 Order data

X67AI1323 X67 analog input module, 4 inputs, 0 to 20 mA or 4 to 20 mA,
12-bit converter resolution, configurable input filter



Short description
I/O module 4 analog inputs 0 to 20 mA or 4 to 20 mA
General information
B&R ID code 0x16F2
Diagnostics
Connection type
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Analog inputs
Input 0 to 20 mA or 4 to 20 mA
Output format INT
Output format
Current INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 4.883 µA
Load <300 Ω
Permitted input signal Max. ±30 mA
Max. error at 25°C
Gain 0.1% 2)
Offset 0.05% 3)
DC >50 dB
50 Hz >50 dB
Voltage drop at 20 mA Typically 4.5 V
Input filter
Slope 40 dB
Sensor supply

Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


ing
Off Module not in RUN mode
On RUN mode
Single flash Warning/Error on an I/O channel.
Overflow or underflow of the analog inputs.

X2X Link
Connection A: Input

8.1.4.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.1.4.8 Pinout
Shield
1 +24 VDC
X1 to X4 2 AI +
M12 ① 3 GND
4 AI -
5 Shield

M12, 5-pin Pinout

1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
3
3
2
4
1
5
Connections 3/4

Current source
AI +
1 2
+ +24 VDC
AI -
5 Connection x
GND 4 3

Overload 1...4
protection
+
1 2
Input value
A/D converter 5
4 3
I/O status -
LED (green)

Monitoring the
I/O supply C +24 V D
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

Configuration
18 ConfigOutput02 (channel type) USINT ●
Communication
StatusAnalogInput01
... ...
StatusAnalogInput04

Configuration
18 - ConfigOutput02 (channel type) USINT ●
Communication
StatusAnalogInput01
... ...
StatusAnalogInput04

Name:
ConfigOutput01
Data type Values
Bit structure:
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
3 Reserved 0
7 Reserved 0
8.1.4.11.4.2 Channel type
Name:
ConfigOutput02
This register determines the measurement range for the analog input.
The 4 to 20 mA measurement range is determined by converting the value from the 0 to 20 mA range. 4 mA equals
digital value 0x0000, and 20 mA equals the value 0x7FFF. Due to the conversion, certain digital values never occur
(higher value range).
Data type Value
Bit structure:
0 Channel 1 0 0 to 20 mA
1 4 to 20 mA
... ...
1 4 to 20 mA
4-7 Reserved 0

The input signal is monitored at the upper and lower limit values. These must be defined according to the operating
mode:
Limit value (default) Current signal 0 to 20 mA Current signal 4 to 20 mA
Upper maximum limit value 20 mA +32767 (0x7FFF) 20 mA +32767 (0x7FFF)
Lower minimum limit value 0 mA 0 (0x0000)1) 4 mA 0 (0x0000)2)
1) The analog value is limited down to 0.

2) The analog value is limited down to 0 at currents <4 mA. The status bit for the lower limit is set.
Examples of limit value settings
Application case Limit value settings
Current signal: 4 to 20 mA A negative limit value must be configured in order to measure values <4 mA with a current signal of 4 to
20 mA: 0 mA corresponds to the value -8192 (0xE000).
When limit values are changed, it is important to note that the configured limit values apply to all channels
in mixed operation.
Lower limit value
Name:
ConfigOutput03
Data type Value
INT -32768 to 32767
Information:
• When configured as 0 to 20 mA, this value should be set to 0.
• When configured as 4 to 20 mA, this value can be set to -8192 (corresponds to 0 mA) in order
to display values <4 mA.
Information:
Upper limit value

Name:
ConfigOutput04
Data type Value
INT -32768 to 32767
Information:
The default value of 32767 corresponds to the maximum default value at 20 mA.
Information:

Input values of analog inputs
Name:
The analog input value is mapped in this register depending on the configured operating mode.
INT -8192 to 32767 Current signal 4 to 20 mA
0 to 32767 Current signal 0 to 20 mA
Status of the inputs
Name:
StatusAnalogInput01 to StatusAnalogInput04
Data type Values
Bit structure:
0 UnderflowAnalogInput01 0 No error
1 OverflowAnalogInput01 0 No error
StatusAnalogInput01 1 Above upper limit value
... ...
StatusAnalogInput04 1 Above upper limit value


Input filter
Value Limit value
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Example 1
Filter level = 2
Input value
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Filter level
Value Filter level
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

Example 1
Input value
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]

Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
mands.
Minimum cycle time
Inputs without filtering:
All channels per bus cycle 400 µs
2 channels per bus cycle 300 µs
1 channel per bus cycle 300 µs

8.1.5 X67AI1333
The module is equipped with 4 inputs with 16-bit digital converter resolution. The input signal range is 0 to 20 mA
or 4 to 20 mA depending on the selection.
■ 4 analog inputs 0 to 20 mA or 4 to 20 mA
■ 16-bit digital converter resolution
■ Limit detection
8.1.5.2 Order data

X67AI1333 X67 analog input module, 4 inputs, 0 to 20 mA or 4 to 20 mA,
16-bit converter resolution, configurable input filter



Short description
I/O module 4 analog inputs 0 to 20 mA or 4 to 20 mA
General information
B&R ID code 0xAB1C
Diagnostics
Connection type
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Analog inputs
Input 0 to 20 mA or 4 to 20 mA
Output format INT
Output format
Current INT 0x0000 - 0x7FFFF / 1 LSB = 0x001 = 610.4 nA
Load <300 Ω
Max. error at 25°C
Gain
0 to 20 mA 0.13% 2)
4 to 20 mA 0.14% 2)
Offset
0 to 20 mA 0.04% 3)
4 to 20 mA 0.11% 3)
Max. gain drift 0 to 20 mA = 0.013 %/°C
4 to 20 mA = 0.0165 %/°C
2)
Max. offset drift 0 to 20 mA = 0.004 %/°C

4 to 20 mA = 0.005 %/°C 3)
DC >50 dB
50 Hz >50 dB
Voltage drop at 20 mA Typically 4.5 V

Input filter
Slope 40 dB
Sensor supply
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 205 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Off Off No supply via X2X Link
Left: Green, Right: Red On Off X2X Link supplied, communication OK
Off On X2X Link supplied, but X2X Link communication is not function-
ing
Off Module not in RUN mode
On RUN mode
Status indicator 2: Right Color Status Description

X2X Link
Connection A: Input

8.1.5.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.1.5.8 Pinout
Shield
1 +24 VDC
X1 to X4 2 AI +
M12 ① 3 GND
4 AI -
5 Shield

M12, 5-pin Pinout

1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
3
3
2
4
1
5
Connections 3/4

Current source
AI +
1 2
+ +24 VDC
AI -
5 Connection x
GND 4 3

Overload 1...4
protection
+
1 2
Input value
A/D converter 5
4 3
I/O status -
LED (green)
Monitoring of the
2 2
1 4 4 1
3 3
GND
VDR
>30V

version.

Configuration
18 ConfigOutput02 (channel type) USINT ●
Communication
... ...

Analog signal - Configuration
18 - ConfigOutput02 (channel type) USINT ●
Analog signal - Communication
... ...

Name:
ConfigOutput01
Data type Values
Bit structure:
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
3 Reserved 0
7 Reserved 0
8.1.5.11.4.2 Channel type
Name:
ConfigOutput02
This register determines the measurement range for the analog input.
The 4 to 20 mA measurement range is determined by converting the value from the 0 to 20 mA range. 4 mA equals
digital value 0x0000, and 20 mA equals the value 0x7FFF. Due to the conversion, certain digital values never occur
(higher value range).
Data type Value
Bit structure:
1 4 to 20 mA
... ...
1 4 to 20 mA
4-7 Reserved 0

The input signal is monitored at the upper and lower limit values. These must be defined according to the operating
mode:
Limit value (default) Current signal 0 to 20 mA Current signal 4 to 20 mA
Upper maximum limit value 20 mA +32767 (0x7FFF) 20 mA +32767 (0x7FFF)
Lower minimum limit value 0 mA 0 (0x0000)1) 4 mA 0 (0x0000)2)
1) The analog value is limited down to 0.

2) The analog value is limited down to 0 at currents <4 mA. The status bit for the lower limit is set.
Examples of limit value settings
Application case Limit value settings
Current signal: 4 to 20 mA A negative limit value must be configured in order to measure values <4 mA with a current signal of 4 to
20 mA: 0 mA corresponds to the value -8192 (0xE000).
When limit values are changed, it is important to note that the configured limit values apply to all channels
in mixed operation.
Lower limit value
Name:
ConfigOutput03
Data type Value
INT -32768 to 32767
Information:
• When configured as 0 to 20 mA, this value should be set to 0.
• When configured as 4 to 20 mA, this value can be set to -8192 (corresponds to 0 mA) in order
to display values <4 mA.
Information:
Upper limit value

Name:
ConfigOutput04
Data type Value
INT -32768 to 32767
Information:
The default value of 32767 corresponds to the maximum default value at 20 mA.
Information:

Name:
The analog input value is mapped in this register depending on the configured operating mode.
INT -8192 to 32767 Current signal 4 to 20 mA
0 to 32767 Current signal 0 to 20 mA

8.1.5.11.5.3 Input filter
Value Limit value
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Example 1
Filter level = 2
Input value
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Filter level
Value Filter level
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

Example 1
Input value
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]

Name:
Data type Values
Bit structure:
... ...

Below lower limit value 0 (0x0000)
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0

Name:
asy_SupplyInput
mands.
Minimum cycle time
Inputs without filtering 400 µs for all inputs

Data sheets • Analog input modules • X67AI2744 with Rev. ≤B9
8.1.6 X67AI2744 with Rev. ≤B9
This module is equipped with 2 inputs for evaluating full-bridge strain gauges and works with both 4-wire and 6-wire
strain gauge load cells. The concept applied by the module requires compensation in the measurement system.
This compensation eliminates the absolute uncertainty in the measurement circuit, such as component tolerances,
effective bridge voltage or zero point offset. The measurement precision refers to the absolute (compensated)
value, which will only change as a result of changes in the operating temperature.
■ 2 full-bridge strain gauge inputs
■ Data output rate configurable from 2.5 Hz to 7.5 kHz
8.1.6.2 Order data

X67AI2744 X67 analog input module, 2 full-bridge strain gauge inputs, 24-
bit converter resolution



Short description
I/O module 2 full-bridge strain gauge inputs
General information
B&R ID code 0x8820
Status indicators Channel status, operating status, module status
Diagnostics
Module run/error Yes, using status LED and software
Open circuit Yes, using status LED and software
Input Yes, using status LED and software
Connection type
Power consumption
Bus 0.75 W
Internal I/O 2.4 W
Bus - Analog input Yes
Bus - Bridge supply voltage Yes
Channel - I/O power supply No
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Full-bridge strain gauge
Strain gauge factor 2 to 256 mV/V, configurable using software
Connection 4- or 6-wire connections 1)
Input type Differential, used to evaluate a full-bridge strain gauge
Conversion time Depends on the configured data output rate
Data output rate 2.5 to 7500 samples per second, configurable using software (fDATA)
Input filter
Order 3
Slope 60 dB
ADC filter characteristics Sigma-delta, see section "Filter characteristics of the sigma-delta A/D converter"
Operating range / Measurement sensor 85 to 5,000 Ω
Influence of cable length The shielded twisted pair cable should be as short as possible and run sepa-
rately to the sensor (isolated from load circuit) without intermediate terminals
Input protection RC protection
Common-mode range 0 to 3 VDC
Permissible input voltage range (with regard to the poten-
tial strain gauge GND) on the inputs "Input +" and "Input -"
Isolation voltage between input and bus 500 Veff
Conversion procedure Sigma-delta
Output of the digital value
Broken bridge supply line Value approaches 0
Broken sensor line Value approaches ±end value ("open circuit" status bit is set in the Module status register)
Valid value range 0xFF800001 to 0x007FFFFF (-8,388,607 to 8,388,607)
Strain gauge supply
Voltage 5.5 VDC / max. 65 mA
Short circuit protection, overload protection Yes
Voltage drop for short circuit protection Max. 0.2 VDC at 65 mA

Quantization 2)
LSB value (16-bit)
2 mV/V 336 nV
4 mV/V 671 nV
8 mV/V 1.343 µV
16 mV/V 2.686 µV
32 mV/V 5.371 µV
64 mV/V 10.74 µV
128 mV/V 21.48 µV
256 mV/V 42.97 µV
LSB value (24-bit)
2 mV/V 1.31 nV
4 mV/V 2.62 nV
8 mV/V 5.25 nV
16 mV/V 10.49 nV
32 mV/V 20.98 nV
64 mV/V 41.96 nV
128 mV/V 83.92 nV
256 mV/V 167.85 nV
Temperature coefficient Rev. ≤B9 = 30 ppm/°C
Rev. >B9 = 10 ppm/°C
Horizontal Yes
Vertical Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) With 6-wire connections, line compensation does not function (see section "Connection examples").
2) Quantization depends on the strain gauge factor.

Figure LED Description

Status indicator 1 Status indicator for X2X Link
Green Red Description
Off Off No power supply via X2X Link
Off On X2X Link supplied but X2X Link communication not functioning
1-2 Status indicator per input
LED Status Description
Green On A/D converter running, value OK
Off Possible causes:
• Open circuit
• Sensor is disconnected
• Converter busy
3-4 These two LEDs are not used.
Status indicator 2 Status indicator for module function
Single flash Mode RESET
Status indicator 2: Double flash BOOT mode (during firmware update)1)
Left: Green, Right: Red Blinking Mode PREOPERATIONAL
On Mode RUN
On Error or reset state
1) Depending on the configuration, a firmware update can take up to several minutes.
X2X Link
Connector A: Input
Connector B: Output
Connections 1, 3: Input 1
Connections 2, 4: Input 2

Connector C: Supply
Connector D: Routing

8.1.6.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.1.6.8 Pinout
Shield
1 SG VCC
X1 to X4 2 Input +
M12 ① 3 SG GND
4 Input -
5 Shield

The module is equipped with 2 channels for connecting strain gauge load cells.
• X1 and X3: Channel 1 (connected internally)
• X2 and X4: Channel 2 (connected internally)
Information:
Connections 1 and 3 as well as 2 and 4 are connected to each other internally. This allows 2 strain gauge
load cells to be switched in parallel and connected to the respective channel via these connections.
M12, 5-pin Pinout
Connection 1/2 Pin Name Description
1 SG VCC Strain gauge supply +
1
2 2 Input + Differential input +
3 SG GND Strain gauge supply GND
5
4 Input - Differential input -
5 Shield1) Shield
3
3
2
4
1
5
Connection 3/4

8.1.6.9 Connection examples
Full-bridge strain gauge with 4-wire connections
+U
1 2
4 3
Full-bridge strain gauge with 6-wire connections

Full-bridge strain gauges can be connected to this module with 6-wire connections. Line compensation is not
supported by the module, however. The respective sense line can be connected to the strain gauge VCC or strain
gauge GND connection. The measurement precision is therefore affected by changes in operating temperature.
Longer cable lengths and smaller cable cross sections also increase the potential for errors in the measurement
system.
In order to reduce cable resistance, the sense lines should be connected in parallel with the strain gauge
supply lines. Optimal signal quality can be obtained by using a shielded twisted pair cable. The connections for the
strain gauge supply lines, the sensor lines, and the bridge differential voltage lines should each use one twisted
pair cable.
+U +U sense
1 2
4 3
Sense
Parallel connection of 2 full-bridge strain gauges (4-wire connections)

If connecting the full-bridge strain gauges in parallel, the manufacturer's guidelines must be observed.
Full-bridge strain gauge 1 Full-bridge strain gauge 2
+U +U
1 2 1 2
5 5
4 3 4 3
When connecting 3 or more full-bridge strain gauges in parallel, 2 lines must be consolidated in one connector.

SG VCC
Reference Reference
Input +
1 3 Local
2 2 Processor port
5
4 5
4
3 1
SG GND
Filter
60 dB/Dec.
Input -
A/D converter
8.1.6.11 Effective resolution of the A/D converter
The A/D converter for the module provides a 24-bit measured value. The actual attainable noise-free resolution is
always less than 24-bit, however. This "effective resolution" depends on the data rate and measurement range.
Example:
Because of the conversion method, a data rate of 2.5 Hz and a specified measurement area of 2 mV/V result in
an effective resolution of 18.7 bits:
24-bit
23 21 20 16 15 12 11 8 7 4 3 0
18.7-bit
The low-order bits (grayed out) contain only noise instead of valid values and must therefore not be evaluated.

8.1.6.12 Calculation example / Quantization
In a weighing application, the corresponding weight located on the connected load cell should be determined from
the value derived from the module.
The characteristics of the strain gauge load cell are as follows:
• Rated load: 1000 kg
• Strain gauge factor: 4 mV/V
The value for the positive full-scale deflection at a specified rated load of 1000 kg is derived from the bridge factor
of the strain gauge load cell (multiplication with the bridge supply voltage from the module):
4 mV/V × 5.5 V = 22 mV
With a simple Rule of Three calculation, the corresponding value can be calculated (as seen in the table) from
weight to the converter value and vice versa. This simplified theoretical approach is only valid for an ideal mea-
surement system. Calibration of the entire measurement system is recommended because not only the module,
but particularly the strain gauge bridges exhibit tolerances (offset, gain). When taring, the gradient offset is recal-
culated and the gain of the linear equation is determined when normalized. In addition to the calculation displayed
in the table, these calculations must also be carried out in the application.
24-bit value of the module Quantization Corresponding weight
0x007F FFFF 8,388,607 22.0 mV 1000 kg
0x0000 0001 1 2.62 nV 0.119 g
0x0000 20C3 8387 22.0 μV 1 kg
0x0001 0000 65536 171.9 μV 7.81 kg
The values for each LSB can be found in the technical data of the module under "Quantization" (1 LSB in reference
to 16-bit and 1 LSB in reference to 24-bit).
8.1.6.13 Filter characteristics of the sigma-delta A/D converter

Gain
0 4x 8x 12 x 16 x 20 x 24 x
1xf
DATA Frequency

version.

16 ConfigOutput01 (A/D converter configuration 1) USINT ●
17 ConfigOutput02 (A/D converter configuration 2) USINT ●
18 ConfigCycletime01 UINT ●
20 ConfigCycletime02 UINT ●
4 AnalogInput01 DINT ●

16 0 ConfigOutput01 (A/D converter configuration 1) USINT ●
17 2 ConfigOutput02 (A/D converter configuration 2) USINT ●
18 - ConfigCycletime01 UINT ●
20 - ConfigCycletime02 UINT ●
4 0 AnalogInput01 DINT ●
8 4 AnalogInput02 DINT ●
2 8 StatusInput01 USINT ●
The module occupies 2 analog logical slots on CAN I/O.

8.1.6.14.4.1 A/D converter configuration
Name:
ConfigOutput01 to ConfigOutput02
The data rate and measurement range of the A/D converter can be configured in this register.
Data type Values
Bit structure:
0-3 Data rate fDATA (samples per second): 0000 2.5
0001 5
0010 10
0011 15
0100 25
0101 30
0110 50
0111 60
1000 100
1001 500
1010 1000
1011 2000
1100 3750
1101 7500
1110 Synchronous mode1)
1111 Reserved
4-6 Standard measurement range (bit 6 = 0) 000 16 mV/V
001 8 mV/V
010 4 mV/V
011 2 mV/V
Extended measurement range (bit 6 = 1)2) 100 256 mV/V
101 128 mV/V
110 64 mV/V
111 32 mV/V
7 Reserved 0 (must be 0)
1) A/D converter is operated synchronously with X2X Link if possible; beginning with firmware 3
2) Firmware V5 or later. In the standard measurement range (2 to 16 mV/V), open circuit detection works reliably at all adjustable data rates. In the extended
measurement range (32 to 256 mV/V), open circuit detection does not work reliably (because of the variable input impedance of the amplifier in relation
to the set data rate).
Synchronous mode
Beginning with firmware version 3, the A/D converter on the module can be operated and read synchronously
to the X2X Link network. Synchronous mode is enabled by selecting the respective operating mode in register
"ConfigOutput" on page 167. A time between 200 and 2000 µs must also be set in register "ConfigCycletime"
on page 168. If this time is a whole number factor or multiple of the configured cycle time of X2X Link, then the
A/D converter is read synchronously to X2X Link.
Information:
The A/D converter cycle time must be ≥1/4 of the X2X cycle time when using synchronous mode!
Bit 2 in "Module status" is set (i.e. A/D converter not running synchronously)...
• ... If the configured A/D converter cycle time cannot be synchronized with X2X Link.
• ... If the module is still in the settling phase.
Jitter, dead time and settling time:
Jitter
A/D converter cycle times <1500 μs Max. ±1 μs
A/D converter cycle times >1500 μs Max. ±4 μs
X2X link dead time X2X cycle time
50 μs +
128
Settling time
Firmware version ≤4 Max. 150 x A/D converter cycle time
Firmware version ≥5 150 x X2X cycle time
The settling time corresponds to the time needed until the A/D converter can be operated after enabling synchro-
nous mode or following conversion of the A/D converter cycle time.

8.1.6.14.4.2 A/D converter cycle time
Name:
ConfigCycletime01 to ConfigCycletime02
This register is only used in "Synchronous mode". If synchronous mode is enabled in the A/D converter configura-
tion, then the module attempts to operate the A/D converter as synchronously as possible to X2X Link (based on
the A/D converter cycle time set in this register). It is of course necessary for the X2X Link cycle time and the A/D
converter cycle time to have a certain ratio. The following conditions must be observed:
1 A/D converter cycle time ≥ 1/4 X2X cycle time
2 A/D converter cycle time corresponds to a whole number factor or multiple of the X2X cycle time
3 A/D converter cycle time must be in the range 200 to 2000 µs
Data type Values
UINT 200 to 2000
8.1.6.14.5.1 Module status
Name:
StatusInput01
The current state of the module is indicated in this register.
Data type Values
Bit structure:
0 Channel1: A/D converter values 0 Valid A/D converter value
1 Invalid A/D converter value
1 Channel1: Line status monitoring 0 OK
1 Open circuit
2 Channel1: Only valid in synchronous mode 0 A/D converter runs synchronous to X2X Link
1 A/D converter does not run synchronous to X2X Link
3 Reserved -
4 Channel 2: A/D converter values 0 Valid A/D converter value
1 Invalid A/D converter value (analog value = 0xFF800000). Pos-
sible causes:
• Error in strain gauge supply (bit 1)
• Error in I/O voltage supply (bit 0)
• ADC not (yet) configured
5 Channel 2: Line status monitoring 0 OK
1 Open circuit
6 Channel 2: Only valid in synchronous mode 0 A/D converter runs synchronous to X2X Link
1 A/D converter does not run synchronous to X2X Link
7 Reserved -
1) In the standard measurement range (2 to 16 mV/V), open circuit detection works reliably at all adjustable data rates. In the extended measurement range
(32 to 256 mV/V, firmware V5 or later), open circuit detection does not work reliably (because of the variable input impedance of the amplifier in relation
to the set data rate).
8.1.6.14.5.2 Strain gauge value
Name:
This register contains the raw value determined by the A/D converter for the full-bridge strain gauge with 24-bit
resolution.
DINT 0xFF800001 to 0x007FFFFF Valid range of values
0x007FFFFF Overflow
0xFF800001 Underflow
0xFF800000 Invalid value
Effective resolution
In principle, the effective resolution of the A/D converter is dependent on the data rate and the measurement range
(see "Effective resolution of the A/D converter" on page 164).
The following table shows how the effective resolution (in bits), or the RMS value range of the strain gauge value
depend on the module configuration (data rate, measurement area).

mands.
Minimum cycle time
250 µs
133 to 400 µs depending on the data rate

8.1.7 X67AI4850
This module is a 4-channel analog input module. It is used to evaluate potentiometer displacement gauges.
■ 4 inputs for potentiometer displacement gauge
8.1.7.2 Order data

X67AI4850 X67 analog input module, 4 inputs, potentiometer displacement
gauge 14-bit


Short description
I/O module 4 inputs for potentiometer displacement gauge
General information
B&R ID code 0x9957
Status indicators Channel status, operating status, module status
Diagnostics
Input Yes, using status LED and software
Connection type
Power consumption
Bus 0.75 W
Internal I/O 2W
Bus - Analog input Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply

Potentiometer supply
Potentiometer supply voltage Upot 4.5 V / max. 50 mA
Voltage drop for short circuit protection at 50 mA Max. 0.13 VDC
Potentiometer, displacement gauge
Input type Single ended input in the range from 0 to Upot
Measurement sensor 0.5 to 10 kΩ, potentiometer
Conversion time <200 µs for all channels
Output format INT (16-bit 2s complement)
Short circuit protection Upot Yes
Common-mode range 0 to Upot
Quantization; LSB value (14-bit) 275 µV
Conversion procedure Sample & Hold
Open GND circuit 0x7FFF
Open circuit on slider 0x7FFF
Open circuit on Upot 0x0000
Valid value range 0x0000 - 0x7FFF
Input filter
Slope 60 dB/Dec.
Horizontal Yes
Vertical Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


ing
1-4 Status indicator for corresponding analog input (green)
1-4 On A/D converter running
Double flash BOOT mode (during firmware update)1)
Single flash Warning/Error on an I/O channel. Overflow in analog inputs.
X2X Link
Connection A: Input
Connections for channel 1 to 4


8.1.7.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.1.7.8 Pinout
Shield
1 +24 VDC
X1 to X4 2 AI +
M12 ① 3 GND
4 NC
5 Shield


M12, 5-pin Pinout

Connections 1/2 Pin Description
1 Potentiometer supply +
1
2 2 Slider for displacement gauge
3 Potentiometer supply GND
5
4 NC
5 Shield1)
3
3
2
4
1
5
Connections 3/4
Potentiometer supply +
Potentiometer
1 2
Slider for displacement gauge ①
5 Connection x
GND 4 3
②
① Use twisted pair cables.

② Make a low resistance shield connection to the grounded potentiometer housing on the potentiometer side.
A/D converter
Reference
Potentiometer supply +
1
2 Slider for displacement gauge
5
4
3 Local
Shield Processor port
Filter
Potentiometer
Supply GND

version.

Communication
8196 ModulState USINT ●

Communication
8196 - ModulState USINT ●
Name:
The analog input value of the potentiometer is mapped in this register.
INT 0 to 32767 0 to 100% of the potentiometer
Name:
StatusInput01
Data type Values
Bit structure:
11 Open circuit
... ...
11 Open circuit

8.1.7.11.5 Operating limits
Name:
ModulState
Data type Value
Bit structure:
1-7 Reserved 0
250 µs
mands.
Minimum cycle time
250 µs

Data sheets • Analog mixed modules • Summary
8.2 Analog mixed modules

Analog mixed modules are a combination of analog input and output modules. Measured values (voltages, currents)
are converted into numerical values that can be processed by the PLC using analog inputs. Analog outputs convert
PLC internal numerical values into voltages or currents.
In the PLC, analog data is always in 16-bit 2s complement regardless of the resolution. As a result, the resolution
of the module being used does not have to be taken into account when creating the application program.
All analog mixed module channels have a status LED that indicates that A/D or D/A conversion is running.
8.2.1 Summary
X67AM1223 X67 analog mixed module, 2 inputs, 2 outputs, ±10 V, 12-bit converter resolution, configurable input filter, open 178
circuit detection for inputs

Data sheets • Analog mixed modules • X67AM1223
8.2.2 X67AM1223
The module is equipped with 2 inputs and 2 outputs with 12-bit digital converter resolution. The input/output signal
range is ±10 V.
■ 2 analog inputs, 2 analog outputs, ±10 V each
■ Open circuit detection on the inputs
8.2.2.2 Order data

X67AM1223 X67 analog mixed module, 2 inputs, 2 outputs, ±10 V, 12-bit con-
verter resolution, configurable input filter, open circuit detection
for inputs
Table 50: X67AM1223 - Order data


Model number X67AM1223

Short description
I/O module 2 analog inputs, 2 analog outputs, each ±10 V
General information
B&R ID code 0x1465
Diagnostics
Connection type
Inputs/Outputs 4x M12, A-keyed
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Sensor/Actuator power supply Max. 12 W 1)
Sensor/Actuator power supply
Voltage drop for short circuit protection at 0.5 A Max. 2 VDC
Analog inputs
Input ±10 V
Conversion time 400 µs for both inputs
Output format INT
Output format
Voltage INT 0x8001 - 0x7FFF / 1 LSB = 0x0010 = 4.882 mV
Max. error at 25°C
Gain 0.1% 2)
Offset 0.05% 3)
DC >50 dB
50 Hz >50 dB
Isolation voltage between channel and bus 500 VEff
Table 51: X67AM1223 - Technical data

Input filter
Cutoff frequency 300 Hz
Slope 40 dB
Analog outputs
Output ±10 V
Conversion time 400 µs for both outputs
Settling time for output changes over entire range Approx. 1 ms
Power on/off behavior Internal enable relay for booting and errors
Output protection Protection against wiring with supply voltage, short circuit protection
Output format INT 0x8001 - 0x7FFF / 1 LSB = 0x0010 = 4.882 mV
Load per channel Max. ±10 mA, load ≥ 1 kΩ
Output filter 1st-order low pass / cutoff frequency 2.5 kHz
Error caused by load change Max. 0.01%, from 10 MΩ → 1 kΩ, resistive
Output response when power supply is switched An enable relay is switched on at a defined value ≠ 0, default setting = 10 kΩ to GND
on/off
Current limitation ±40 mA
To GND Yes
To sensor or I/O power supply Yes
Max. error at 25°C and 10 kΩ load
Gain 0.15% 4)
Offset 0.05% 5)
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

4) Based on the current output value.
5) Based on the entire output range.


Status indicator 1 Status indicator - X2X Link.
On Off X2X Link supplied, communication OK
Status indicator 1: On On PREOPERATIONAL: X2X Link supplied, module not initialized
Left: Green, Right: Red 1-2 Status indicator for the corresponding analog input.
Blinking Input signal overflow or underflow (Rev. ≥C5 or higher)
3-4 Status indicator for the corresponding analog output
Orange On Lights as soon as the enable relay is activated (i.e. value ≠ 0
is output)
Off The enable relay has not yet been activated (no value ≠ 0 has
been output).
Status indicator 2 Status indicator for module function.
Status indicator 2: Blinking PREOPERATIONAL mode
On RUN mode
Single flash Warning/Error on an I/O channel. Overflow or underflow of the
analog inputs.
X2X Link
Connection A: Input
Analog inputs: 1 to 2
Analog outputs: 3 to 4

8.2.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.2.2.8 Pinout
Shield
1 +24 VDC
X1 to X2 2 AI +
M12 ① 3 GND
4 AI -
5 Shield
Shield
1 AO +
X3 to X4 2 +24 VDC
M12 ① 3 AO - (GND)
4 GND
5 Shield

M12, 5-pin Pinout

1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
3
M12, 5-pin Pinout

1 Output +
3
2 2 24 VDC actuator supply
3 Output - (GND)
4 GND
5 Shield1)
1
5
X3 to X4 → A-keyed (female), output

Analog inputs
Voltage source AI +
1 2
+ +24 VDC
AI -
5 Connection x
GND 4 3
Analog outputs
+24 VDC
1 2
AO +
Load
+
GND
5 Connection x
AO - 4 3
8.2.2.10 Input/Output circuit diagram
Analog input
1...2
+
1 2
Input value
A/D converter 5
4 3
I/O status -
LED (green)
Analog output Enable relay

Short circuit
protection 3...4
Output value
D/A converter
2 3
5
Reset
1 4
I/O status
LED (orange)
Short circuit and

overload protection
Monitoring of the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

and function model 1 - I/O with fast reaction

Configuration
Communication
8 AnalogOutput01 INT ●

Configuration
Communication
8 0 AnalogOutput01 INT ●


8.2.2.11.4 Function model comparison
Function model 0: I/O without jitter (standard)

Corrected values are output in the next cycle if the minimum cycle is ≥400 μs in order to reduce jitter to a minimum.
Function model 1: I/O with fast reaction
Corrected values are output in the same cycle if the minimum cycle is ≥400 μs (optimized reactions).
Comparison of the two function models
Function model 0: I/O without jitter
Value transfer Internal processing time of the I/O module

0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Values output in the next cycle
Value transfer
0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Values output in the same cycle
Name:
ConfigOutput01
Data type Values
Bit structure:
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
3 Reserved 0
7 Reserved 0

Name:
INT -32768 to 32767 Voltage signal -10 to 10 VDC
8.2.2.11.6.3 Analog outputs
Corrected values are output in the next cycle if the minimum cycle is ≥400 μs.
8.2.2.11.6.4 Output values of the analog outputs
Name:
AnalogOutput01 to AnalogOutput02
The analog output value is mapped in this register.
Data type Value Output signal:
Name:
StatusInput01
Data type Values
Bit structure:
01 Below lower limit value1)
01 Above upper limit value1)
11 Open line
01 Below lower limit value1)
11 Open line
4-7 Reserved 0
1) Starting with revision ≥C5.

Value Limit value
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Example 1
Filter level = 2
Input value
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Value Filter level
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

Example 1
Input value
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]

Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
mands.
Minimum cycle time
Without filtering 250 μs
With filtering >500 μs
Inputs without filtering
All channels per bus cycle 400 μs
Outputs 400 μs

8.2.3 X67AM1323
The module is equipped with 2 inputs and 2 outputs with 12-bit digital converter resolution. The input/output signal
range is 0 to 20 mA.
■ 2 analog inputs, 2 analog outputs, each 0 to 20 mA
8.2.3.2 Order data

X67AM1323 X67 analog mixed module, 2 inputs, 2 outputs 0 to 20 mA, 12-
bit converter resolution, configurable input filter
Table 52: X67AM1323 - Order data



Short description
I/O module 2 analog inputs, 2 analog outputs, each 0 to 20 mA
General information
B&R ID code 0x1466
Diagnostics
Connection type
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Analog inputs
Input 0 to 20 mA
Output format INT
Output format
Current INT 0x0000 - 0x7FFF / 1 LSB = 0x0010 = 4.883 µA
Load <300 Ω
Max. error at 25°C
Gain 0.1% 2)
Offset 0.05% 3)
DC >50 dB
50 Hz >50 dB

Input filter
Cutoff frequency 300 Hz
Slope 40 dB
Analog outputs
Output 0 to 20 mA
Conversion time 400 µs for both outputs
Output format INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 4.883 µA
Load per channel Max. load is 400 Ω
Max. gain drift 0.015% / °C 4)
Error caused by load change Max. 0.5%, from 1 Ω → 400 Ω, resistive
on/off
To GND Yes
Max. error at 25°C and 50 Ω load
Gain 0.2% 4)
Offset 0.05% 5)
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 175 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1:
1-2 Status indicator for the corresponding analog input.
Blinking Input signal overflow (starting rev. ≥D0)
Off Sensor is disconnected
3-4 Status indicator for the corresponding analog output
Orange On Lights as soon as the enable relay is activated (i.e. value ≠ 0
is output)
been output).
Status indicator 2:
Left: Green, Right: Red Blinking PREOPERATIONAL mode
On RUN mode
X2X Link
Connection A: Input
Analog inputs: 1 to 2
Analog outputs: 3 to 4

8.2.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.2.3.8 Pinout
Shield
1 +24 VDC
X1 to X2 2 AI +
M12 ① 3 GND
4 AI -
5 Shield
Shield
1 AO +
X3 to X4 2 +24 VDC
M12 ① 3 AO - (GND)
4 GND
5 Shield

M12, 5-pin Pinout

1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
3
M12, 5-pin Pinout

1 Output +
3
3 Output - (GND)
4 GND
5 Shield1)
1
5

Analog inputs
Current source AI +
1 2
+ +24 VDC
AI -
5 Connection x
GND 4 3
Analog outputs
+24 VDC
1 2
AO +
Load
+
GND
5 Connection x
AO - 4 3
Analog input Overload

protection
1...2
+
1 2
Input value
A/D converter 5
4 3
I/O status -
LED (green)
Analog output Short circuit Enable relay

protection
3...4
Output value
D/A converter
2 3
5
Reset
1 4
I/O status
LED (orange)
Short circuit and

overload protection
Monitoring of the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.


Configuration
Communication
StatusAnalogInput01 Bit 1

Configuration
Communication



0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Value transfer
0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Name:
ConfigOutput01
Data type Values
Bit structure:
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
3 Reserved 0
7 Reserved 0

Name:
INT 0 to 32767 Voltage signal 0 to 20 mA
8.2.3.11.6.4 Output values of the analog outputs
Name:
The analog output value is mapped in this register.
INT 0 to 32767 Voltage signal 0 to 20 mA
Name:
StatusAnalogInput01 to StatusAnalogInput02
Data type Values
Bit structure:
0-1 StatusAnalogInput01 00 No error
01 Reserved
10 Below upper limit value1)
11 Reserved
2-3 StatusAnalogInput02 00 No error
01 Reserved
11 Reserved
4-7 Reserved 0
1) Starting with revision ≥D0

Value Limit value
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Example 1
Filter level = 2
Input value
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Value Filter level
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

Example 1
Input value
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]

Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
mands.
Minimum cycle time
With filtering >500 μs
Inputs without filtering
All channels per bus cycle 400 μs
Outputs 400 μs

Data sheets • Analog output modules • Summary
8.3 Analog output modules

Analog output modules convert PLC internal numerical values into voltages or currents. The numerical values
which are to be converted must be in 16-bit 2s complement. The conversion takes place independently of the
resolution of the output module used.
Every channel on an analog output module has a status LED.
8.3.1 Summary
X67AO1223 X67 analog output module, 4 outputs, ±10 V, 12-bit converter resolution 205

Data sheets • Analog output modules • X67AO1223
8.3.2 X67AO1223
The module is equipped with 4 inputs with 12-bit digital converter resolution. The output signal range is ±10 V.
■ 4 analog outputs ±10 V
■ Integrated enable relay for initial phase
8.3.2.2 Order data

Analog output modules
X67AO1223 X67 analog output module, 4 outputs, ±10 V, 12-bit converter
resolution
Table 54: X67AO1223 - Order data


Model number X67AO1223

Short description
I/O module 4 analog outputs ±10 V
General information
B&R ID code 0x16F3
Diagnostics
Connection type
Outputs 4x M12, A-keyed
Power consumption
Internal I/O 4W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Actuator power supply Max. 12 W 1)
Analog outputs
Output ±10 V
Conversion time 400 µs for all outputs
Output format Example: INT 0x8001 - 0x7FFF / 1 LSB = 0x0010 = 4.882 mV
Load per channel Max. ±10 mA, load ≥1 kΩ
Error caused by load change Max. 0.01%, from 10 MΩ → 1 kΩ, resistive
Isolation voltage between channel and bus 500 Veff
on/off
To actuator or I/O power supply Yes
To GND Yes
Gain 0.15% 2)
Offset 0.05% 3)
Actuator power supply
Any Yes
Table 55: X67AO1223 - Technical data

Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) The power consumption of the actuators connected to the module is not permitted to exceed 12 W.

Status indicator 1:
ing
I/O LEDs: Status indicator for the corresponding analog output
Orange On Lights as soon as the enable relay is activated (i.e. a value ≠ 0
is output)
been output yet).
On RUN mode
Status indicator 2:
Left: Green, Right: Red Right Color Status Description
X2X Link
Connection A: Input
Analog outputs 1 to 4


8.3.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.3.2.8 Pinout
Shield
1 AO +
X1 to X4 2 +24 VDC
M12 ① 3 AO - (GND)
4 GND
5 Shield


M12, 5-pin Pinout

1 Output +
1
3 Output - (GND)
5
4 GND
5 Shield1)
3
3
2
4
1
5
Connections 3/4
+24 VDC
1 2
AO +
Load
+ 5 Connection x
GND
AO - 4 3
8.3.2.10 Analog output - Output circuit diagram
Short circuit Enable relay

protection
1...4
Output value
D/A converter
2 3
5
Reset
1 4
I/O status
LED (orange)

Monitoring of the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.


Communication

Communication



0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Value transfer
0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Output values of the analog outputs
Name:
This register is used to indicate the analog output value.
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0

Name:
asy_SupplyInput
mands.
Minimum cycle time
250 μs
400 μs

8.3.3 X67AO1323
The module is equipped with 4 inputs with 12-bit digital converter resolution. The output signal range is 0 to 20 mA.
■ 4 analog outputs 0 to 20 mA
■ Integrated enable relay for initial phase
8.3.3.2 Order data

Analog output modules
X67AO1323 X67 analog output module, 4 outputs, 0 to 20 mA, 12-bit con-
verter resolution
Table 56: X67AO1323 - Order data



Short description
I/O module 4 analog outputs, 0 to 20 mA
General information
B&R ID code 0x16F4
Diagnostics
I/O power supply Yes, using LED status indicators and software
Connection type
Power consumption
Internal I/O 4.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Analog outputs
Output 0 to 20 mA
Conversion time 400 µs for all outputs
Output format Example: INT 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 4.883 µA
Load per channel Max. load is 400 Ω
Output filter Example: 1st-order low pass / cutoff frequency 1.5 kHz
Error caused by load change Max. 0.5%, from 1 Ω → 400 Ω, resistive
on/off
To GND Yes
Max. error at 25°C and 50 Ω load
Gain 0.2% 2)
Offset 0.05% 3)
Any Yes

Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1:
ing
Orange On Lights as soon as the enable relay is activated (i.e. a value ≠ 0
is output)
been output yet).
On RUN mode
Status indicator 2:
Left: Green, Right: Red Right Color Status Description
X2X Link
Connection A: Input
Analog outputs 1 to 4


8.3.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.3.3.8 Pinout
Shield
1 AO +
X1 to X4 2 +24 VDC
M12 ① 3 AO - (GND)
4 GND
5 Shield


M12, 5-pin Pinout

1 Output +
1
3 Output - (GND)
5
4 GND
5 Shield1)
3
3
2
4
1
5
Connections 3/4
+24 VDC
1 2
AO +
Load
+
GND
5 Connection x
AO - 4 3
8.3.3.10 Analog output - Output circuit diagram
Short circuit Enable relay

protection
1...4
Output value
D/A converter
2 3
5
Reset
1 4
I/O status
LED (orange)

Monitoring of the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.


Communication




0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Value transfer
0 1 2 3 4 5
X2X
I/O
0 1 2 3 4 5
Output values of the analog outputs
Name:
This register is used to indicate the analog output value mode.
INT 0 to 32767 Current signal 0 to 20 mA
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0

Name:
asy_SupplyInput
mands.
Minimum cycle time
250 μs
400 μs

Data sheets • Bus controller modules • Summary
8.4 Bus controller modules

Bus controllers can be used to connect X67 system modules to standard fieldbuses. The following functions are
also implemented:
• Digital mixed module: Along with controller function, the bus controllers are equipped with additional
digital channels. The digital channels are configurable as inputs or outputs.
• Integrated power supply: The voltages required internally are created from supply voltage of 2x24VDC.
The I/O supply can be managed using an emergency stop switch through distribution of the supply voltage.
When an emergency stop is actuated, the inputs and outputs are switched off, but the power applied to
the electronics is maintained.
8.4.1 Summary
X67BC4321-1 X67 bus controller, 1 CANopen interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs 222
or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, I/O power supply possible via
CAN bus connector
X67BC4321-10 X67 bus controller, 1 CANopen interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs 233
or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, CAN bus electrically isolated,
X67BC4321.L08-10 X67 bus controller, 1 CANopen interface, X2X Link power supply 15 W, 16 digital channels configurable as 244
inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, CAN bus electrically isolated,
M8 connectors, high-density module
X67BC4321.L12-10 X67 bus controller, 1 CANopen interface, X2X Link power supply 15 W, 16 digital channels configurable as 255
inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, CAN bus electrically isolated,
X67BC5321 X67 bus controller, 1 DeviceNet interface, X2X Link power supply 3 W, 8 digital channels configurable as inputs 266
or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC6321 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power supply 3 W, 8 digital channels configurable as 276
inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC6321.L08 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power supply 15 W, 16 digital channels configurable 285
as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, M8 connectors, high-
density module
X67BC6321.L12 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power supply 15 W, 16 digital channels configurable 294
density module
X67BC7321-1 X67 bus controller, 1 CAN I/O interface, extended CAN I/O function, X2X Link power supply 3 W, 8 digital 304
channels configurable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC8321-1 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 3 W, 8 digital channels configurable as 314
inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BC8321.L12 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 15 W, 16 digital channels configurable 325
density module
X67BC8331 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 3 W, 8 digital channels configurable as 336
inputs or outputs, 24 VDC, 2 A, configurable input filter
X67BC8513.L12 X67 bus controller, 1 POWERLINK interface, X2X Link power supply 15 W, 12 digital channels configurable as 350
inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 1 event counters 50 kHz, 1 analog input 0 to 20 mA,
12-bit, M12 connectors, high-density module
X67BC8780.L12 X67 POWERLINK bus controller, 1x CAN interface, with active wiring help for 8x M12 connections (star wiring), 372
M12 connections, LED status indicators, high-density module
X67BCD321.L12 X67 bus controller, 1 EtherNet/IP interface, X2X Link power supply 15 W, 16 digital channels configurable as 392
inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, M12 connectors, high-
density module
X67BCD321.L12-1 X67 bus controller, 1 EtherNet/IP interface, X2X Link supply 15 W, 16 digital channels configurable as inputs 392
or outputs, 24 VDC, 0.5 A, pinning variant, configurable input filter, 2 event counters 50 kHz, M12 connectors,
high-density module
X67BCE321.L12 X67 bus controller, 1 PROFINET interface, X2X Link power supply 15 W, 16 digital channels configurable as 403
density module
X67BCG321.L12 X67 bus controller, 1 EtherCAT interface, X2X Link power supply 15 W, 16 digital channels configurable as 415
density module
X67BCJ321 X67 bus controller, 1 Modbus TCP/UPD interface, X2X Link power supply 3 W, 8 digital channels configurable 425
as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz
X67BCJ321.L12 X67 bus controller, 1 Modbus TCP/UDP interface, X2X Link power supply 15 W, 16 digital channels configurable 436
density module

Data sheets • Bus controller modules • X67BC4321-1
8.4.2 X67BC4321-1
CAN (Controller Area Network) systems are widespread in the field of automation technology. CAN topology is
based on a line structure and uses twisted wire pairs for data transfer. CANopen is a higher-layer protocol based
on CAN. As a standardized protocol, it provides a high degree of flexibility for implementing a wide range of con-
figurations.
These bus controllers make it possible to connect X2X Link I/O nodes to CANopen. Both bus controllers are
equipped with automatic transfer rate detection and auto-mapping of the I/O modules connected via X2X Link.
All CANopen operating modes such as synchronous, event, and polling modes are supported together with PDO
linking, life/node guarding, emergency objects, and much more.
On the bus controller, it is possible to supply the CAN interface via the male M12 CAN bus connector. This elimi-
nates the need to supply the power via the M8 power supply connector.
• Fieldbus: CANopen
• 8 digital channels, configurable as inputs or outputs
• Simple I/O configuration via the fieldbus
• Integrated connection to local expansion via X2X Link for 39 additional modules
• Cycle time for local expansion configurable from 400 μs to 1.3 ms (default: 1 ms)
Information:
This bus controller only supports the standard function model for multi-function modules. The stan-
dard function model is explained in the description for each multi-function module.
8.4.2.2 Order data

Bus controller modules
X67BC4321-1 X67 bus controller, 1 CANopen interface, X2X Link power sup-
ply 3 W, 8 digital channels configurable as inputs or outputs, 24
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz, I/
O power supply possible via CAN bus connector
Table 58: X67BC4321-1 - Order data

See "Required cables and connectors" on page 229.

Model number X67BC4321-1

Short description
Bus controller CANopen
General information
Inputs/Outputs 8 digital channels, configurable as inputs or outputs using software, inputs with additional functions
B&R ID code
Bus controller 0xA40E
Internal I/O module 0x1311
Sensor/Actuator power supply 0.5 A summation current
Diagnostics
Outputs Yes, using status LED and software
Connection type
Fieldbus M12, A-keyed
Inputs/Outputs 8x M8, 3-pin
Power output 3 W X2X Link power supply for I/O modules
Power consumption
Fieldbus 3.8 W
Internal I/O -
X2X Link power supply 5.5 W at maximum power output for connected I/O modules
Fieldbus - X2X Link Yes
Channel - Bus No (CAN) / Yes (X2X)
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus CANopen
Design M12 interface (male connector on the module)
Max. distance 1000 m
Transfer rate Max. 1 Mbit/s
Default transfer rate Automatic transfer rate detection
Min. cycle time 1)
Fieldbus No limitations
X2X Link 400 μs
Synchronization between bus systems possible No
Terminating resistor Can be optionally screwed onto the Y-connector
I/O power supply
Power consumption
Digital inputs
Input voltage 18 to 30 VDC
Input current at 24 VDC Typ. 4 mA
Input characteristics in accordance with EN Type 1
61131-2
Input filter
Hardware ≤10 μs (channels 1 to 4) / ≤70 µs (channels 5 to 8)
Software Default 0 ms, configurable between 0 and 25 ms in 0.1 ms intervals
Table 59: X67BC4321-1 - Technical data

Input circuit Sink
Additional functions 50 kHz event counting, gate measurement
Input resistance Typ. 6 kΩ
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Signal form Square wave pulse
Evaluation Each falling edge, cyclic counter
Input frequency Max. 50 kHz
Counter 1 Input 1
Counter 2 Input 3
Counter frequency Max. 50 kHz
Counter size 16-bit
Gate measurement
Quantity 1
Evaluation Rising edge - Falling edge
Counter frequency
Internal 48 MHz, 3 MHz, 187.5 kHz
Counter size 16-bit
Length of pause between pulses ≥100 µs
Pulse length ≥20 µs
Supported inputs Input 2 or input 4
Digital outputs
Design FET positive switching
Switching voltage I/O power supply minus residual voltage
Nominal output current 0.5 A
Total nominal current 4A
Output circuit Source
Output protection Thermal cutoff for overcurrent and short circuit, integrated protection for
switching inductances, reverse polarity protection for output power supply
Diagnostic status Output monitoring with 10 ms delay
Leakage current when switched off 5 µA
Switching on after overload cutoff Approx. 10 ms (depends on the module temperature)
Residual voltage <0.3 V at 0.5 A rated current
Peak short circuit current <12 A
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Resistive load Max. 100 Hz
Inductive load See section "Switching inductive loads"
Braking voltage when switching off inductive loads 50 VDC
Any Yes
Temperature
Operation 0 to 60°C
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 205 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) The minimum cycle time defines how far the bus cycle can be reduced without communication errors occurring.
2) The power consumption of the sensors and actuators connected to the module is not permitted to exceed 12 W.

Figure LED Color Status Description

Status indicator 1
Left Green Off No power supply
On RUN mode
Status indicator 1:
Single flash STOP mode
Flashing Flash delete in progress
Right Red Off No power supply or everything OK
Single flash Bus error
On Bus error: Bus is off
Triple flash Transfer rate selection
Double flash Parameters cleared
Long flash Invalid node switch position
Green/Red Flickering Transfer rate detection in progress
I/O LEDs
1-8 Orange Input/Output status of the corresponding channel.
Left Green Off No power to module
Left: Green, Right: Red Right Red Off No power to module or everything OK
Single flash Warning/Error on an I/O channel. Level moni-
toring for digital outputs has been triggered.
LED status indicators - Blinking patterns
Long flash
400 800
Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
3
Flashing
500
Flickering
green/red
50
All times in ms

8.4.2.5 Operating and connection elements
Fieldbus interface X2X Link

Connector A: Input Connector B: Output
Digital inputs/outputs 1 to 8
24 VDC I/O power supply 24 VDC I/O power supply

Connector C: Supply Connector D: Routing
8.4.2.6 Fieldbus interface
The bus controller is connected to the fieldbus using pre-assembled cables. The connection is made using M12
circular connectors.
Connection Pinout
Pin Name
3 A 1 Shield1)
2 24 VDC I/O power supply
3 CAN⊥
2
4 CAN_High
5 CAN_Low
4
1 1) Shield connection also made via threaded insert in the module
5
A → A-keyed (male), input
8.4.2.6.1 Node number and transfer rate
The node number and transfer rate are configured using the two number switches on the bus controller.
The transfer rate can be specified in 2 ways:
• Automatic detection by bus controller (see "Automatic transfer rate detection" on page 227)
• Programmed by the user (see "Setting the transfer rate" on page 227)
High Low
Switch position Node number Transfer rate

0x00 Not permitted -
0x01 - 0x7F 1 to 127 Automatically set by the bus controller (default) or pro-
grammed by the user
0x80 - 0x89 - Setting the transfer rate
0x8A - 0x8F Not permitted -
0x90 Clear parameters (see "Clearing parameters" on page 228) -
0x91 - 0xFF Not permitted -

8.4.2.6.1.1 Automatic transfer rate detection
After booting, the bus controller goes into "Listen only" mode. This means the bus controller behaves passively
on the bus and only listens.
The bus controller attempts to receive valid objects. If receive errors occur, the controller switches to the next
transfer rate in the lookup table.
If no objects are received, all transfer rates are tested cyclically. This procedure is repeated until valid objects are
received.
Lookup table
The controller tests the transfer rate according to this table. Beginning with the starting transfer rate (1000 kbit/s),
the controller switches to the next lower transfer rate. At the end of the table, the bus controller restarts the search
from the beginning.
Transfer rate
1000 kbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
100 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s
8.4.2.6.1.2 Setting the transfer rate
The bus controller will detect the transfer rate automatically by default. Switch positions 0x80 to 0x88 can be used
to set a fixed transfer rate, or 0x89 can be used to enable automatic transfer rate detection.
Switch position Transfer rate
0x80 1000 kbit/s
0x81 800 kbit/s
0x82 500 kbit/s
0x83 250 kbit/s
0x84 125 kbit/s
0x85 100 kbit/s
0x86 50 kbit/s
0x87 20 kbit/s
0x88 10 kbit/s
0x89 Automatic transfer rate detection
Programming the transfer rate

1. Turn off the power supply to the bus controller.
2. Define the transfer rate to be programmed by setting the node numbers (0x80 to 0x89)
3. Turn on the power supply to the bus controller.
4. Wait for a red triple flash on the "Status indicator 1" LED (transfer rate is now programmed).
6. Set the desired node number (0x01 - 0x7F).
8. The bus controller now boots with the set node number and the programmed transfer rate.

8.4.2.6.1.3 Clearing parameters
Various parameters can be stored in the bus controller's flash memory:

• Communication parameters
• Application parameters
• Programmed transfer rate
Clearing the parameters using switch position 0x90 returns the bus controller to its factory settings.
Clearing the parameters listed above

2. Set the node number to 0x90.
4. Wait until the "Status indicator 1" LED blinks green for 5 s. The node number switch must be set to 0x00 and
then back to 0x90 within this time window.
5. Wait until the "Status indicator 1" LED blinks with a red double-flash (parameters have been cleared).
9. The bus controller boots with the set node number and automatic transfer rate detection.
8.4.2.6.2 System configuration
A digital mixed module is already integrated in the bus controller. Up to 39 additional I/O modules can be connected
to the bus controller.
CAN fieldbus X2X Link
CANopen
master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:
3 W are provided by the bus controller for additional X67 modules or other X2X Link-based modules.
System supply module X67PS1300 is needed for additional power. This supply module provides 15 W
for additional modules. It should be mounted in the middle of the modules that are to be supplied with
power.

8.4.2.6.3 Required cables and connectors
The bus controller is connected to the fieldbus using a Y-connector. This allows the bus controller to be exchanged
without interrupting fieldbus communication.
The bus terminating resistor is housed in a connector and screwed onto the Y-connector when needed.
Fieldbus
Attachment cables Fieldbus Male connector
X67CA0C22.xxxx Connection cables X67AC0C0/X67AC2C01
X67CA0C32.xxxx X67CA0C02.xxxx or
Fieldbus
Fieldbus Terminating resistor
X67CA8C00
X2X Link
X2X Link Open-ended cables
Connection cables X67CA0X41.xxxx
X67CA0X11.xxxx
X67BC X67BC X67BC
I/O power supply

I/O power supply
Attachment cables
I/O Connection cables I/O
X67CA0P20.xxxx
X67CA0P00.xxxx
X67CA0P30.xxxx I/O power supply
X67CA0P10.xxxx
Open-ended cables
X67CA0P40.xxxx
X67CA0P50.xxxx
I/O
8.4.2.7 X2X Link
Additional modules are connected to the bus controller via X2X Link using pre-assembled cables. The connection
is made using M12 circular connectors.
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4 Shield provided by threaded insert in the module
1
B → B-keyed (female), output

The I/O power supply is connected via M8 connectors C and D. The I/O power supply is connected via connector C
(male). Connector D (female) is used to route the I/O power supply to other modules. The X2X Link power supply
and the CAN and I/O power supply are fed separately via pins 1 and 2.
Connection Pinout
2 C Pin Connector C (male) Connector D (female)
1 1 24 VDC X2X Link 24 VDC I/O
2 24 VDC CAN and I/O 24 VDC I/O
4
3 GND GND
4 GND GND
3
D 2 C → Connector (female) in module, routing of I/O power supply
1
The electrically isolated power supply integrated on the module for supplying the X2X Link can supply up to 4 X67
modules without having to install an additional X67PS1300 system supply module.
Because the I/O power supply for CAN bus and I/O is not isolated on this bus controller, it is not possible to shut
off the I/O power supply using an E-stop switch and still maintain CAN or X2X Link communication.
It is possible to supply the module with 24 VDC solely via pin 2 of the CAN interface (male).
Information:
There is no integrated overload protection. An external 1.6 A fuse must therefore be installed to prevent
damage to the module (e.g. caused by a short circuit on the supply routing).
The voltage supplied via pin 2 of CAN interface A (male) is also available on pins 1 and 2 of M8 connector D
(female).
Information:
Note the following if voltage is supplied via pin 2 of the CAN interface and routed via connector D
(female):
• A maximum of one additional I/O module can be connected.
• A maximum load of 400 mA can be applied to the digital I/O channels.

8.4.2.9 Integrated digital mixed module
1 additional mixed module can be saved by the digital mixed module integrated in the bus controller.
8.4.2.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x
① X67CA0D40.xxxx: M8 sensor cable, straight

X67CA0D50.xxxx: M8 sensor cable, angled
M8, 3-pin Pinout

3 Pin Name
4
1 24 VDC sensor/actuator power supply1)
3 GND
4 Inputs/Outputs
1) Sensors/Actuators are not permitted to be supplied externally.
1
Connections (female), input/output
1
4
8.4.2.9.3 Connection examples
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

8.4.2.9.4 Input/Output circuit diagram
Output status Control logic,

temperature
cutoff 4
VDR 3 1
Input status Filter (tIN)
I/O status
LED (orange)
Short circuit
and overload protection
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V
8.4.2.9.5 Switching inductive loads
Coil inductance
100 H 10 H
1000
1H
Coil resistance [Ω]
100 mH
100
10 mH
50
0.1 1 10 100
Max. switching cycles / second

(with 90% duty cycle)
8.4.2.10 Additional documentation and import files (EDS)
Additional documentation about bus controller functions as well as the necessary import files for the master engi-
neering tool are available in the Downloads section of the B&R website (www.br-automation.com).
See section "Register description" on page 543.

8.4.3 X67BC4321-10
figurations.
The bus controller makes it possible to connect up to 253 X2X Link I/O modules to CANopen. A transition between
IP20 and IP67 protection outside of the control cabinet is possible by aligning X20, X67 or XV modules one after
the other as needed at distances up to 100m. All CANopen transmission types such as synchronous, event and
polling modes are supported together with PDO linking, life/node guarding, emergency objects, and much more.
• Auto-configuration of I/O modules
• Convenient I/O configuration with Automation Studio V4.3 and later
• Constant response times even with large amounts of data (max. 32 Rx and 32 Tx PDOs)
• Configurable I/O cycle (0.5 to 4 ms)
• Possible to configure the transfer rate or have it detected automatically
• Heartbeat consumer and producer, emergency producer
• 2x SDO server, NMT slave
• Simple bootup (autostart)
Information:
Only the standard function model (see the respective module description) is supported when the bus
controller is used together with multi-function modules it has automatically configured itself.
Automation Studio V4.3 or later can be used to create configuration files (e.g. DCF files) in 6 easy steps.
All other function models are also supported by transferring configuration data to the bus controller
(e.g. via the master environment with an SDO download).
Automation Studio can be downloaded at no cost from the B&R website www.br-automation.com. The
evaluation license is permitted to be used to create complete configurations for fieldbus bus con-
trollers at no cost.
8.4.3.2 Order data

X67BC4321-10 X67 bus controller, 1 CANopen interface, X2X Link power sup-
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz,
CAN bus electrically isolated,



Short description
General information
B&R ID code
Bus controller 0xA90D
Internal I/O module 0xB528
Diagnostics
Connection type
Power consumption
Fieldbus 2W
Internal I/O 2.1 W
X2X Link power supply 6 W at maximum power output for connected I/O modules
Channel - Bus Yes (CAN and X2X Link)
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus CANopen
Min. cycle time 1)
X2X Link 500 μs
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter

Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1: Status indicator for CANopen bus controller
STATUS 1) Status indicator for the CAN STATUS
Green Off No power supply
Triple flash Downloading firmware
Blinking Mode PREOPERATIONAL
On Mode RUN
Status indicator 1:
Red Off No power supply or everything OK
Left: STATUS, Right: MS
Single flash CAN warning limit reached
Double flash Node guarding / Heartbeat error
Quad flash Successfully saved configuration
Blinking Invalid node number or configuration
On Bus error: Bus off
MS 2) Module status indicator
Flashing 5 s window for deleting all configuration settings
On Boot procedure OK, I/O modules OK
Red Double flash Configuration settings successfully cleared
Triple flash Successfully saved transfer rate
On I/O modules: Error message or incorrect configuration
I/O LEDs: Status indicator for I/O channels
1-8 Orange - Input/Output status of the corresponding channel
Status indicator 2: Status indicator 2: Status indicator for module functionality
Left: Green, Right: Red Left Green Off No power to module
On Mode RUN
Single flash Warning/Error on an I/O channel. Level monitoring for digital outputs has
been triggered.
1) The STATUS LED (CAN status) is a green/red dual LED.

2) The "MS" (module status) LED is a green/red dual LED. The LED blinks red several times immediately after startup. This is a boot message, however,
and not an error.
LED status indicators - Blink times
Quad flash
200 200 200 200 200 200 200 1000
Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
3
Flashing
500
Green/Red
Flickering
50
All times in ms



Connection Pinout
Pin Name
3 A 1 Shield1)
2 Not used
3 CAN⊥
2
4 CAN_High
5 CAN_Low
4
1 1) Shield also provided by threaded insert in module.
5
High Low

0x01 - 0x7F 1 to 127 Automatically set by the bus controller
(default) or programmed by the user
0x90 Clearing parameters -
0x92 Save automatic configuration -

received.
Lookup table
from the beginning.
Transfer rate
1000 kbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
100 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s
0x80 1000 kbit/s
0x81 800 kbit/s
0x82 500 kbit/s
0x83 250 kbit/s
0x84 125 kbit/s
0x85 100 kbit/s
0x86 50 kbit/s
0x87 20 kbit/s
0x88 10 kbit/s

1. Switch off the power supply to the bus controller.
2. Define the transfer rate by selecting the switch position (0x80 to 0x89).
3. Switch on the power supply to the bus controller.
4. Wait until LED "MS" blinks with a red triple flash (transfer rate is now programmed).



4. Wait until the "MS" LED blinks green for 5 s (100 ms on / 200 ms off). The node number switch must be set
to 0x00 and then back to 0x90 within this time window.
5. Wait until the "MS" LED blinks with a red double-flash (parameters have been cleared).
8.4.3.6.1.4 Save automatic configuration
The node number position 0x92 can be used to save automatically generated configurations. This makes it possible
to work with a standardized configuration without having to adapt the application to changes associated with service
work or different development stages for example.
4. Wait until the "MS" LED flashes green.
5. The node number switch must be set to 0x00 and then back to 0x90 within this time window of 5 seconds
(turn switch "High").
10.Wait until the "MS" LED flashes green.
12.Wait until the "MS" LED blinks with a red quad-flash (parameters have been saved).
13.Turn off the power supply to the bus controller.
14.Set the desired node number (0x01 - 0x7F).
15.Turn on the power supply to the bus controller.
16.The bus controller boots with the set node number and automatic transfer rate detection.
Information:
A mapping tool for decoding the saved PDO mapping is available in the Download section of the B&R
website (www.br-automation.com).

A digital mixed module is already integrated in the bus controller. Up to 252 additional I/O modules can be connected
CANopen
master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:
System supply module X67PS1300 is needed for additional power. This system supply module pro-
vides 15 W for additional modules. Each one should be mounted in the middle of the modules that are
to be supplied with power.
Fieldbus
Fieldbus
X67CA8C00
X2X Link
X67CA0X11.xxxx
X67BC X67BC X67BC
I/O power supply

I/O power supply
Attachment cables
X67CA0P20.xxxx
X67CA0P00.xxxx
X67CA0P10.xxxx
Open-ended cables
X67CA0P40.xxxx
X67CA0P50.xxxx
I/O
8.4.3.7 X2X Link
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
1 1 24 VDC fieldbus and X2X Link 24 VDC I/O
2 24 VDC I/O 24 VDC I/O
4
3 GND GND
4 GND GND
3
1
8.4.3.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
Coil resistance [Ω] 100 mH
100
10 mH
50
0.1 1 10 100

neering tool are available for download from the Downloads section of the B&R website (www.br-automation.com).

Data sheets • Bus controller modules • X67BC4321.L08-10
8.4.4 X67BC4321.L08-10
figurations.
• Easy I/O configuration using Automation Studio V4.3 or later
Information:
8.4.4.2 Order data

X67BC4321.L08-10 X67 bus controller, 1 CANopen interface, X2X Link power sup-
ply 15 W, 16 digital channels configurable as inputs or outputs,
24 VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz,
CAN bus electrically isolated, M8 connectors, high-density mod-
ule
Table 62: X67BC4321.L08-10 - Order data


Model number X67BC4321.L08-10

Short description
General information
B&R ID code
Bus controller 0xB129
Diagnostics
Connection type
Power output 15 W X2X Link supply for I/O modules
Power consumption
Fieldbus 2.11 W
Internal I/O 3.71 W
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus CANopen
Design 2x M12 interface for the Y-connector integrated in the module
Min. cycle time 1)
X2X Link 500 μs
Terminating resistor Can be optionally screwed onto the integrated Y-connector
I/O power supply
Power consumption
Digital inputs
Input characteristics per EN 61131-2 Type 1
Input filter
Input circuit Sink
Table 63: X67BC4321.L08-10 - Technical data

Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Output protection Thermal cutoff on overcurrent or short circuit, integrated protection for
Switching delay
0→1 <400 µs
1→0 <400 µs
Switching frequency
Any Yes
Protection per EN 60529 IP67
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 300 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1: Status indicator for CANopen bus controller
Status indicator 1:
Left: STATUS, right: MS
On RUN mode
7
1 11 On Bus error: Bus off
2
8
12 Green Off No power supply
3 13
4
9
14
Red Double flash Configuration settings successfully cleared
5 15 On I/O modules: Error message or incorrect configuration
10 I/O LEDs: Status indicators for I/O channels
5 16
1 - 16 Orange - Input/Output status of the corresponding channel
Left: green, Right: red On RUN mode
been triggered.
1) The STATUS LED (CAN status) is a green/red dual LED.

and not an error.
Quad flash
200 200 200 200 200 200 200 1000
Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
3
Flashing
500
Green/Red
Flickering
50
All times in ms

Fieldbus interface
Connector A: Input
Connector B1: Output
X2X Link
7
1 11
2 12
8
3 13
4
9
14
5 15
10
5 16

Connector C: Supply
Connection Pinout
3 A Pin Name
1 Shield1)
2 Not used
2
3 CAN⊥
4 4 CAN_High
1 5 CAN_Low
5
B1 3 A → A-keyed (male), input
B1 → A-keyed (female), output
2
4
1
High Low


received.
Lookup table
from the beginning.
Transfer rate
1000 kbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
100 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s
0x80 1000 kbit/s
0x81 800 kbit/s
0x82 500 kbit/s
0x83 250 kbit/s
0x84 125 kbit/s
0x85 100 kbit/s
0x86 50 kbit/s
0x87 20 kbit/s
0x88 10 kbit/s




Information:

A digital mixed module is already integrated in the bus controller. Up to 252 additionalI/O modules can be connected
CANopen
master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:
The bus terminating resistor is housed in a male connector and screwed into the B1 connector when needed.
Connector
Fieldbus X67AC0C0/X67AC2C01
Attachment cables or
X67CA0C22.xxxx Fieldbus
X67CA0C32.xxxx Connection cables Fieldbus
X67CA0C22.xxxx Terminating resistor
X67AC9C03
X2X Link X2X Link

Connection cables Open-ended cables
I/O I/O
X67BC X67BC X67BC I/O power supply

Open-ended cables
I/O power supply I/O power supply X67CA0P40.xxxx
I/O
8.4.4.7 X2X Link
Additional modules can be connected to the bus controller via X2X Link using pre-assembled cables. The connec-
tion is made using an M12 circular connector.
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
B2 → B-keyed (female), output

Information:
Connection Pinout
4
3 GND GND
4 GND GND
3
1
8.4.4.9.1 Pinout
7
1 11
2 12
8 1 +24 VDC
X1 to X16
3 GND
3 13 M8 ①
4 DI/DO x
9
4 14
5 15
10
6 16

8.4.4.9.2 Connection X1 to X16
M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


8.4.5 X67BC4321.L12-10
figurations.
• Easy I/O configuration using Automation Studio V4.3 or later
Information:
8.4.5.2 Order data

X67BC4321.L12-10 X67 bus controller, 1 CANopen interface, X2X Link power sup-
24 VDC, 0.5 A, configurable input filter, 2 event counters 50
kHz, CAN bus electrically isolated, M12 connectors, high-densi-
ty module
Table 64: X67BC4321.L12-10 - Order data



Short description
General information
B&R ID code
Bus controller 0xB12A
Internal I/O module 0xB52A
Diagnostics
Connection type
Power consumption
Fieldbus 2.11 W
Internal I/O 3.71 W
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus CANopen
Min. cycle time 1)
X2X Link 500 μs
I/O power supply
Power consumption
Digital inputs
Input filter
Input circuit Sink

Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0→1 <400 µs
1→0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 300 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1
Status indicator 1:
Left: Status, Right: MS
On RUN mode
1-1 5-1 On Bus error: Bus off
1-2 5-2
2-1 6-1
2-2 6-2
3-1 7-1 Red Double flash Configuration settings successfully cleared
3-2 7-2 On I/O modules: Error message or incorrect configuration
4-1 8-1
I/O LEDs
4-2 8-2
1-1/2 to 8-1/2 Orange - Input/Output status of the corresponding channel
been triggered.
1) The "Status" LED (CAN status) is a green/red dual LED.

and not an error.
Quad flash
200 200 200 200 200 200 200 1000
Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
3
Flashing
500
Green/Red
Flickering
50
All times in ms

Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply
Connection Pinout
3 A Pin Name
1 Shield1)
2 Not used
2
3 CAN⊥
4 4 CAN_High
1 5 CAN_Low
5
B1 3 A → A-keyed (male), input
B1 → A-keyed (female), output
2
4
1
High Low


received.
Lookup table
from the beginning.
Transfer rate
1000 kbit/s
800 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
100 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s
0x80 1000 kbit/s
0x81 800 kbit/s
0x82 500 kbit/s
0x83 250 kbit/s
0x84 125 kbit/s
0x85 100 kbit/s
0x86 50 kbit/s
0x87 20 kbit/s
0x88 10 kbit/s




Information:

A digital mixed module is already integrated in the bus controller. Up to 252 additionalI/O modules can be connected
CANopen
master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:
The bus terminating resistor is housed in a male connector and screwed into the B1 connector when needed.
Connector
Fieldbus X67AC0C0/X67AC2C01
Attachment cables or
X67CA0C22.xxxx Fieldbus
X67CA0C32.xxxx Connection cables Fieldbus
X67CA0C22.xxxx Terminating resistor
X67AC9C03
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O
8.4.5.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
4
3 GND GND
4 GND GND
3
1
8.4.5.9.1 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
X1 to X8 2 DI/DO x-1
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

Connection 1 to 4 Pin Name
1
2 2 Input/Output x-1
3 GND
5
4 Input/Output x-2
5 NC
4 Shield connection made via threaded insert in the module.
3 1) Sensors/Actuators are not permitted to be supplied externally.
3
X1 to X8 → A-keyed (female), input/output
2
4
1
5
Connection 5 to 8

8.4.5.9.3 Connection example
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND
Output status of pin 2 Control logic,

temperature
cutoff 2
5
1 3
Input status of pin 2 Filter (tIN) 4

I/O status
LED (orange)

temperature
cutoff
Input status of pin 4 Filter (tIN)

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
I/O power supply +24 V
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


Data sheets • Bus controller modules • X67BC5321
8.4.6 X67BC5321
DeviceNet was developed by Allen-Bradley as a CAN bus based automation network. It is based on a produc-
er/consumer protocol. From the user's point of view, all data is handled completely separately from the features
of the CAN bus (e.g. longer data packets are fragmented automatically by DeviceNet). I/O messages with defined
characteristics are used for access.
This bus controller makes it possible to connect X2X Link I/O nodes to DeviceNet. It has automatic transfer rate de-
tection, auto scan, automatic mapping and automatic configuration of the I/O modules. Explicit messaging, change
of state, cyclic, polled and bit strobe are supported as transfer modes. In addition to the standard communication
objects, there are also vendor-specific objects used to represent the modular X67 system in the best manner pos-
sible.
X67 and other modules that are based on X2X Link can be connected to the bus controller. The entire configuration
of this type of modular system is supported by the DeviceNet standard. Allen Bradley developed the modular I/O
configuration to simplify the necessary configuration steps. The DeviceNet bus controllers from B&R also support
this type of configuration.
■ Fieldbus: DeviceNet
■ 8 digital channels, configurable as inputs or outputs
■ Simple I/O configuration via the fieldbus
■ Support of both linear and modular (Allen Bradley) configuration systems
■ Auto scan, automatic I/O mapping of the I/Os
■ Automatic I/O configuration
■ Integrated connection to local expansion via X2X Link for 39 additional modules (including up to 16 analog
modules)
■ 1 ms cycle time for local expansion
Information:
8.4.6.2 Order data

X67BC5321 X67 bus controller, 1 DeviceNet interface, X2X Link power sup-
Table 66: X67BC5321 - Order data


Model number X67BC5321

Short description
Bus controller DeviceNet adapter
General information
B&R ID code
Bus controller 0x17D5
Diagnostics
24 V DeviceNet voltage Yes, with LED status indicators (MOD and NET)
Connection type
Power consumption
Fieldbus 2.7 W
Internal I/O 2W
Fieldbus - X2X Link No
Channel - Bus Yes (DeviceNet and X2X Link)
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus DeviceNet adapter
Max. distance 500 m
Transfer rate Max. 500 kbit/s
Min. cycle time 1)
X2X Link 400 μs
I/O power supply
Power consumption
Digital inputs
61131-2
Table 67: X67BC5321 - Technical data

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1: Status indicator for DeviceNet bus controller
MOD1) Green Off No power supply or offline
• Bus sense error: If LED "MOD" is also off, then there is no 24 V
DeviceNet voltage.
• No transfer rate2)
On RUN mode
The 24 V DeviceNet voltage is OK, and the module is operating under
normal conditions.
Blinking Mode STANDBY
Configuration is missing, incomplete or incorrect.
Red Blinking Mode RECOVERABLE FAULT
Green/Red Blinking Module is performing a self-test.
Status indicator 1:
Left: MOD, Right: NET
NET1) Green Off No power supply or offline:
• Bus sense error: If LED "MOD" is also off, then there is no 24
V DeviceNet voltage.
• No transfer rate2)
• Module has not yet completed a duplicate MAC ID test.
Blinking Online, not connected:
• The module has carried out the duplicate MAC- D test and is
online.
• There is no established connection to a master/scanner.
On A connection to the master/scanner (explicit or I/O) has been estab-
lished.
Red Blinking A timeout for an I/O connection has occurred.
On Critical connection error, fieldbus communication no longer possible:
• Duplicate MAC ID error
• Bus off
Status indicator 2:
• Receive/Transmit overflow
Left: green; Right: red
I/O LEDs: Status indicators for I/O channels
On RUN mode
Right Red Off No power to module or everything OK
been triggered.
1) The "MOD" and "NET" LEDs are green/red dual LEDs.

2) If an LED of status indicator 2 is active (PREOPERATIONAL or RUN mode), the automatic transfer rate detection is still running or no transfer rate could
be detected.



Connection Pinout
Pin Name
3 A 1 Shield1)
2 5 V bus supply
3 CAN⊥
2
4 CAN_High
4 5 CAN_Low
1 1) Shielding also provided by threaded insert in the module
5
8.4.6.6.1 Node number
The MAC ID is configured using the two address switches on the bus controller.
The configurable range lies between 0 and 63. This value range is required in the DeviceNet specifications for a
DeviceNet device.
x 10 x1
Switch position MAC ID

00 to 63 0 to 63
64 MAC ID setting made via the software configuration
65 to 89 Not permitted
90 "Clearing parameters" on page 271
95 "Automatic configuration of the I/O modules" on page 271
Special functions
Position of the address switch Special functions
64 The MAC ID can be configured by setting the address switch using the master/scanner software.
90 Deletes the parameters stored in the bus controller's flash memory. The bus controller is reset back to its factory
settings.
95 Completely deletes the old configuration data and overwrites it automatically with the new values of the connected
I/O modules.

If no objects are received, all transfer rates are tested cyclically. This procedure is repeated until valid objects
are received, indicating that the correct transfer rate has been determined. Only transfer rates permitted by the
DeviceNet specification are tested.
Lookup table
from the beginning.
Transfer rate
500 kbit/s
250 kbit/s
125 kbit/s
Information:
While automatic transfer rate recognition is running, both DeviceNet LEDs (MOD, NET) are switched
off (since there is no LED status definition in the DeviceNet specifications for this status).
To ensure that the module has also been supplied with power and booted, this vendor-specific status
definition requires that one of the two module I/O status LEDs is active.
Various parameters can be stored in the bus controller's flash memory. Deleting these parameters using switch
position 90 returns the bus controller to its factory settings.
Deleting the parameters

2. Set the node number to 90
4. Wait until the "MOD" LED flashes green for 5 s (3 ms on / 500 ms off). The node number switch "x10" must
be set to 0 and then back to 9 within this time window.
5. Wait until the "MOD" LED blinks with a red double-flash (parameters have been cleared).
7. Set the desired node number (00 to 63).
8.4.6.6.1.3 Automatic configuration of the I/O modules
The automatic configuration of the connected I/O modules by the bus controller is supported starting with Rev. D0
(firmware ≥V1.23) of the bus controller.
To prevent the configuration data from being accidentally overwritten on the bus controller, the procedure described
below must be followed when creating the configuration data. When doing this, it is important that all required I/
O modules are also started when booting the bus controller (i.e. supplied with power). This is especially important
when using potential groups (E-stop switches).
The automatic configuration sets the following attributes of class 0x65 on the individual I/O modules:
• Module type (0x01)
• Input length (0x03)
• Output length (0x05)
Additional parameters are not set. That means that the connected modules are configured with their standard
settings and standard I/O lengths. This can be changed by editing the parameters in the respective master engi-
neering tool.
Automatic configuration
2. Set node number switch to 95 (this is done by turning switch "x10" right to position "P" and switch "x1" to 5).
4. Wait until the "MOD" LED starts blinking green (3 ms on / 500 ms off). This phase of green blinking lasts 5 s.
The node number "x10" switch must be set to 0 within this time frame and then set back to 9.
5. Wait until the "MOD" LED blinks (4 red flashes). The old configuration data is now deleted completely and
overwritten with the new values from the connected I/O modules.
7. Set the desired node number (00 to 63).
9. The bus controller boots using the set node number, automatic transfer rate recognition and standard settings
from the connected I/O modules.
Fieldbus
Fieldbus
X67CA8C00
X2X Link
X67CA0X11.xxxx
X67BC X67BC X67BC
I/O power supply

I/O power supply
Attachment cables
X67CA0P20.xxxx
X67CA0P00.xxxx
X67CA0P10.xxxx
Open-ended cables
X67CA0P40.xxxx
X67CA0P50.xxxx
I/O
8.4.6.7 X2X Link
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

The I/O power supply is connected via M8 connectors C and D. The power supply is connected via connection C
(male). Connector D (female) is used to route the power supply to other modules.
Information:
The maximum permissible current for the I/O power supply is 8 A (4 A per pin).
Connection Pinout
2 Pin Connector C (male) Connector D (female)
C
1 1 24 VDC fieldbus 24 VDC module
2 24 VDC module 24 VDC I/O
4
3 GND GND
4 GND GND
3 C → Connector (male) in module, feed for I/O power supply
D → Connector (female) in module, routing of I/O power supply
D 2
1

8.4.6.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3


temperature
cutoff 4
VDR 3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V
Coil inductance
100 H 10 H
1000
1H
100 mH
100
10 mH
50
0.1 1 10 100

neering tool are available in the Downloads section of the B&R website (www.br-automation.com).

8.4.7 X67BC6321
PROFIBUS DP is based on the physics of the RS485 interface. Data transfer is controlled using a hybrid bus access
procedure. Active stations receive communication rights via a token passing procedure and can then access all
stations on the network according to the master-slave principle. The maximum time of circulation for a token can
be configured, which results in a defined cycle time.
Access represents various services for the user for both cyclic and for acyclic data transfer.
This bus controller makes it possible to connect X2X Link I/O nodes to PROFIBUS DP. It supports PROFIBUS DP
with all of its options and other additional properties. In addition to the device, module, and channel diagnostics
provided in the PROFIBUS standard, it is also possible, for example, to switch to the slot diagnostics option in
S7 format. X67 or other modules that are based on X2X Link can be connected to the bus controller. The modular
system configuration is optimally supported by PROFIBUS DP.
■ Fieldbus: PROFIBUS DP
■ Integrated connection to local expansions via X2X Link for 59 additional modules
■ Configurable I/O cycle (0.2 to 1 ms)
Information:
8.4.7.2 Order data

X67BC6321 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power
supply 3 W, 8 digital channels configurable as inputs or outputs,



Short description
Bus controller PROFIBUS DP V0
General information
B&R ID code
Bus controller 0x1436
Diagnostics
Connection type
Fieldbus M12, B-keyed
Power consumption
Fieldbus 3.8 W
Internal I/O 2W
Channel - Bus Yes (PROFIBUS DP and X2X Link)
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus PROFIBUS DP V0
Design M12 interface (female connector on module)
Min. cycle time 1)
X2X Link 400 μs
PROFIBUS DP ID 0x6321
I/O power supply
Power consumption
Digital inputs
61131-2

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1: Status indicator for PROFIBUS DP bus controller.
Left/Right STATUS ERROR Description
(green) (red)
Off Off HARDWARE FAULT / POWER FAILURE
Status indicator 1:
On On BUS OFF
Left: STATUS, Right: ERROR
On Blinking WAIT FOR CONFIG
Blinking Off DATA EXCHANGE - DIAGNOSTICS
On Off DATA EXCHANGE - NO ERROR
Blinking Blinking CONFIG ERROR
Off Blinking SERVICE MODE - BOOT
Single flash Single flash HARDWARE FAULT
For a more detailed description see section "State diagnostics via the Status/Error LEDs" on
page 279.
I/O LEDs
Orange - Input/Output status of the corresponding chan-
nel
Status indicator 2: Status indicator for module function.
On RUN mode
Left: green; Right: red Red Off No power to module or everything OK
8.4.7.4.1 State diagnostics via the Status/Error LEDs
The condition of the PROFIBUS DP bus controller is diagnosed using the LED status indicators "STATUS" and
"ERROR".
STATUS ERROR Function Solution
(green) (red)
Off Off HARDWARE FAULT / POWER FAILURE • Check wiring of supply voltage.
On On BUS OFF • Check the PROFIBUS network
• Baud rate not detected • Check the PROFIBUS master
• No connection to the DP master
• DP master not active
On Blinking WAIT FOR CONFIG • Check the node number switch
• Transfer rate has been detected, but the PROFIBUS • Check the slave address in the master configuration
master has not yet configured the bus controller
Blinking Off DATA EXCHANGE - DIAGNOSTICS • Initialization can take a few seconds depending on the
• The bus controller is still initializing the I/O modules number of I/O modules connected
• The I/O modules configured by the master cannot be • Check the wiring and power supply for the I/O modules
found • Read diagnostic messages in the respective PROFIBUS
• An error has occurred on one or more I/O modules (short master's engineering tool
circuit, etc.)
On Off DATA EXCHANGE
• Cyclic data exchange with the PROFIBUS DP master
Blinking Blinking CONFIG ERROR • Check the wiring of the X2X Link and the order of I/O
• One or more I/O modules found do not match with the modules
configuration of the PROFIBUS DP master • Check configuration of the PROFIBUS master
• The configuration received from the PROFIBUS master • Read diagnostic messages in the respective PROFIBUS
is invalid master's engineering tool
• Check the configuration being used - it is possible that
the number of configured I/O modules is too high
Off Blinking SERVICE MODE - BOOT • Set a valid node number
• The bus controller's node number has been set to 255
(0xFF) - after 2 s the bus controller starts in service mode



8.4.7.6 PROFIBUS DP interface
This module is connected to the PROFIBUS DP fieldbus using pre-assembled cables. The connection is made
using an M12 circular connector.
Connection Pinout
Pin PROFIBUS DP
2 1 +5 V1) - - -
A
2 A RxD/TxD-N Data\ Green
1 3 GND1) - - -
4 B RxD/TxD-P Data Red
5 Shield1) - - -
3
5
A → B-keyed (female), input
1) Supply for terminating resistor (PROFIBUS DP standard) generated internally by the bus controller. These pins are irrelevant for wiring.
The bus controller is connected to a PROFIBUS DP fieldbus using a Y-connector. This allows the bus controller
to be exchanged without interrupting fieldbus communication.
8.4.7.6.1 PROFIBUS DP node number
The PROFIBUS DP node number is configured using both number switches of the bus controller.
Node number 0xFF enables service mode. Modus. The bus controller starts with PROFIBUS DP address 2. A
firmware update is possible in service mode. The I/Os cannot be operated.
High Low
8.4.7.6.2 Automatic transfer rate detection
After booting or after a communication timeout, the bus controller goes into the status "Baud Search". This means
the bus controller behaves passively on the bus.
The bus controller always begins the search for the configured transfer rate with the highest transfer rate. If a
complete error-free telegram is not received during monitoring time, then the search is continued using the next
lowest transfer rate.
Transfer rate
12 Mbit/s
6 Mbit/s
3 Mbit/s
1.5 Mbit/s
500 kbit/s
187.5 kbit/s
93.75 kbit/s
45.45 kbit/s
19.2 kbit/s
9.6 kbit/s

The maximum possible number of I/O modules that can be connected to the PROFIBUS DP bus controller can
be determined using the design tool.
This tool and the associated device description file (GSD file) is available in the Downloads section of the B&R
A digital mixed module is already integrated in the bus controller.
PROFIBUS DP X2X Link
PROFIBUS DP
Master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:
System supply module X67PS1300 is needed for additional power. This supply module provides 15
W for additional modules. It should be mounted in the middle of the modules that are to be supplied
with power.
PROFIBUS DP
Open-ended cables
PROFIBUS DP X67CA0B52.xxxx
Attachment cables
X67CA0B22.xxxx PROFIBUS DP or
X67CA0B32.xxxx Connection cables PROFIBUS DP
X67CA0B12.xxxx Terminating resistor
X67AC9B03
X2X Link
X2X Link
Open-ended cables
Connection cables
X67CA0X41.xxxx
PROFIBUS DP X67CA0X01.xxxx
X67CA0X51.xxxx
Y-connector X67CA0X11.xxxx
X67AC8B01
I/O

Open-ended cables
I/O power supply I/O
I/O power supply X67CA0P40.xxxx
Attachment cables
Connection cables X67CA0P50.xxxx
X67CA0P20.xxxx I/O
X67CA0P00.xxxx
X67CA0P30.xxxx
X67CA0P10.xxxx
8.4.7.7 X2X Link
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1
8.4.7.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100

8.4.7.10 Additional documentation and import files (GSD)
Additional documentation about PROFIBUS DP bus controller functions as well as the necessary import files for
the master engineering tool are available in the Downloads section of the B&R website (www.br-automation.com).

Data sheets • Bus controller modules • X67BC6321.L08
8.4.8 X67BC6321.L08
■ Integrated Y-connector for fieldbus connection
■ M8 connection type
8.4.8.2 Order data

X67BC6321.L08 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power
supply 15 W, 16 digital channels configurable as inputs or out-
puts, 24 VDC, 0.5 A, configurable input filter, 2 event counters
50 kHz, M8 connectors, high-density module
Table 70: X67BC6321.L08 - Order data


Model number X67BC6321.L08

Short description
General information
B&R ID code
Bus controller 0x1AEB
Internal I/O module 0x1A1C
Diagnostics
Connection type
Power consumption
Fieldbus 3.25 W
Internal I/O 2.04 W
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Min. cycle time 1)
X2X Link 400 μs
PROFIBUS DP ID 0xBC60
I/O power supply
Power consumption
Digital inputs
61131-2
Table 71: X67BC6321.L08 - Technical data

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 355 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



(green) (red)
Status indicator 1:
On On BUS OFF
Left: STATUS, right: ERROR On Blinking WAIT FOR CONFIG
7
1 11 For a more detailed description see section "State diagnostics via the Status/Error LEDs" on page 288.
2 12 I/O LEDs
8
1 - 16 Color Status Description
3 13
Orange - Input/Output status of the corresponding channel
9
4 14
5 15 Left Color Status Description
5
10
16
On RUN mode
Left: green, Right: red
been triggered.
"ERROR".
(green) (red)
circuit, etc.)

Fieldbus interface
Connector A: Input
X2X Link
7
1 11
2 12
8
3 13
4
9
14
5 15
10
5 16

Connector C: Supply
The Y-connector for PROFIBUS DP is already integrated in this module.
Connection Pinout
3 A Pin PROFIBUS DP
1 +5 V1) - - -
2
3 GND1) - - -
4 4 B RxD/TxD-P Data Red
1 5 Shield1) - - -
5
B1 3 A → B-keyed (male), input
2
4
1
High Low

Transfer rate
12 Mbit/s
6 Mbit/s
3 Mbit/s
1.5 Mbit/s
500 kbit/s
187.5 kbit/s
93.75 kbit/s
45.45 kbit/s
19.2 kbit/s
9.6 kbit/s
PROFIBUS DP
Master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:

PROFIBUS DP
Open-ended cables
Attachment cables
X67AC9B03
X2X Link
X2X Link
Open-ended cables
Connection cables
X67CA0X41.xxxx
X67CA0X51.xxxx
X67AC8B01
I/O

Open-ended cables
Attachment cables
X67CA0P20.xxxx I/O
X67CA0P00.xxxx
X67CA0P30.xxxx
X67CA0P10.xxxx
8.4.8.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
1 1 24 VDC fieldbus and power supply1) 24 VDC supply1)
2 24 VDC supply1) 24 VDC supply1)
4
3 GND GND
4 GND GND
D 2
1
1) Both supply pins must be supplied. Cutting off the outputs is only ensured if both pins are disconnected from the power supply. If the summation current of
the outputs is >4 A, current must also be supplied via connector D (female), pin 2.

8.4.8.9.1 Pinout
7
1 11
2 12
8 1 +24 VDC
X1 to X16
3 GND
3 13 M8 ①
4 DI/DO x
9
4 14
5 15
10
6 16

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3


temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V
Coil inductance
100 H 10 H
1000
1H
100 mH
100
10 mH
50
0.1 1 10 100


8.4.9 X67BC6321.L12
■ Integrated Y-connector for fieldbus connection
■ M12 connections
8.4.9.2 Order data

X67BC6321.L12 X67 bus controller, 1 PROFIBUS DP interface, X2X Link power



Short description
General information
B&R ID code
Bus controller 0x1AEC
Internal I/O module 0x1A1D
Diagnostics
Connection type
Power consumption
Fieldbus 3.25 W
Internal I/O 2.04 W
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Min. cycle time 1)
X2X Link 400 μs
PROFIBUS DP ID 0xBC61
I/O power supply
Power consumption
Digital inputs
61131-2

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 375 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



(green) (red)
On On BUS OFF
Status indicator 1:
On Blinking WAIT FOR CONFIG
Left: STATUS, right: ERROR
For a more detailed description see section "State diagnostics via the Status/Error LEDs" on
1-1 5-1
page 297.
1-2 5-2 I/O LEDs
2-1 6-1
1-1/2 to 8-1/2 Color Status Description
2-2 6-2 Orange - Input/Output status of the corresponding chan-
3-1 7-1
nel
3-2 7-2
4-1 8-1 Left Color Status Description
4-2 8-2 Green Off No power to module
On RUN mode
Status indicator 2:
Left: green, Right: red Right Color Status Description
"ERROR".
(green) (red)
circuit, etc.)

Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply
The Y-connector for PROFIBUS DP is already integrated in this module.
Connection Pinout
3 A Pin PROFIBUS DP
1 +5 V1) - - -
2
3 GND1) - - -
4 4 B RxD/TxD-P Data Red
1 5 Shield1) - - -
5
B1 3 A → B-keyed (male), input
2
4
1
High Low

Transfer rate
12 Mbit/s
6 Mbit/s
3 Mbit/s
1.5 Mbit/s
500 kbit/s
187.5 kbit/s
93.75 kbit/s
45.45 kbit/s
19.2 kbit/s
9.6 kbit/s
PROFIBUS DP
Master
BC PS
+
DM
X67PS1300
BC
+
DM
Information:

PROFIBUS DP
Open-ended cables
Attachment cables
X67AC9B03
X2X Link
X2X Link
Open-ended cables
Connection cables
X67CA0X41.xxxx
X67CA0X51.xxxx
X67AC8B01
I/O

Open-ended cables
Attachment cables
X67CA0P20.xxxx I/O
X67CA0P00.xxxx
X67CA0P30.xxxx
X67CA0P10.xxxx
8.4.9.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
1 1 24 VDC fieldbus and power supply1) 24 VDC supply1)
2 24 VDC supply1) 24 VDC supply1)
4
3 GND GND
4 GND GND
D 2
1
1) Both supply pins must be supplied. Cutting off the outputs is only ensured if both pins are disconnected from the power supply. If the summation current of
the outputs is >4 A, current must also be supplied via connector D (female), pin 2.

8.4.9.9.1 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 8
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND


temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


8.4.10 X67BC7321-1
This X67 bus controller makes it possible to connect X2X Link I/O nodes to CAN I/O. CAN I/O is a transfer protocol
based on standard CAN bus that is fully integrated in the B&R system.
The CAN I/O bus controller is supported by CAN I/O master versions beginning with CANIO library V1.20.4. Up to
43 logical I/O modules can be connected to the bus controller. Up to 16 can be analog modules.
• Fieldbus: CAN bus
• Integrated I/O access in B&R Automation Studio
• Automatic firmware update via the fieldbus
• X67 connection possibility for all B&R CPUs
Information:
The bus controller is unable to detect modules after a gap in the X2X Link station numbers. This can
result from the following:
• Unconnected X67 modules
• Modules with integrated node number switches
Information:
8.4.10.2 Order data

X67BC7321-1 X67 bus controller, 1 CAN I/O interface, extended CAN I/O func-
tion, X2X Link power supply 3 W, 8 digital channels configurable
as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 2
event counters 50 kHz



Short description
Bus controller CAN I/O
General information
B&R ID code
Bus controller 0x18CB
Diagnostics
Connection type
Power consumption
Fieldbus 2.1 W
Internal I/O 2W
Channel - Bus Yes (CAN bus and X2X Link)
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus CAN I/O
X2X Link cycle time Permanently set to 1 ms 1)
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Input circuit Sink

Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) CAN I/O data points are processed in Automation Runtime in a separate cycle set to 10 ms (CAN I/O cycle).


Status indicator 1
Left Status indicator for CAN I/O bus controller
Green Off No power supply via CAN fieldbus
Status indicator 1:
Flickering Transfer rate detection in progress
On Mode RUN
Right Status indicator for the CAN fieldbus
Red Off No power supply via CAN fieldbus or everything OK
Flickering Transfer rate detection in progress
Single flash CAN connection reporting "Warning limit reached"
On CAN connection reporting "BusOff state"
I/O LEDs
Status indicator 2: Status indicator for module functionality
On Mode RUN
Status indicator 2: Right Red Off No power to module or everything OK
Left: Green, Right: Red On Error or reset state
been triggered.


Connection Pinout
Pin Name
3 A 1 Shield1)
2 Not used
3 CAN⊥
2
4 CAN_High
5 CAN_Low
4
1 1) Shield also provided by threaded insert in module.
5

The node number and transfer rate are configured using the two number switches on the bus controller. The switch
positions 0x00 to 0x40 and 0x60 enable automatic transfer rate detection (see section "Automatic transfer rate
detection" on page 308). The rest of the switch positions have a fixed transfer rate (see table).
High Low

0x001) From EEPROM From EEPROM
0x01 - 0x3F 1 - 63 Automatic
0x41 - 0x5F 1 - 31 1000 kbit/s
0x61 - 0x7F 1 - 31 800 kbit/s
0x80 Reserved -
0x81 - 0x9F 1 - 31 500 kbit/s
0xA0 Reserved -
0xA1 - 0xBF 1 - 31 250 kbit/s
0xC0 Reserved -
0xC1 - 0xDF 1 - 31 125 kbit/s
0xE0 Reserved -
0xE1 - 0xFE 1 - 31 20 kbit/s
0xFF Reserved -
1) When one of these numbers is configured, the bus controller uses the operating parameters from the internal EEPROM. The EEPROM is programmed
using library CANIO.
received.
Starting transfer rate
The bus controller begins the search with this transfer rate. The starting transfer rate can be defined in two different
ways:
• Read from EEPROM
• The last detected transfer rate is used after a software reset (command code 20).
Lookup table
The controller tests the transfer rate according to this table. Beginning with the starting transfer rate, the controller
switches to the next lower transfer rate. At the end of the table, the bus controller restarts the search from the
beginning.
Transfer rate
1000 kbit/s
500 kbit/s
250 kbit/s
125 kbit/s
50 kbit/s
20 kbit/s
10 kbit/s

The X67DM1321 digital mixed module is already integrated in the bus controller. This makes the bus controller the
first I/O module on the CAN bus (ST1 → Station 1).
Up to 28 logical digital modules (including bus controller) and 16 logical analog modules can be operated on the
bus controller. There is no fixed order of modules. Digital and analog modules can be arranged as needed.
BC DIG AN AN PS DIG AN DIG AN DIG
+
DM
ST1 ST2 ST3 ST4 ST5 ST6 ST42 ST43 ST44
Key:
BC → Bus controller
DM → Digital mixed module
DIG → Digital module
AN → Analog module
ST → Station
PS → Power supply module X67PS1300 (not counted as a station on the CAN bus)
Information:
power.
Fieldbus
Fieldbus
X67CA8C00
X2X Link
X67CA0X11.xxxx
X67BC X67BC X67BC
I/O power supply

I/O power supply
Attachment cables
X67CA0P20.xxxx
X67CA0P00.xxxx
X67CA0P10.xxxx
Open-ended cables
X67CA0P40.xxxx
X67CA0P50.xxxx
I/O
8.4.10.7 X2X Link
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1
8.4.10.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100

8.4.10.10 SG4
The module comes with preinstalled firmware. The firmware is also part of the Automation Runtime operating
system for the PLC. If the two versions are different, the Automation Runtime firmware is loaded to the module.
The latest firmware is made available automatically when updating Automation Runtime.

8.4.10.11 Logical I/O modules
Up to 43 I/O modules can be connected to the bus controller (up to 16 can be analog modules). This value refers
not to the physical but the logical I/O module slots.
Information:
Physical I/O modules can take up more than one digital or analog slot.
The following table lists all X67 modules capable of using CAN I/O and how many logical digital and analog slots
are needed.
Module Digital module slots Analog module slots
X67AI1223 0 1
X67AI1233 0 1
X67AI1323 0 1
X67AI1333 0 1
X67AI2744 0 2
X67AI4850 0 1
X67AM1223 0 1
X67AM1323 0 1
X67AO1223 0 1
X67AO1323 0 1
X67AT1311 0 1
X67AT1322 0 1
X67AT1402 0 1
X67BC7321-1 1 0
X67DC1198 0 2
X67DC2322 0 2
X67DI1371 1 0
X67DI1371.L08 2 0
X67DI1371.L12 2 0
X67DI1372 1 0
X67DM1321 1 0
X67DM1321.L08 2 0
X67DM1321.L12-1 2 0
X67DM1321.L12 2 0
X67DM9321 1 0
X67DM9321.L12 2 0
X67DM9331.L12 1 0
X67DO1332 1 0
X67DO9332.L12 1 0
X67DV1311.L08 2 0
X67DV1311.L12 2 0
X67IF1121-1 0 3
X67MM2436 0 2
X67SM2436 0 2
X67SM4320 0 4
X67UM4389 0 2

8.4.11 X67BC8321-1
This bus controller makes it possible to connect X2X Link I/O nodes to POWERLINK.
Additional X2X Link I/O nodes (X67 modules or other X2X Link-based modules) can be connected using the inte-
grated X2X Link connection. When doing so, it is possible to operate the X2X Link cycle either 1:1 synchronously
or synchronously to the POWERLINK network using a prescaler. Mechanically, POWERLINK is connected via an
IP67-rated standard D-keyed M12 Ethernet connector.
POWERLINK is a standard protocol for Fast Ethernet with hard real-time characteristics. The Ethernet POW-
ERLINK Standardization Group (EPSG) ensures that the standard remains open and is continually developed:
www.ethernet-powerlink.org
■ POWERLINK
■ I/O configuration and firmware update via the fieldbus
■ Integrated connection to the local expansion via X2X Link for up to 250 additional modules
■ Configurable I/O cycle (starting at 200 ms)
8.4.11.2 Order data

X67BC8321-1 X67 bus controller, 1 POWERLINK interface, X2X Link power



Short description
Bus controller POWERLINK (V1/V2) controlled node
General information
B&R ID code
Bus controller 0x1E37
Diagnostics
Connection type
Fieldbus M12 D-keyed
Power consumption
Fieldbus 3.5 W
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus POWERLINK (V1/V2) controlled node
Cable length Max. 100 m between 2 stations (segment length)
Transfer rate 100 Mbit/s
Transmission
Physical layer 100BASE-TX
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 200 μs
X2X Link 200 μs
Synchronization between bus systems possible Yes
I/O power supply
Power consumption
Digital inputs

61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm

Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator 1: Status indicator for POWERLINK bus controller
Left: green; Right: red L/A IF1 Green On A link to the remote station has been established.
Blinking A link to the peer station has been established. Indicates Ethernet activity
is taking place on the bus.
S/E1) Green/Red Status/Error LED. The statuses of this LED are described in section "Sta-
tus/Error LED "S/E"" on page 317.
I/O LEDs
On RUN mode
Status indicator 2: been triggered.
Left: green; Right: red Double flash Supply voltage not in the valid range
1) The Status/Error LED is a green/red dual LED.
8.4.11.4.1 Status/Error LED "S/E"
The Status/Error LED is a green/red dual LED. The color green (status) is superimposed on the color red (error).
Red - Error Description
On The controlled node (CN) is in an error state (failed Ethernet frames, increased number of collisions on the network, etc.).
If an error occurs in the following states, then the green LED blinks over the red LED:
• PRE_OPERATIONAL_1
• READY_TO_OPERATE
Status
Green
t
Error
Red
t
LED "S/E"
t
Note:
• The LED blinks red several times immediately after startup. This is not an error, however.
• The LED is lit red for CNs with configured physical node number 0 but that have not yet been assigned a node
number via dynamic node allocation (DNA).
Table 78: Red Status/Error LED: LED indicates an error

Green - Status Description
Off No power supply or mode NOT_ACTIVE.
The controlled node (CN) is either not getting power, or it is in the NOT_ACTIVE state. The CN waits in this state for about
5 seconds after a restart. Communication is not possible with the CN. If no POWERLINK communication is detected
during these 5 seconds, the CN switches to the BASIC_ETHERNET state (flickering).
If POWERLINK communication is detected before this time expires, however, the CN switches immediately to the
PRE_OPERATIONAL_1 state.
Flickering green (approx. 10 Hz) BASIC_ETHERNET mode.
The CN has not detected any POWERLINK communication. It is possible to communicate directly with the CN in this
state (e.g. with UDP, IP, etc.).
If POWERLINK communication is detected while in this state, the CN switches to the PRE_OPERATIONAL_1 state.
Single flash (approx. 1 Hz) PRE_OPERATIONAL_1 mode.
When operated on a POWERLINK V1 manager, the CN immediately switches to the PRE_OPERATIONAL_2 state.
When operated on a POWERLINK V2 manager, the CN waits until an SoC frame is received and then switches to the
Double flash (approx. 1 Hz) PRE_OPERATIONAL_2 mode.
The CN is normally configured by the manager in this state. Issuing a command (POWERLINK V2) or setting the data
valid flag in the output data (POWERLINK V1) then switches to the READY_TO_OPERATE state.
Triple flash (approx. 1 Hz) READY_TO_OPERATE mode.
In a POWERLINK V1 network, the CN automatically switches to the OPERATIONAL state as soon as input data is present.
In a POWERLINK V2 network, the manager switches to the OPERATIONAL state by issuing a command.
On OPERATIONAL mode.
PDO mapping is active and cyclic data is being evaluated.
Blinking (approx. 2.5 Hz) STOPPED mode.
No output data is produced or input data supplied. It is only possible to switch to or leave this state after the manager
has given the appropriate command.
Table 79: Green Status/Error LED: LED indicates operation
Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms



The module is connected to the network using pre-assembled cables. The connection is made using M12 circular
connectors.
Connection Pinout
Pin Name
2
A 1 TXD Transmit data
2 RXD Receive data
1 3 TXD\ Transmit data\
4 RXD\ Receive data\
4
A → D-keyed (female), input
Information:
The color of the wires used in field-assembled cables for connecting to the fieldbus interface may
deviate from the standard.
It is extremely important to make sure that the pinout is correct (see section "Accessories - POWER-
LINK cables" on page 83").
8.4.11.6.1 Wiring guidelines for bus controllers with Ethernet cables
Some X67 system bus controllers are based on Ethernet technology. POWERLINK cables supplied by B&R can
be used for wiring.
Model number Connection type
X67CA0E41.xxxx Attachment cables - RJ45 to M12
X67CA0E61.xxxx Connection cables - M12 to M12
The following cabling guidelines must be observed:

• Use CAT 5 SFTP cables.
• Observe the minimum cable bend radius (see data sheet for the cable).
Information:
Using POWERLINK cables supplied by B&R (X67CA0E61.xxxx and X67CA0E41.xxxx) satisfies product
standard EN 61131-2.
The customer must implement additional measures in the event of further requirements.
8.4.11.6.2 POWERLINK node number
High Low
The node number for the POWERLINK node is set using the two number switches.
Switch position Description
0x00 Only permitted when operating the POWERLINK node in DNA mode.
0x01 - 0xEF Node number of the POWERLINK node. Operation as a controlled node.
0xF0 - 0xFF Reserved, switch position not permitted.

8.4.11.6.3 Integration in a POWERLINK network
This bus controller is used as the last controller in both a tree or line structure.
Manager
Hub
Hub Hub Hub
X67BC8xxx X67BC8xxx X67BC8xxx X67BC8xxx Controller

+
Hub
Controller
+
Hub
X67BC8xxx
A digital mixed module is already integrated in the bus controller. Up to 250 I/O modules can be connected to
the bus controller.
Manager
Hub
Hub Hub
X2X Link X2X Link
Controller
X67BC8xxx X67BC8xxx X67PS1300
Information:
with power.

POWERLINK POWERLINK
Attachment cable or Field-assembled connector
X67CA0E41.xxxx X67AC2E01
X2X Link
Connection cables X2X Link
X67CA0X51.xxxx
X67BC I/O I/O I/O

I/O power supply
I/O
8.4.11.7 X2X Link
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

8.4.11.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3


temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V
Coil inductance
100 H 10 H
1000
1H
100 mH
100
10 mH
50
0.1 1 10 100


8.4.11.10 SGx target systems
SG3
This module is not supported on SG3 target systems.
SG4

8.4.12 X67BC8321.L12
■ POWERLINK
■ M12 connections
■ Integrated hub for efficient cabling
8.4.12.2 Order data

X67BC8321.L12 X67 bus controller, 1 POWERLINK interface, X2X Link power



Short description
General information
B&R ID code
Bus controller 0xA90E
Diagnostics
Connection type
Power consumption
Fieldbus 4.2 W
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Design 2x M12 interface (hub), 2x female connector on module
Transmission
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Hub propagation delay 0.96 to 1 µs
Min. cycle time 1)
Fieldbus 200 μs
X2X Link 200 μs
I/O power supply
Power consumption
Digital inputs

61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm

Weight 350 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Left: L/A IF; right: S/E L/A IF Green On A link to the peer station has been established.
S/E 1) Green/Red Status/Error LED. The statuses of this LED are described in section "Sta-
1-1 5-1
I/O LEDs
1-2 5-2 1-1/2 to 8-1/2 Orange - Input/Output status of the corresponding channel
2-1 6-1
2-2 6-2 Left Green Off No power to module
3-1 7-1
3-2 7-2 Blinking PREOPERATIONAL mode
4-1 8-1
On RUN mode
4-2 8-2
been triggered.
Status indicator 2:
Status
Green
t
Error
Red
t
LED "S/E"
t
Note:

Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms
Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply

8.4.12.6 Fieldbus interfaces
connectors.
Connection Pinout
2 A Pin Name
1 1 TXD Transmit data
2 RXD Receive data
3 TXD\ Transmit data\
3
3 B1 → D-keyed (female), output
4
B1 1
Information:
be used for wiring.

Information:
High Low

This bus controller can be used in a tree or line topology as follows:
Manager
Hub
Hub Hub
X67BC8xxx.L12 X67BC8xxx.L12 X67BC8xxx.L12 X67BC8xxx.L12 X67BC8xxx.L12
X67BC8xxx.L12 X20BC0083 X67BC8xxx.L12
the bus controller.
Manager
Hub
Controller
Hub
X2X Link X2X Link

Controller
X67PS1300
X67BC8xxx.L12 X67BC8xxx.L12
Information:
POWERLINK POWERLINK POWERLINK

Attachment cable or Field-assembled connector Attachment cables
X67CA0E41.xxxx X67AC2E01 POWERLINK X67CA0E41.xxxx
Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O

8.4.12.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

8.4.12.9.1 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 8
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND


temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100

SG3
SG4

8.4.13 X67BC8331
■ POWERLINK V1/V2
8.4.13.2 Order data

X67BC8331 X67 bus controller, 1 POWERLINK interface, X2X Link power



Short description
General information
B&R ID code
Bus controller 0xA7A5
Diagnostics
Connection type
Power consumption
Fieldbus 3.5 W
Internal I/O 3.8 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Transmission
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 200 μs
X2X Link 200 μs
I/O power supply
Power consumption
Digital inputs

61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Digital outputs
Nominal output current 2A
Residual voltage <0.5 V at 2 A nominal current
Switching delay
0 -> 1 <250 µs
1 -> 0 <270 µs
Switching frequency
Any Yes
Temperature
Derating See section "Derating"
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Left: green; Right: red L/A IF1 Green On A link to the peer station has been established.
S/E1) Green/Red Status/Error LED. The statuses of this LED are described in section "Sta-
I/O LEDs
On RUN mode
Status indicator 2: been triggered.
Left: green; Right: red Double flash Supply voltage not in the valid range
Status
Green
t
Error
Red
t
LED "S/E"
t
Note:

Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms



connectors.
Connection Pinout
Pin Name
2
2 RXD Receive data
4
Information:
be used for wiring.

Information:
High Low

This bus controller is used as the last controller in both a tree or line structure.
Manager
Hub
Hub Hub Hub
X67BC8xxx X67BC8xxx X67BC8xxx X67BC8xxx Controller

+
Hub
Controller
+
Hub
X67BC8xxx
the bus controller.
Manager
Hub
Hub Hub
X2X Link X2X Link
Controller
X67BC8xxx X67BC8xxx X67PS1300
Information:
with power.

POWERLINK POWERLINK
X2X Link
X67CA0X51.xxxx
X67BC I/O I/O I/O

I/O power supply
I/O
8.4.13.7 X2X Link
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

8.4.13.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

8.4.13.9.4 Derating / Operation with 2 A
The outputs of the module can handle up to 2 A. With a summation current of 8 A, no more than 4 channels are
operable at full load. To ensure optimal use of the module, it is important to assign the channels properly, and to
keep in mind a potential derating.
Correct channel assignment is important, since the 8 outputs are divided between 2 output drivers. The channels
operated with 2 A must therefore be evenly divided between both output drivers.
Output driver 1: Channels 1 to 4
The following table provides an overview of the number of fully used channels, the resulting best distribution, and
a potential derating.
Number of channels using 2 A Division Derating
1 Any No
2 1st channel with 2 A ... channel no. 1 to 4 No
2nd channel with 2 A ... channel no. 5 to 8
3 Assign all even or all odd channel numbers.
Examples:
1, 3, 5 Channels 1 and 3
Possible divisions:
1, 3, 5, 7 On each channel
Derating when 3 or 4 channels are operated with 2 A:

2.0
Output current [A]
0.8
-25 -20 -10 0 10 20 30 40 45 50 60
Ambient temperature [°C]
SG3
SG4

version.

Configuration
16 ConfigIOMask01 USINT ●
18 ConfigOutput03 (input filter) USINT ●
Communication
0 Input state of digital inputs 1 to 8 USINT ●
DigitalInput01 Bit 0
... ...
2 Switching state of digital outputs 1 to 8 USINT ●
DigitalOutput01 Bit 0
... ...
30 Status of digital outputs 1 to 8 USINT ●
StatusDigitalOutput01 Bit 0
... ...
8.4.13.11.3 Configuration
8.4.13.11.3.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Channels are configured as inputs/outputs in this register. It also determines whether output monitoring or filtering
is applied to the channels. Outputs are monitored but not filtered.
Data type Values
Bit structure:
0 Channel 1 configured as input/output 0 Configured as input
1 Configured as output
... ...

An input filter is available for each input. The input delay can be set using register "ConfigOutput03" on page 347.
Disturbance pulses which are shorter than the input delay are suppressed by the input filter.
Eingangs-
signal
Zeit
Signal nach tVerz tVerz tVerz

dem Filter
Zeit
tVerz ⇒ Eingangsverzögerung
Digital input filter
Name:
ConfigOutput03
This register can be used to specify the filter value for all digital inputs.
The filter value can be configured in steps of 100 μs. It makes sense to enter values in steps of 2, however, since
the input signals are sampled every 200 μs.
Data type Value Filter
USINT 0 No software filter (default value)
2 0.2 ms
... ...
250 25 ms - Higher values are limited to this value

8.4.13.11.4 Communication
8.4.13.11.4.1 Digital inputs
Unfiltered
Filtered
The filtered status is collected with a fixed offset to the network cycle and transferred in the same cycle. Filtering
takes place asynchronously to the network in multiples of 200 µs with a network-related jitter of up to 50 µs.
Input state of digital inputs 1 to 8
Name:
DigitalInput01 to DigitalInput08
This register indicates the input state of digital inputs 1 to 8.
Data type Values
Bit structure:
Bit Name Value Information
0 DigitalInput01 0 or 1 Input state - Digital input 1
... ...
8.4.13.11.4.2 Digital outputs
The output status is transferred to the output channels with a fixed offset in relation to the network cycle (SyncOut).
Switching state of digital outputs 1 to 8
Name:
DigitalOutput01 to DigitalOutput08
This register is used to store the switching state of digital outputs 1 to 8.
Data type Values
Bit structure:
0 DigitalOutput01 0 Digital output 01 reset
1 Digital output 01 set
... ...

8.4.13.11.4.3 Monitoring status of the digital outputs
On the module, the output states of the outputs are compared to the target states. The control of the output driver
is used for the target state.
A change in the output state resets monitoring for that output. The status of each individual channel can be read.
A change in the monitoring status generates an error message.
Status of digital outputs 1 to 8
Name:
StatusDigitalOutput01 to StatusDigitalOutput08
This register is used to indicate the status of digital outputs 1 to 8.
Data type Values
Bit structure:
0 StatusDigitalOutput01 0 Channel 01: No error
1 Channel 01: Short circuit or overload
... ...
With filtering 200 μs
mands.
Minimum cycle time

8.4.14 X67BC8513.L12
■ POWERLINK V1/V2
■ 1 analog input, 0 to 20 mA, 12 bits
■ M12 connections
■ Configurable I/O cycle (starting at 200 µs)
8.4.14.2 Order data

X67BC8513.L12 X67 bus controller, 1 POWERLINK interface, X2X Link power
50 kHz, 1 analog input 0 to 20 mA, 12-bit, M12 connectors, high-
density module



Short description
General information
Inputs/Outputs 12 digital channels (configurable as inputs or outputs us-
ing software, inputs with additional functions), 1 analog channel
B&R ID code
Bus controller 0xB3AC
Internal I/O module 0xB3CD
Diagnostics
Connection type
Power consumption
Fieldbus 2.5 W
Internal I/O 0.6 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Transmission
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 200 μs
X2X Link 200 μs
I/O power supply
Power consumption
Digital inputs

61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 1
Counter 1 Input 1
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Supported inputs Input 2
Analog inputs
Input 0 to 20 mA
Conversion time 200 µs
Output format INT
Output format
Current 0x0000 - 0x7FFF / 1 LSB = 0x0008 = 4.883 μA
Load <300 Ω
Max. error at 25°C
Gain 0.1% 3)
Offset 0.05% 4)
DC >50 dB
50 Hz >50 dB
Crosstalk between channels >70 dB
Voltage drop at 20 mA Typ. 4.5 V
Input filter
Slope 40 dB
Digital outputs
RDS(on) 150 mΩ

Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 360 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator for POWERLINK bus controller
Status indicator 1: L/A IF Green On A link to the remote station has been established.
Left: green, right: red Blinking A link to the peer station has been established. Indicates Ethernet activity
S/E 1) Green/Red Status/Error LED. The statuses of this LED are described in section "Sta-
I/O LEDs
1-1/2 to 6-1/2 Orange Input/Output status of the corresponding channel
1-1 5-1
7-1/2 Not used
8-1 Green On Analog-to-digital converter running
1-2 5-2
2-1 6-1 Blinking Input signal overflow or underflow
8-2 Not used
2-2 6-2
3-1 7-1
3-2 7-2
4-1 8-1
4-2 8-2
On RUN mode
Status indicator 2: Single flash Warning/Error on an I/O channel. Level monitoring for digital outputs has
Left: green, right: red
been triggered.

Status
Green
t
Error
Red
t
LED "S/E"
t
Note:

Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms

Fieldbus interface Fieldbus interface

Connector A: Input Connector B1: Output
X2X Link
Digitale inputs/outputs 1 to 12
Not used
Analog input

8.4.14.6 POWERLINK interface
connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:

be used for wiring.

Information:
High Low
Manager
Hub
Hub Hub

the bus controller.
Manager
Hub
Controller
Hub
X2X Link X2X Link

Controller
X67PS1300
Information:

Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O
8.4.14.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1
8.4.14.9 Pinout
SHLD
1 +24 VDC
X1 to X6 2 DI/DO X - 1
M12 ① 3 GND
X1 X5
4 DI/DO X - 2
5 NC
X2 X6
X3 SHLD
1 +24 VDC
X8 2 AI +
M12 ①
X4 X8
3 GND
4 AI -
5 SHLD

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 6

8.4.14.9.2 Connection X8
M12, 5-pin Pinout

Connection 8 Pin Name
3
2 2 Input +
3 GND
4 Input -
5 Shield1)
1
5
X8 → A-keyed (female), input
Digital input/output
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND
Analog input
Current source
AI +
1 2
+ +24 VDC
I 5 Connection x
AI -
GND 4 3
SG3
SG4

version.

Configuration
18 ConfigOutput02 (digital input filter) USINT ●
22 ConfigOutput03 (analog input filter) USINT ●
Communication
... ...
... ...
... ...
... ...
... ...
... ...
26 Input latch - Rising edges 1 to 8 USINT ●
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch12 Bit 3
28 Acknowledgment - Input latch 1 to 8 USINT ●
QuitInputLatch01 Bit 0
... ...
... ...
24 Status of the analog input USINT ●

8.4.14.12.3 Function model 1 - Counter

Configuration
18 ConfigOutput02 (digital input filter) USINT ●
20 ConfigOutput01 (counter configuration) USINT ●
22 ConfigOutput03 (analog input filter) USINT ●
Communication
... ...
... ...
... ...
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch12 Bit 3
... ...
... ...
4 Counter01 UINT ●
24 Status of the analog input USINT ●
20 Reset counter USINT ●
ResetCounter01 Bit 5

8.4.14.12.4.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Information:
In counter operation, channels 1 to 2 can only be configured as inputs.
Data type Values
Bit structure:
... ...
8.4.14.12.4.2 I/O mask 9 to 12
Name:
ConfigIOMask02
Data type Values
Bit structure:
... ...
8.4.14.12.4.3 Digital input filter
Eingangs-
signal
Zeit

dem Filter
Zeit

Configuration - Digital input filters
Name:
ConfigOutput02
USINT 0 No software filter
2 0.2 ms
... ...
8.4.14.12.4.4 Counter configuration
Name:
ConfigOutput01
The counter is configured in this register.
Data type Values
Bit structure:
0-3 Counter frequency 0 48 MHz (only with gate measurement)
1 3 MHz (only with gate measurement)
2 187.5 kHz (only with gate measurement)
6 1.5 MHz (only with gate measurement)
7 750 kHz (only with gate measurement)
8 375 kHz (only with gate measurement)
4 Reserved 0
5 Clear event counter 0 No influence on the counter
1 Clear counter (at rising edge)
6-7 Operating mode 0 Event counter measurement
1 Gate measurement
8.4.14.12.4.5 Analog input filter
If the input filter is active, then the scan rate for the channels is measured in ms. The conversion takes place
asynchronously to the network cycle.
Filter level
Value Filter level
1 Filter level 2
2 Filter level 4
3 Filter level 8
4 Filter level 16
5 Filter level 32
6 Filter level 64
7 Filter level 128

Example 1
Input value
16000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]

Value Limit value
1 0x3FFF = 16383
2 0x1FFF = 8191
3 0x0FFF = 4095
4 0x07FF = 2047
5 0x03FF = 1023
6 0x01FF = 511
7 0x00FF = 255
Example 1
Filter level = 2
Input value
17000
8000
0
1 2 3 4 5 6 7 8 t [ms]
Input jump

Example 2
Filter level = 2
Input value
16000
Disturbance (spike)
8000
0
1 2 3 4 5 6 7 8 t [ms]
Configuration - Analog input filters
Name:
ConfigOutput03
Data type Values
Bit structure:
001 Filter level 2
010 Filter level 4
011 Filter level 8
100 Filter level 16
101 Filter level 32
110 Filter level 64
3 Reserved 0
7 Reserved 0

8.4.14.12.4.6 Lower limit value
Name:
ConfigOutput04
This register can be used to configure the lower limit value for analog values. If the analog value falls below the
limit value, it is frozen at this value and the corresponding "error status bit" on page 371 is set.
Data type Value
INT 0 to 32767
8.4.14.12.4.7 Upper limit value
Name:
ConfigOutput05
This register can be used to configure the upper limit value for analog values. If the analog value exceeds the limit
value, it is frozen at this value and the corresponding "error status bit" on page 371 is set.
Data type Value
INT 0 to 32767
Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
8.4.14.12.5.4 Input latch
It works in the same way as a dominant reset RS flip-flop.

Reset x R S Q State
R 0 0 x Do not change
0 1 1 Set
S Q Latch x 1 0 0 Reset
Input x
1 1 0 Reset
Pos. edge
Input latch - Rising edges 1 to 8
Name:
InputLatch01 to InputLatch08
The rising edges of the input signal can be latched with a resolution of 200 µs in this register. The input latch is
either reset or prevented from latching with register "QuitInputLatch0x" on page 370.
Data type Values
Bit structure:
0 InputLatch01 0 Do not latch input 1
1 Latch input 1
... ...
1 Latch input 8
Name:
either reset or prevented from latching with register "QuitInputLatchxx" on page 370.
Data type Values
Bit structure:
1 Latch input 9
... ...
1 Latch input 12

Acknowledgment - Input latch 1 to 8
Name:
QuitInputLatch01 to QuitInputLatch08
This register is used to reset the input latch by channel.
Data type Values
Bit structure:
0 QuitInputLatch01 0 Do not reset input 1
1 Reset input 1
... ...
1 Reset input 8
Name:
Data type Values
Bit structure:
1 Reset input 9
... ...
1 Reset input 12
8.4.14.12.5.5 Event or gate counter
Name:
Counter01
The result of the counter is indicated in this register.
Event counter or gate measurement (16-bit counter value) depending on operating mode.
Data type Value
USINT Counter value
8.4.14.12.5.6 Input value of the analog input
Name:
AnalogInput01
INT 0 to 32767 Current signal 0 to 20 mA

8.4.14.12.5.7 Status of the analog input
Name:
UnderflowAnalogInput01
OverflowAnalogInput01
This register is used to monitor the analog input on the module. A change in the monitoring status generates an
error message.
Data type Values
Bit structure:
1 Measured value < Lower limit value
1 Measured value > Upper limit value
2-7 Reserved -
250 µs
mands.
Minimum cycle time
250 µs

8.4.15 X67BC8780.L12
This bus controller makes it possible to connect 8 CAN interfaces to the POWERLINK network. The CAN interfaces
are operated via an integrated hub, which increases the total cable length defined by classical CAN bus topology.
www.ethernet-powerlink.org.
■ POWERLINK
■ 8 CAN interfaces
■ M12 connections
8.4.15.2 Order data

X67BC8780.L12 X67 POWERLINK bus controller, 1x CAN interface, with active
wiring help for 8x M12 connections (star wiring), M12 connec-

Product ID X67BC8780.L12
Short description
General information
Inputs/Outputs 8 CAN interfaces
B&R ID code
Bus controller 0xED84
Status indicators TX/RX per CAN interface, supply voltage, bus function
Diagnostics
Power supply Yes, using status LED and software
Connection type
Fieldbus M12, D-keyed
Power supply M8, 4-pin
Power consumption
Internal Max. 2.5 W
Channel - Fieldbus Yes
Certifications
CE Yes
GOST-R Yes

Product ID X67BC8780.L12
Fieldbus
Type POWERLINK (V1/V2) controlled node
Transfer
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 200 μs
Interfaces
Type CAN
Design 8x M12 interface (hub)
Max. baud rate
Bus length ≤10 m Max. 1 Mbps
Bus length 50 m Max. 500 kbps
Hub propagation delay 120 ns
Terminating resistor Integrated in module
Power supply
Voltage 9 to 32 VDC
Summation current Max. 1.6 A (200 mA per channel)
Any Yes
0 to 2000 m No limitation
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1: L/A IF Green On The link to the remote station has been established.
Left: L/A IF; right: S/E
Blinking The link to the remote station has been established. The LED blinks if
Ethernet activity is taking place on the bus.
S/E 1) Green/Red LED "Status/Error" LED statuses are described in "Status/Error LED "S/
E"" on page 374.
CAN LEDs
1-1 5-1
1-1 to 8-1 Yellow On TX - Module transmitting data via the CAN interface
1-2 5-2 1-2 to 8-2 On RX - Module receiving data via the CAN interface
2-1 6-1
Status indicator 2:Status indicator for module functionality
3-1 7-1
3-2 7-2 Blinking Mode PREOPERATIONAL
4-1 8-1
On Mode RUN
4-2 8-2
Single flash I/O error occurred:
Status indicator 2: • CAN bus: Warning, passive or off
Left: Green, Right: Red • Buffer overflow
1) LED "Status/Error" is a green/red dual LED.
Status
Green
t
Error
Red
t
LED "S/E"
t
Note:

Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms
Fieldbus interface
Connector A: Input
No function
CAN interfaces 1 to 8

Connector C: Supply

connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:
be used for wiring.

Information:
High Low

Manager
Hub
Hub Hub

attachment cable or field-assembled connector attachment cable
connection cable
X67CA0E61.xxxx

open-ended cable
attachment cable connection cable X67CA0P50.xxxx
8.4.15.7 CAN interface
8.4.15.7.1 Pinout
B1 B5
1 Shield
B2 B6
X1 to X8 2 24 VDC for CAN
M12 ① 3 CAN ground
4 CAN high
B3 B7
5 CAN low
B4 B8
① X67CA0C22.xxxx: M12 CAN bus cable, straight

X67CA0C32.xxxx: M12 CAN bus cable, angled

8.4.15.7.2 Connector B1 to B8
connectors.
Connection Pinout
B1 to B8 Pin Name
1 Shield
1
2 2 Sensor/Actuator power supply 24 VDC for CAN
3 CAN⊥ CAN ground
5
4 CAN_H CAN high
5 CAN_L CAN low
3
B1 to B8 → A-keyed (female), input/output
3
2
4
1
5
8.4.15.7.3 Terminating resistor
Each CAN interface (B1-B8) in the module is equipped with a terminating resistor.
8.4.15.8 24 VDC power supply
The power supply is connected via M8 connectors C and D. The power supply is connected via connection C
Information:
The maximum permissible current for the power supply is 4 A.
Connection Pinout
C
1 1 24 VDC module 24 VDC module
2 24 VDC actuator/sensor 24 VDC module
4
3 GND GND
4 GND GND
3 C → Connector (male) in module, feed for power supply
D → Connector (female) in module, routing of power supply
D 2
1

8.4.15.9.1 System requirements
The following minimum versions are recommended to generally be able to use all functions:
• Automation Studio 4.3.4.95
• Automation Runtime A4.26
version.
8.4.15.9.3 Function model 0 - Flat
In the "Flat" function model, CAN information is transferred via cyclic input and output registers. All data for a CAN
object (8 CAN data bytes, identifier, status, etc.) is accessible as individual data points (see also "CAN object"
on page 383).
To transmit a CAN object, the CAN identifier, the CAN data (max. 8 bytes) and the number of bytes to be transmitted
must be written to the cyclic I/O data points. "TXCount" is then increased to send the transmission. The data
is applied to the module's internal buffer (max. 18 objects) and transmitted over the CAN network at the next
opportunity.
The same algorithm is used for receiving information from the CAN network. The module saves the CAN messages
in its internal buffer along with the respective identifiers. The CAN identifier, CAN data (max. 8 bytes) and number
of bytes to be processed are then written to the cyclic I/O data points. "RXCount" tells the application which data
must be applied from these input data points.
Information:
• Library "CAN_Lib" cannot be used.
Interface - Configuration
257 ConfigBaudrate USINT ●
259 ConfigSJW USINT ●
261 ConfigSPO USINT ●
266 ConfigTXtrigger UINT ●
673 Cfo_FIFOTXlimit USINT ●
677 Cfo_TXRXinfoFlags USINT ●
Interface - Communication
641 TXCount USINT ●
513 TXCountReadBack USINT ●
545 TXCountLatchReadBack USINT ●
515 RXCount USINT ●
547 RXCountLatch USINT ●
Transmit buffer
645 TXDataSize USINT ●
652 TXIdent UDINT ●
Index * 2 + 657 TXDataByte0 to TXDataByte7 USINT ●
Index * 4 + 658 TXDataWord0 to TXDataWord3 UINT ●
Index * 8 + 660 TXDataLong0 to TXDataLong1 UDINT ●
Receive buffer 0
517 RXDataSize0 USINT ●
524 RXIdent0 UDINT ●
Index * 2 + 529 RXData0Byte0 to RXData0Byte7 USINT ●
Index * 4 + 530 RXData0Word0 to RXData0Word3 UINT ●
Index * 8 + 532 RXData0Long0 to RXData0Long1 UDINT ●
Receive buffer 1
549 RXDataSize1 USINT ●
556 RXIdent1 UDINT ●
Index * 2 + 561 RXData1Byte0 to RXData1Byte7 USINT ●
Index * 4 + 562 RXData1Word0 to RXData1Word3 UINT ●
Index * 8 + 564 RXData1Long0 to RXData1Long1 UDINT ●

8.4.15.9.4 Function model 2 - Stream and Function model 254 - Cyclic stream
Function models "Stream" and "Cyclic stream" use a module-specific driver for the CPU's operating system. The
interface can be controlled using library "CAN_Lib" and reconfigured at runtime.
Function model - Stream
In function model "Stream", the CPU communicates with the module acyclically. The interface is relatively conve-
nient, but the timing is very imprecise.
Function model - Cyclic stream
Function model "Cyclic stream" was implemented later. From the application's point of view, there is no difference
between function models "Stream" and "Cyclic stream". Internally, however, the cyclic I/O registers are used to
ensure that communication follows deterministic timing.
Information:
• In order to use function models "Stream" and "Cyclic stream", you must be using B&R con-
trollers of type "SG4".
• These function models can only be used in X2X Link and POWERLINK networks.
• When using library "CAN_Lib", "ST1.IF1" must be added to the PLC address of CAN interface
IF1.
Module - Configuration
- AsynSize -
6273 CfO_ErrorID0007 USINT ●
6145 CAN error status USINT ●
CANwarning Bit 0
CANpassive Bit 1
CANbusoff Bit 2
CANRXoverrun Bit 3
6209 CAN error acknowledgment USINT ●
QuitCANwarning Bit 0
QuitCANpassive Bit 1
QuitCANbussoff Bit 2
QuitCANRXoverrun Bit 3

8.4.15.9.5 Function model 254 - Flatstream
Flatstream provides independent communication between an X2X Link master and the module. This interface
was implemented as a separate function model for the CAN module. CAN information (identifier, status, etc.) is
transferred via cyclic input and output registers. The sequence and control bytes are used to control this data
stream (see "Flatstream communication" on page 960).
When using function model Flatstream, the user can choose whether to use library "AsFltGen" in Automation Studio
for implementation or to adapt Flatstream handling directly to the individual requirements of the application.
Information:
• Library "CAN_Lib" cannot be used.
• Higher data rates can be achieved between X2X master and module compared to the "Flat"
function model.
257 ConfigBaudrate USINT ●
259 ConfigSJW USINT ●
261 ConfigSPO USINT ●
266 ConfigTXtrigger UINT ●
6145 CAN error status USINT ●
CANwarning Bit 0
CANpassive Bit 1
CANbusoff Bit 2
CANRXoverrun Bit 3
6209 CAN error acknowledgment USINT ●
Flatstream - Configuration
193 outputMTU USINT ●
195 inputMTU USINT ●
197 mode USINT ●
199 forward USINT ●
206 forwardDelay UINT ●
Flatstream - Communication
0 InputSequence USINT ●
Index * 1 + 0 RxByte1 to RxByte27 USINT ●
32 OutputSequence USINT ●
Index * 1 + 32 TxByte1 to TxByte27 USINT ●

Function model "Bus controller" is a reduced form of function model "Flatstream". Instead of up to 27 Tx/Rx bytes,
a maximum of 7 Tx/Rx bytes can be used.
257 - ConfigBaudrate USINT ●
259 - ConfigSJW USINT ●
261 - ConfigSPO USINT ●
266 - ConfigTXtrigger UINT ●
6273 - CfO_ErrorID0007 USINT ●
6145 - CAN error status USINT ●
CANwarning Bit 0
CANpassive Bit 1
CANbusoff Bit 2
CANRXoverrun Bit 3
6209 - CAN error acknowledgment USINT ●
Flatstream - Configuration
193 - outputMTU USINT ●
195 - inputMTU USINT ●
197 - mode USINT ●
199 - forward USINT ●
206 - forwardDelay UINT ●
Flatstream - Communication
0 0 InputSequence USINT ●
Index * 1 + 0 Index * 1 + 0 RxByte1 to RxByte7 USINT ●
32 0 OutputSequence USINT ●
Index * 1 + 32 Index * 1 + 0 TxByte1 to TxByte7 USINT ●

8.4.15.9.7 CAN object
A CAN object is always made up of a 4-byte identifier and a maximum of 8 subsequent data bytes. This also results
in the relationship between CAN object length and the amount of CAN payload data. This is important because
the number of CAN payload data bytes for communication via "FlatStream" always has to be determined using
the frame length.
Composition of a CAN object / CAN frame
Bytes Function Information
1 Code ID bit 0 to 7
2 ID bit 8 to 15
3 ID bit 16 to 23
4 ID bit 24 to 31
5 - 12 CAN payload data 0 to 8 CAN payload data bytes
Code
The 32 bits (4 bytes) of the CAN identifier are used as follows:
0 Frame format 0 Standard frame format (SFF) with an 11-bit identifier
1 Extended frame format (EFF) with an 29-bit identifier
1 Frame type 0 Data frame
1 Remote frame (RTR)
2 Reserved -
3 - 31 CAN identifier for telegram to be transmitted x Extended frame format (EFF) with 29 bits
Standard frame format (SFF) with 11 bits1)
1) Only bits 21 to 31 used; bits 3 to 20 = 0
8.4.15.9.7.1 CAN module data stream
In function model 254, the data packets to be transferred in a data stream are referred to as frames.
Information:
For the CAN module, that means:
• A frame always contains one CAN object and therefore cannot be longer than 12 bytes.
• The CAN object is only transferred to the transmit buffer after the frame has been completed.
• The CAN payload data length has a fixed relationship with the frame length and the actual size
of the CAN object. The following rules apply:
° CAN payload data length = Frame length - 4
° Frame length = CAN payload data length + 4

8.4.15.9.8 Interface - Configuration
8.4.15.9.8.1 Transfer rate
Name:
ConfigBaudrate
"Baud rate" in the Automation Studio I/O configuration.
Configuration of the CAN transfer rate for the interface.
Data type Values Bus controller default setting
USINT See bit structure. 0
Bit structure:
0-3 Transfer rate 0 Interface disabled (bus controller default setting)
1 10 kbit/s
2 20 kbit/s
3 50 kbit/s
4 100 kbit/s
5 125 kbit/s
6 250 kbit/s
7 500 kbit/s
8 800 kbit/s
9 1000 kbit/s
4-7 Reserved -
8.4.15.9.8.2 Synchronization jump width
Name:
ConfigSJW
"Synchronization jump width" in the Automation Studio I/O configuration.
The synchronization jump width (SJW) is used to resynchronize the sample point within a CAN telegram.
See the CAN specification for more details on the SJW.
Data type Values Explanation
USINT 0 to 4 Synchronization jump width.
Bus controller default setting: 3
8.4.15.9.8.3 Offset for the sampling instant
Name:
ConfigSPO
"Sample point offset" in the Automation Studio I/O configuration.
Offset for the sample instant of the individual bits on the CAN bus.
See the CAN specification for more details on the SPO.
USINT 0 to 1 Sample point offset.
8.4.15.9.8.4 Start of transmission
Name:
ConfigTXtrigger
"TX objects / TX triggers" in the Automation Studio I/O configuration.
Defines the number of CAN objects that must be copied to the transmit buffer before the transmission is started.
UINT 0 to 8 Number of CAN objects in the transmit buffer before transmission is started.

8.4.15.9.8.5 Configuration of error messages
Name:
CfO_ErrorID0007
The error messages to be transferred must first be configured with this register. If the corresponding enable bit is
not set, no error status will be sent to the higher-level system if the error occurs.
Bit structure:
0 CANwarning 0 Disabled (bus controller default setting)
1 Enabled
1 CANpassive 0 Disabled (bus controller default setting)
1 Enabled
2 CANbussoff 0 Disabled (bus controller default setting)
1 Enabled
3 CANRXoverrun 0 Disabled (bus controller default setting)
1 Enabled
4-7 Reserved -
8.4.15.9.8.6 Size of the transmit buffer
Name:
Cfo_FIFOTXlimit
"TX FIFO size" in the Automation Studio I/O configuration.
Determines the size of the transmit buffer for the respective interface.
USINT 0 to 18 Size of the transmit buffer
8.4.15.9.8.7 Display of unprocessed elements remaining in the transmit/receive buffer
Name:
Cfo_TXRXinfoFlags
These registers can be used to configure for the interface that the number of unprocessed elements in the transmit
or receive buffer is indicated in the upper 4 bits of registers "TXCountReadBack" and "RXCount".
Data type Values
Bit structure:
0 TxFifoInfo 0 Registers "TXCountReadBack" on page 387 and "TXCount-
"Mode of channel TXCountReadBack" in the Automation Stu- LatchReadBack" on page 387 are use to read back "TXCount".
dio I/O configuration 1 The lower 4 bits of registers "TXCountReadBack" on page 387
and "TXCountLatchReadBack" on page 387 are used to read
back "TXCount".
The upper 4 Bits are used to return the number of frames in the
transmit buffer that have not been transmitted.
1 RxFifoInfo 0 Registers "RXCount" on page 387 and "RXCountLatch" on
"Mode of channel RXCount" in the Automation Studio I/O con- page 388 are used to indicate the number of telegrams that
figuration have been received.
1 The lower 4 bits of registers "RXCount" on page 387 and "RX-
CountLatch" on page 388 are used to indicate the number of
telegrams received.
The upper 4 bits are used to indicate the number of received but
not acknowledged telegrams in the receive buffer.
2-7 Reserved -

8.4.15.9.9 Interface - Communication
8.4.15.9.9.1 CAN error status
Name:
CAN error status
The bits in this register indicate the error states defined in the CAN protocol. If an error occurs, the corresponding bit
is set. For an error bit to be reset, the corresponding bit must be acknowledged (see "CAN error acknowledgment"
on page 386).
Data type Values
Bit structure:
0 CANwarning 0 No error
1 CANwarning error on IF1
1 CANpassive 0 No error
1 CANpassive error on IF1
2 CANbusoff 0 No error
1 CANbusoff error on IF1
3 CANRXoverrun 0 No error
1 CANRXoverrun error on IF1
4-7 Reserved -
CANwarning
A faulty frame was detected on the CAN bus. This can include bit errors, bit stuffing errors, CRC errors, format
errors in the telegram and acknowledgment errors, for example.
CANpassive
The internal transmit and/or receive error counter is greater than 127. CAN communication continues to run, but
the interface can only issue a "passive error frame". Likewise, "error passive stations" have less ability to send
new telegrams altogether.
CANbusoff
The internal transmit error counter is greater than 255. The bus is switched off, and CAN communication with the
module no longer takes place.
CANRXoverrun
An overflow occurred in the module's receive buffer.
8.4.15.9.9.2 CAN error acknowledgment
Name:
CAN error acknowledgment
Setting the bits in this register acknowledges the error assigned to the bit and clears the corresponding bit in the
"CAN error status" register. The application thus informs the module that it has recognized the error state.
Data type Values
Bit structure:
0 QuitCANwarning 0 No acknowledgment
1 Acknowledge CANwarning error on IF1
1 QuitCANpassive 0 No acknowledgment
1 Acknowledge CANpassive error on IF1
2 QuitCANbussoff 0 No acknowledgment
1 Acknowledge CANbusoff error on IF1
3 QuitCANRXoverrun 0 No acknowledgment
1 Acknowledge CANRXoverrun error on IF1
4-7 Reserved -

8.4.15.9.9.3 New CAN telegram for transmit buffer
Name:
TXCount
By increasing this value, the application notifies the module that a new CAN telegram should be transferred into
the transmit buffer.
Data type Value
USINT 0 to 255
8.4.15.9.9.4 Read "TXCount"
Name:
TXCountReadBack
The value of "TXCount" is copied from the module into this register. This makes it possible for the application task
to verify that the CAN telegram data was transfered from the module correctly.
The meaning of the value depends on the "TxFifoInfo" bit. This is located in the register "Cfo_TXRXinfoFlags" on
page 385.
Data type Value "TxFifoInfo" bit Meaning
USINT 0 to 255 0 Read back "TX-Count"
1 See bit structure.
Bit structure:
Bit Function Value Information
0-3 Read back "TX-Count" 0 to 15 Only the lower 4 bits
4-7 Number of frames in the transmit buffer that have not been trans- 0 to 15 If this number exceeds the 15 (a maximum of 18 possible), the
mitted value 15 is returned.
8.4.15.9.9.5 Read "TXCount" from the previous cycle
Name:
TXCountLatchReadBack
This register is used to copy the "TxCount" value from the previous cycle from the module. In the event of an X2X
Link or POWERLINK transfer error, this makes it possible to determined if the error occurred on the way from the
CPU to the module or on the way from the module to the CPU (see "Taking possible errors into consideration
when transmitting" on page 389).
The meaning of the value depends on the "TxFifoInfo" bit in the "Cfo_TXRXinfoFlags" on page 385 register.
Data type Value "TxFifoInfo" bit Meaning
USINT 0 to 255 0 TX-Count read back from the previous cycle
Bit structure:
0-3 TX-Count read back from the previous cycle 0 to 15 Only the lower 4 bits
4-7 Number of frames in the transmit buffer that have not been trans- 0 to 15 From the previous cycle
mitted
8.4.15.9.9.6 Counter for received CAN telegrams
Name:
RXCount
This counter is increased by 1 with each CAN telegram. The application task can thus detect when new data is
received and get it from the corresponding "RXData" registers.
The meaning of the value depends on the "RxFifoInfo" on page 385 bit in the "Cfo_TXRXinfoFlags" register.
Data type Value "RxFifoInfo" bit Meaning
USINT 0 to 255 0 Counter for received telegrams
Bit structure:
0-3 Counter for received telegrams 0 to 15 Only the lower 4 bits
4-7 Number of unacknowledged telegrams in the receive buffer 0 to 15

8.4.15.9.9.7 Read "RXCount" from the previous cycle
Name:
RXCountLatch
This register always contains the "RXCount" value from the previous cycle. It can be used to detect transfer errors
from the module to the CPU (see "Taking possible errors into consideration when transmitting" on page 389).
The meaning of the value depends on the RxFifoInfo bit in the "Cfo_TXRXinfoFlags" on page 385 register.
Data type Value "RxFifoInfo" bit Meaning
USINT 0 to 255 0 Counter for received telegrams from the previous cycle
Bit structure:
0-3 Counter for received telegrams from the previous cycle 0 to 15 Only the lower 4 bits
4-7 Number of telegrams in the receive buffer from the previous cy- 0 to 15
cle

8.4.15.9.10 Send buffer
8.4.15.9.10.1 Number of CAN payload data bytes
Name:
TXDataSize
Number of CAN payload data bytes to be transmitted If a value less than 0 is specified here, this CAN telegram
is marked as being invalid and is not transferred into the transmit buffer. This is useful in connection with transmit
error detection between the module and the CPU (see "Taking possible errors into consideration when transmitting"
on page 389).
Data type Value Meaning
USINT -128 to 8 Amount of CAN payload data to be transmitted.
8.4.15.9.10.2 Identifier of the CAN telegram to be transmitted.
Name:
TXIdent
Identifier of the CAN telegram to be transmitted. The frame format and the identifier format are also defined in
this register.
Data type Value
UDINT See bit structure.
Bit structure:
2 Reserved -
8.4.15.9.10.3 Configuration of the CAN payload data being sent
Name:
TXDataByte0 to TXDataByte7
TXDataWord0 to TXDataWord3
TXDataLong0 to TXDataLong1
CAN payload data in the transmit direction. The 8 payload data bytes for a telegram can be used as data points
with 8 individual bytes, 4 words or 2 longs as needed.
Data type Value Description
USINT 0 to 255 CAN payload data transmitted as bytes
UINT 0 to 65,535 CAN payload data transmitted as words
UDINT 0 to 4.294.967.295 CAN payload data transmitted as longs
8.4.15.9.10.4 Taking possible errors into consideration when transmitting
Data on the POWERLINK network or X2X Link can be lost due to transmission errors. One-time failures of cyclic
data are tolerated by the I/O systems. This is possible since all I/O data is re-transferred in the subsequent cycle.
A transfer error cannot be detected from the I/O variables; they remain frozen on the value from the last cycle.
These tolerated one-time I/O failures can lead to data loss or the delayed CAN telegram transmission. The counter
feedback is derived on the module and used to detect these cases.
Register for counter feedback: • "TXCountReadBack" on page 387
• "TXCountLatchReadBack" on page 387

8.4.15.9.11 Receive buffers 0 and 1
8.4.15.9.11.1 Number of valid CAN payload data bytes
Name:
RXDataSize0
RXDataSize1
Number of valid CAN payload data bytes.
This register also uses the value -1 (0xFF) to indicate a general error or gap in the input data stream. Details
regarding the error that has occurred can be seen in the "CAN error status" on page 386 register.
Data type Value Meaning
USINT 1 to 8 Number CAN payload data
-1 Error
8.4.15.9.11.2 Identifier of the received data
Name:
RXIdent0
RXIdent1
Identifiers assigned to the received data. The frame format and the identifier format can also be read from this
register.
Data type Value
Bit structure:
2 Reserved -
8.4.15.9.11.3 Configuration of the CAN payload data to be received
Name:
RXData0Byte0 to RXData0Byte7
RXData0Word0 to RXData0Word3
RXData0Long0 to RXData0Long1
RXData1Byte0 to RXData1Byte7
RXData1Word0 to RXData1Word3
RXData1Long0 to RXData1Long1
These registers hold the payload data of the CAN object to be transferred from the receive buffer to the CPU in
the current cycle. If new data is received or if the receive buffer contains additional CAN objects, these registers
are overwritten with the new data in the next cycle.
To avoid losing CAN objects, the application must respond immediately to a change in the "RXCount" and copies
the data from these registers.
The maximum 8 bytes for a CAN telegram can be used as data points with 8 individual bytes, 4 words or 2 longs
as needed.
Data type Value Description
USINT 0 to 255 Received CAN payload data as bytes
UINT 0 to 65,535 Received CAN payload data as words
UDINT 0 to 4.294.967.295 Received CAN payload data as longs
8.4.15.9.12 Flatstream communication
For a description of Flatstream communication, see "Flatstream communication" on page 960

8.4.15.9.13 Acyclic frame size
Name:
AsynSize
When the stream is used, data is exchanged internally between the module and CPU. For this purpose, a defined
amount of acyclic bytes is reserved for this slot.
Increasing the acyclic frame size leads to increased data throughput on this slot.
Information:
This configuration involves a driver setting that cannot be changed during runtime!
Data type Value Information
- 8 to 28 Acyclic frame size in bytes. Default = 24
mands.
Minimum cycle time
200 µs
200 µs

Data sheets • Bus controller modules • X67BCD321.L12(-1)
8.4.16 X67BCD321.L12(-1)
EtherNet/IP is an Ethernet based industrial communication network that utilizes the widely-used TCP/IP and UDP/
IP transport protocols. Like DeviceNet, EtherNet/IP uses CIP (Common Industrial Protocol) as the application layer
for automation applications. The Open DeviceNet Vendor Association (ODVA) published this protocol in March of
2000 as an open industry standard.
This EtherNet/IP X67 bus controller makes it possible to connect X2X Link I/O nodes to EtherNet/IP. The bus
controller can be operated using interface module X20IF10D1-1 or 3rd-party systems with EtherNet/IP scanner
functionality. Additional X2X Link I/O nodes (X67 modules or other X2X Link-based modules) can be connected
using the integrated X2X Link connection.
■ Fieldbus: EtherNet/IP
■ Integrated 3-port switch (1 internal port) for efficient cabling
■ Auto-configuration of I/O modules
■ Can be configured by the scanner using configuration assembly
■ Web interface
■ DHCP-capable
■ Minimum fieldbus cycle time (also requested packet interval or RPI): 1 ms
Information:
Automation Studio V4.3 or later can be used to create configuration files (e.g. EDS files, binary files)
in 6 easy steps. All other function models are also supported by transferring configuration data to the
bus controller (e.g. using its web interface or the scanner via a "configuration assembly").
8.4.16.2 Order data

X67BCD321.L12 X67 bus controller, 1 EtherNet/IP interface, X2X Link power sup-
X67BCD321.L12-1 X67 bus controller, 1 EtherNet/IP interface, X2X Link supply 15
W, 16 digital channels configurable as inputs or outputs, 24 VDC,
0.5 A, pinning variant, configurable input filter, 2 event counters
Table 96: X67BCD321.L12, X67BCD321.L12-1 - Order data


Model number X67BCD321.L12 X67BCD321.L12-1

Short description
Bus controller EtherNet/IP Adapter (slave)
General information
Inputs/Outputs 16 digital channels, configurable as inputs or outputs using Au-
tomation Studio or data point, inputs with additional functions
B&R ID code
Bus controller 0xACF7 0xDABF
Internal I/O module 0xB1E7 0xDACE
Diagnostics
Connection type
Power consumption
Fieldbus 2.5 W
Internal I/O 3.3 W
Channel - Bus Yes
Certification
CE Yes
KC Yes -
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus EtherNet/IP Adapter (slave)
Design Internal 3x switch, male M12 circular connector, 2 female connectors on the module
Transfer
Physical layer 10BASE-T/100BASE-TX
Half-duplex Yes
Full-duplex Yes
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 1 ms
X2X Link 500 μs
I/O power supply
Power consumption
Digital inputs
Table 97: X67BCD321.L12, X67BCD321.L12-1 - Technical data

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0→1 <400 µs
1→0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm

Weight 355 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator for module and network function
Mod status1) Green On Indicates that there is at least one client connection
Blinking Bus controller not yet configured.
Status indicator 1:
Red On Major unrecoverable fault.
Left: Module status, Right: Network status
Blinking Minor recoverable fault
Green/Red Blinking Initialization/Self-test
Net status2) Green On Indicates at least one established active scanner connection
Blinking Indicates no established active scanner connection
Red On Indicates an IP address has been used more than once
1-1 5-1
Blinking Indicates a timeout on at least one connection
1-2 5-2
2-1 6-1 Green/Red Blinking Initialization/Self-test
I/O LEDs
2-2 6-2
3-1 7-1 1-1 to 8-2 Orange - Input/Output status of the corresponding channel
Status indicator 2: Status indicator for module functionality
3-2 7-2
4-2 8-2
On Mode RUN
Status indicator 2: Right Red Off No power to module or everything OK
Left: Green, Right: Red On Error or reset state
been triggered.
1) LED "Mod status" is a green/red dual LED. The LED blinks red several times immediately after startup. However, this is a boot message, not an error (see
EtherNet/IP user's manual).
2) LED "Net status" is a greed/red dual LED.
Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply

connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:
be used for wiring.

Information:

8.4.16.6.2 EtherNet/IP address switch position
High Low

0x00 The IP address saved in flash memory is used. The adapter is started via DHCP if attribute 3 (configuration control) of
the TCP/IP interface object was set to DHCP.
0x01 to 0x7F The last position of the IP address saved in flash memory is changed to the address switch value. The IP address saved in
flash memory is not changed. All other adapter parameters are read from flash memory and used without being changed.
0x80 to 0xEF Sets the bus controller to DHCP mode for this range. The DNS server is informed of the current hostname. A hostname
is generated according to how the network address switches are set.
Example: The generated hostname is made up of three elements:

"br" + "eip" + Address switch position (three decimal places)
This means, for example, that the following hostname is generated for address switch position 0xD7 (dec.
215): "breip215".
0xF0 to 0xFD Reserved (same function as position 0xFF).
0xFE Initializes all bus controller parameters with default values during booting. No values are read from flash memory. The
communication parameters correspond to the values assigned with switch setting 0xFF.
0xFF Initializes all communication parameters with default values. All other bus controller parameters are read from flash mem-
ory.
Default parameters:
• IP address: 192.168.100.1
• Subnet mask: 255.255.255.0
• Gateway: 192,168,100,254
• Primary NetBIOS name: "br" + MAC address
• Secondary NetBIOS name: "br" + "eip" + address switch number (decimal)
• X2X Link configuration: 1 ms cycle time
• X2X Link cable length: 0m
8.4.16.6.2.1 Setting the IP address (default value)
Changes to the network address switch are only applied after a restart (power cycle). If the bus controller is restarted
with the address switch value 0xFF, it is initialized with IP address 192.168.100.1. This address is also the factory
default setting.
This IP address can be used to establish a connection to the bus controller. The internationally unique MAC address
is listed on the housing side of the bus controller. The combination of "br" and the MAC address results in a unique
name (primary NetBIOS name) that also makes it possible to access the bus controller.
Example of the primary NetBIOS name:
MAC address: 00-60-65-00-49-02
Resulting NetBIOS name: br006065004902
This means that, without additional parameter changes, either the default IP address 192.168.100.1 or the NetBIOS
name "br+MAC" can be used to communicate with the controller.
Since NetBIOS is being used, the bus controller can only be accessed via this name if there are no intermediary
routers or gateways in the way.
8.4.16.6.2.2 Automatic IP assignment by a DHCP server
If a address switch position between 0x80 and 0xEF is configured, the bus controller will attempt to request an IP
address from the DHCP server. The assigned IP address can be queried with a "ping" command together with the
hostname. The bus controller registers this hostname on the DHCP server, which should forward it to a DNS server.
Example: The hostname (DNS name) is made up of three elements:
"br" + "eip" + Address switch value (three decimal places).
This means, for example, that the following hostname is generated for address switch setting 0xD7 (dec.
215): "breip215".
If DNS service is not available on the network, the bus controller's two NetBIOS names can also be used for
access. The secondary NetBIOS name is identical to the hostname; at address switch value 0x00, it is identical
with the primary NetBIOS name. The bus controller can only be reached via its NetBIOS name if no other routers
or gateways are in the way.

8.4.16.6.2.3 Changing the IP address with the network address switches
The address switches can be used to change the last byte in the IP address configured on the bus controller. The
IP address saved in flash memory is not changed. If the address switches are set to 0x00, the bus controller applies
the IP address last saved to flash memory. Switch positions between 0x01 and 0x7F cause the last position of the
IP address (the lowest byte) to be overwritten by the value of the address switch. This provides the user a quick
and easy way to address a large number of bus controllers. In short, an IP address between 192.168.100.1 and
192.168.100.127 can be selected for a bus controller using the address switches without requiring any additional
software configuration.
8.4.16.6.2.4 Saving an IP address to flash memory
The IP parameters in the flash memory can be changed via the EtherNet/IP protocol or using the Telnet interface
(see EtherNet/IP in the user's manual). If the IP address should be set via the TCP/IP object (class 0xF5), then
the new address will only be saved to flash if instance attribute 3 (configuration control) of the TCP/IP object is
set to 0 (see CIP specification).
8.4.16.6.3 Integration into an EtherNet/IP network
Scanner
Switch
Switch Switch
X67BCD321.L12(-1) X67BCD321.L12(-1) X67BCD321.L12(-1) X67BCD321.L12(-1) X67BCD321.L12(-1)
X67BCD321.L12(-1) X20BC0088 X67BCD321.L12(-1)
the bus controller.
Scanner
Switch
I/O device
X2X Link X2X Link
X67PS1300
X67BCD321.L12(-1) X67BCD321.L12(-1)
Information:


Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O
8.4.16.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

8.4.16.9.1 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

xxx.L12 xxx.L12-1
1
2 1 24 VDC sensor/actuator power supply1)
2 Input/Output x-1 Input/Output x-2
5
3 GND
4 5 NC
3
Shield connection made via threaded insert in the module.
2
4
1
5
Connection 5 to 8
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND


temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


Data sheets • Bus controller modules • X67BCE321.L12
8.4.17 X67BCE321.L12
PROFINET (Process Field Network) is an Industrial Ethernet protocol. It uses TCP/IP and is real-time capable.
PROFINET IO was developed for real-time (RT) and synchronous communication (IRT = Isochronous Real Time).
The designations RT and IRT merely describe the real-time properties for communication taking place within
PROFINET IO. PROFINET IO defines how all data is exchanged between controllers (masters) and devices
(slaves) and how parameter settings and diagnostics are handled. The bus system is designed to exchange data
between Ethernet-based field devices using the producer/consumer model.
X67 modules or other modules that are based on X2X Link can be connected to the bus controller. Modular system
configurations are optimally supported by PROFINET. Using the device description file (GSDML format), it is very
easy to handle project configuration in the respective engineering tool from the manufacturer of the master device.
• Fieldbus: PROFINET RT
• I/O configuration via the fieldbus
• Conformance Class B
• 1 ms minimum cycle time
• Integrated switch for wiring multiple slaves
• 100 Mbit/s full-duplex mode
• Up to 1440 bytes of input data and up to 1440 bytes of output data are possible
• Integrated website
• PROFINET diagnostics and module diagnostics during runtime from within the master environment
• Module and switch diagnostics during runtime using the Web interface or SNMP
• Integrated connection for additional 253 modules via X2X Link
8.4.17.2 Order data

X67BCE321.L12 X67 bus controller, 1 PROFINET interface, X2X Link power sup-
Table 98: X67BCE321.L12 - Order data


Model number X67BCE321.L12

Short description
Bus controller PROFINET RT slave
General information
B&R ID code
Bus controller 0xC5E8
Internal I/O module 0xD9CB
Diagnostics
Connection type
Power consumption
Fieldbus 4.2 W
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus PROFINET RT slave
Design 2x M12 interface (switch), 2x female connector on the module
Transmission
Half-duplex Yes
Full-duplex Yes
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 1 ms
X2X Link 250 μs
I/O power supply
Power consumption
Digital inputs
61131-2
Table 99: X67BCE321.L12 - Technical data

Model number X67BCE321.L12
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Supported inputs Input 2
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 350 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 99: X67BCE321.L12 - Technical data



Status indicator 1
MS and BF (combined) Green On Connection has been established to a PROFINET master. The master
and slave are both operational and data is being exchanged between
Status indicator 1:
them. This state also indicates that the master itself is in the RUN state.
Left: L/A IF; right: MS & BF
Blinking 1 The bus controller is in the initialization phase. This boot phase is where
all connected I/O modules are initialized.
Blinking 3 The bus controller is configuring the connected I/O modules. The con-
figuration is transferred to the bus controller via the PROFINET master.
Double flash An unacknowledged alarm is pending on the bus controller.
Red On Not connected to a PROFINET master
Quad flash The bus controller does not have a valid IP address (0.0.0.0). It will wait
in this state until it is assigned an IP address from the PROFINET master
1-1 5-1
or from an external source. This state can also occur if the bus controller
is being operated in DHCP mode.
1-2 5-2
2-1 6-1 Blinking 4 The bus controller has detected an error. However, it can still be correct-
ed in the master environment during runtime.
2-2 6-2
Blinking 1 The bus controller has detected an error. This error cannot be corrected
3-1 7-1 during runtime; a restart is required.
Off The PROFINET master is in state "Stop" or the BC is not running (power
3-2 7-2 supply, etc.)
4-1 8-1
L/A IF1 & IF2 (com- Green On Indicates an established connection (link), but no communication is tak-
4-2 8-2 bined) ing place
Blinking Ethernet activity taking place on the interface (IF1, IF2) indicated by the
LED
Red Blinking 2 Device identification ("blink" function in step 7 when searching for exist-
ing Ethernet stations)
Status indicator 2: Off An active connection or link does not exist. No other device (PC,
Left: green, Right: red PROFINET master / slave) connected to any interface (IF1, IF2).
I/O LEDs
1-1/2 to 8-1/2 Orange - Input/Output status of the corresponding channel
Status indicator 2
Single flash No power to module
On RUN mode
Single flash Warning or error on an I/O channel. Level monitoring for digital outputs
has been triggered.
Status indicator 1 LED - Blink times

Blinking 1
150
Blinking 2
250
Blinking 3
500
Blinking 4
1000
Quad flash
300 300 300 300 300 300 300 1500
Double flash
300 300 300 1500
All times in ms

Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply
connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:
be used for wiring.

Information:

8.4.17.6.2 Node number
High Low
The bus controller has 2 node number switches. The bus controller can be set to different operating modes using
certain, pre-defined switch positions. They can also be used to configure various additional parameters (PROFINET
device name, DHCP mode, etc.).
0x00 All parameters are loaded from flash memory: Default PROFINET initialization via the DCP protocol (factory state)
0x01 to 0xEF These switch positions generate a valid PROFINET device name. This name is composed as follows: "brpnXXX".
XXX refers to the decimal value of the node number switch position. Leading zeros are automatically added by
the bus controller and must be taken into account on the master side (e.g. node number 0x01 corresponds to
"brpn001" on the master side).
0xF0 Clears flash (see "Erasing flash memory" on page 409)
0xF1 to 0xFD Reserved, switch position not permitted
0xFE IP address via DHCP server
0xFF All parameters set to default: PME mode
Default PROFINET factory state - Node number switch position 0x00

Parameter Value
IP address 0.0.0.0
Subnet mask 0.0.0.0
Gateway 0.0.0.0
PROFINET device name "" ... no factory default name
Default parameters - Node number switch position 0xFF

Parameters cannot be changed by the master in node switch position 0xFF.
Parameter Value
IP address 192.168.100.1
Subnet mask 255.255.255.0
Gateway 192,168,100,254
PROFINET device name x67bce321.l12

8.4.17.6.2.1 Erasing flash memory
Erasing flash memory using switch position 0xF0 returns the bus controller to its factory state.
Steps to be performed
2. Set the node number to 0xF0.
4. Wait until the MS LED flashes green for 5 s. The node number switch must be set to 0x00 and then back to
0xF0 within this time window of 5 seconds (turn switch "High").
5. Wait until the MS LED blinks with a red double-flash (flash memory has been erased).
7. Set the desired node number (0x00 to 0xEF).
9. The bus controller boots with the configured node number.
8.4.17.6.3 Integration into a PROFINET network
Master
Switch
Switch
X67BCE321.L12 X67BCE321.L12 X67BCE321.L12
X20BC00E3 PROFINET slave PROFINET slave
the bus controller.
Master
Switch
I/O device
X2X Link X2X Link
X67PS1300
X67BC X67BC
Information:


Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O
8.4.17.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

8.4.17.9.1 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 8
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND


temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100

8.4.17.10 Integrated website
The integrated website gives the user an overview of the bus controller's network parameters, the configured I/
O modules and the switch configuration. The starting page includes information regarding specific bus controller
settings such as IP address, hostname and the PROFINET device name. In addition, the website provides infor-
mation about the current firmware version. Information concerning module diagnostics is incorporated into a tree
structure. Expanding and collapsing the individual module nodes provides an overview of the configured I/O mod-
ules. In addition, various package counters are read from the integrated switch. This makes diagnosing errors on
the network quick and easy.
Network parameters concerning the bus controller itself can be read, but they cannot be modified. The bus con-
troller's IP configuration is handled during booting or by the PROFINET master when a connection is established.
Each page of the website contains help information that describes the functions and parameters displayed on that
page. The link to this information can be found in the upper right corner of the page in the form of a question mark.
A connection to the website is established by entering the current IP address or the unique hostname in a Web
browser. Some functions require authentication.
The hostname is composed of a predefined text and a unique MAC address. For example, if the bus controller has
the MAC address 00:60:65:11:22:33, this will result in the following hostname: br006065112233.
Default parameters available for the integrated website
IP address: 192.168.100.1
Username: admin
Password: B&R
Information:
Take note of the node number switch position.
Please note that authentication parameters are case-sensitive.


Data sheets • Bus controller modules • X67BCG321.L12
8.4.18 X67BCG321.L12
EtherCAT is an Ethernet-based fieldbus developed by Beckhoff. The protocol is suitable for hard and soft real-time
requirements in automation technology. In addition to a ring structure, which becomes logically necessary because
of the summation frame telegram used, the EtherCAT technology also physically supports topologies such as line,
tree, star (limited) and combinations of these topologies. B&R's X20BC80G3 (expandable bus controller module)
and X20HB88G0 (standalone junction base module) are available for implementing these topologies.
EtherCAT slave devices take the data designated for them from a telegram as it is passing through the device. Input
data is also added to the telegram as it is passing through. Bus controller X67BCG321.L12 allows the coupling of
X2X Link I/O modules to EtherCAT and can be operated on any EtherCAT master systems. A transition between
IP20 and IP67 protection outside of the control cabinet is possible by arranging X20, X67 or XV modules one after
the other as needed at distances up to 100 m.
Master systems without FoE (File access over EtherCAT) support require an appropriate configuration tool to
transfer the configuration (optional).
• Fieldbus: EtherCAT
• I/O configuration and firmware update via the fieldbus (FoE)
• Integrated connection to local expansion via X2X Link for 250 additional modules
• Full support of the modular slice concept via CoE (CANopen over EtherCAT)
• Synchronization between the fieldbus and X2X Link
Information:
All other function models are supported when configured accordingly in Automation Studio V4.3 or
later (see the EtherCAT user's manual).
8.4.18.2 Order data

X67BCG321.L12 X67 bus controller, 1 EtherCAT interface, X2X Link power supply
15 W, 16 digital channels configurable as inputs or outputs, 24
VDC, 0.5 A, configurable input filter, 2 event counters 50 kHz,

Model number X67BCG321.L12

Short description
Bus controller EtherCAT
General information
B&R ID code
Bus controller 0xACF8
Diagnostics
Connection type
Power consumption
Fieldbus 2.5 W
Internal I/O 0.5 W
X2X Link power supply 15% of the power output for X2X Link
Additional power dissipation caused by actuators 0.6
(resistive) [W]
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus EtherCAT slave
Design M12 interface (female) 2x on the module
Transfer
Half-duplex Yes
Full-duplex Yes
Autonegotiation Yes
Auto-MDI / MDIX Yes
Hub propagation delay 750 ns
Min. cycle time 1)
Fieldbus 200 μs
X2X Link 200 μs
I/O power supply
Power consumption
Table 101: X67BCG321.L12 - Technical data

Digital inputs
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
RDS(on) 150 mΩ
Residual voltage <0.15 V at 0.5 A nominal current
Switching delay
0→1 <400 µs
1→0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm

Weight 370 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator for Ethernet activity
L/A IF1) Status indicator for Ethernet activity.
Status indicator 1: Green Blinking There is Ethernet activity (PORT OPEN) taking place on at least one of
Left: green, right: red the EtherCAT connections.
On A connection has been established on at least one of the EtherCAT
connections. However, there is no communication taking place (PORT
OPEN).
Off An Ethernet connection has not been established on any of the Ether-
CAT connections (PORT CLOSED)
STATUS2) Status indicator for the EtherCAT bus controller.
Green On State OPERATIONAL
(RUN) Blinking State PRE-OPERATIONAL
1-1 5-1
Single flash State SAFE-OPERATIONAL
1-2 5-2 Flickering The bus controller has started and is not yet in state INIT or it is in state
2-1 6-1 BOOTSTRAP (e.g. during firmware download).
Off State INIT
2-2 6-2 Red On A critical communication or application error has occurred.
3-1 7-1
(ERROR) Blinking Invalid configuration data
3-2 7-2
Single flash The bus controller has an internal error and has changed the EtherCAT
4-1 8-1 state on its own.
Double flash Watchdog timeout (process data watchdog or EtherCAT watchdog)
4-2 8-2 Flickering Error in the start procedure (state INIT achieved but the error indicator
bit in the AL status register is set)
Off No error
I/O LEDs
Status indicator 2: 1-1/2 to 8-1/2 Orange - Input/Output state of the corresponding channel.
Left: green, right: red Status indicator 2: Status indicator for module functionality
Left Green Off No power supplied to the module
On Mode RUN
been triggered.
1) LED "L/A IF" shows the signals of the 2 EtherCAT interfaces combined (IN and OUT).
2) LED "STATUS" is a green/red dual LED used to indicate EtherCAT states ERROR (red) and RUN (green).
LED status indicators - Blink times
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms

Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply
connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:
be used for wiring.

Information:

8.4.18.6.2 Integration into an EtherCAT network
Master
Examples of junctions:
Junction
- X20BC80G3 + X20HB28G0
- X20HB88G0 + X20HB28G0
Junction
X67BCG321.L12 X67BCG321.L12 X67BCG321.L12
X20BC00G3 X67BCG321.L12 X67BCG321.L12
the bus controller.
Master
Junction
Slave
X2X Link X2X Link
X67PS1300
X67BCG321.L12 X67BCG321.L12
Information:

Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O

8.4.18.7 EtherCAT network address switches
Information:
The network address switches on this bus controller have no function.
8.4.18.8 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND
8.4.18.10.2 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 8


temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


Data sheets • Bus controller modules • X67BCJ321
8.4.19 X67BCJ321
Established in 1979, the Modbus protocol has approved the use of Ethernet with both Modbus TCP and Mod-
bus/UDP. Today, Modbus TCP is an open Internet draft standard introduced by Schneider Automation to the In-
ternet Engineering Task Force (IETF), the organization responsible for Internet standardization. The Modbus ser-
vices and object model have been preserved since the original version and left unchanged for use with the TCP/
IP transmission medium.
Modbus/UDP differs from Modbus TCP in that it uses connectionless communication via UDP/IP. The advantages
of faster and easier communication with UDP/IP also brings with it the disadvantage of requiring error detection
and correction in the application layer.
This bus controller makes it possible to connect X2X Link I/O nodes to Modbus via Ethernet. The bus controller
can be operated on B&R controllers through the use of Automation Studio or on third-party systems with Modbus
TCP or -UDP master functionality.
■ Fieldbus: Modbus/TCP, Modbus/UDP
■ I/O configuration via the fieldbus
■ DHCP-capable
■ Response time: <1 ms
■ Check validity of command sequences before execution
Information:
later.
8.4.19.2 Order data

X67BCJ321 X67 bus controller, 1 Modbus TCP/UPD interface, X2X Link
power supply 3 W, 8 digital channels configurable as inputs or
outputs, 24 VDC, 0.5 A, configurable input filter, 2 event coun-
ters 50 kHz
Table 102: X67BCJ321 - Order data


Model number X67BCJ321

Short description
Bus controller Modbus TCP/UDP slave
General information
B&R ID code
Bus controller 0xAD3B
Internal I/O module 0xADA3
Diagnostics
Connection type
Power consumption
Fieldbus 3.5 W
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus Modbus TCP/UDP slave
Transfer
Half-duplex Yes
Full-duplex Yes
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 1 ms
X2X Link 500 μs
I/O power supply
Power consumption
Digital inputs
Table 103: X67BCJ321 - Technical data

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0→1 <400 µs
1→0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm

Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator for Modbus TCP bus controller
L/A IF Green Blinking Indicates Ethernet activity is taking place on the Ethernet con-
nection.
Permanently Connection (link) established on the Ethernet connection, how-
on ever there is no communication.
Off Indicates that no physical Ethernet connection exists
S/E1) Green Permanently Indicates that there is at least one client connection
Status indicator 1: on
Left: green; Right: red 2 pulses Indicates that there are no client connections
4 pulses Indicates that the controller is waiting for an address from the
DHCP server
Blinking Initialization of connected I/O modules
Red Permanently Indicates a major unrecoverable hardware fault
on
2 pulses Watchdog timeout
3 pulses Faulty I/O module configuration data
4 pulses Indicates that the controller has detected an IP address being
used twice
5 pulses Indicates a missing, defective or incorrect I/O module
6 pulses Error reading from or writing to flash memory
I/O LEDs
Status indicator 2: Left Green Off No power to module
Left: green; Right: red Single flash RESET mode
On RUN mode
Single flash Warning/Error on an I/O channel. Level monitoring for digital out-
puts has been triggered.
1) The Status/Error LED is a green/red dual LED. The LED blinks red several times immediately after startup. This is a boot message, however, and not an error.



connectors.
Connection Pinout
Pin Name
2
2 RXD Receive data
4
Information:
be used for wiring.

Information:

8.4.19.6.2 Modbus TCP network address switches
High Low

0x00 This switch position is the factory default setting. In this position, the address switches have no effect on system para-
meters. The bus controller parameters in flash memory are used (IP address or interface number). The bus controller is
started with factory default values if valid flash data is not present.
0x01 to 0x7F The last position of the IP address saved in flash memory is changed to the address switch value. The IP address saved
in flash memory is not changed. The interface number is read from flash memory.
is generated according to the setting of the address switch.
Example The generated hostname is made up of 3 elements:

"br" + "mb" + Address switch value (3 decimal places)
215): "brmb215".
ory.
Default parameters:
• IP address: 192.168.100.1
• Subnet mask: 255.255.255.0
• Gateway: 192,168,100,254
• Secondary NetBIOS name: "br" + "mb" + address switch value (decimal)
• Interface number: 502
Changes to the network address switches are only applied after a restart. If the bus controller is restarted with
the address switch value 0xFF, it is initialized with the IP address 192.168.100.1. This address is also the factory
default setting. The interface number is set to 502 (reserved for Modbus).
MAC address: 00-60-65-00-49-02

If a network address switch setting between 0x80 and 0xEF is configured, the bus controller will attempt to request
an IP address from the DHCP server. The assigned IP address can be queried with a "ping" command together
with the hostname. The bus controller registers this hostname on the DHCP server, which should forward it to a
DNS server.
Example The hostname (DNS name) is made up of three elements:
This means, for example, that the following hostname is generated for address switch setting
0xD7 (dec. 215): "brmb215".
If DNS service is not available on the network, the bus controller's two NetBIOS names can also be used for access.
The secondary NetBIOS name is identical to the hostname. If the address switches are set to 0x00, it is identical
to the primary NetBIOS name. The bus controller can only be reached via its NetBIOS name if no other routers
The IP parameters in flash memory can be changed via the Modbus protocol, the ModbusTCP Toolbox or the
Telnet interface. The ModbusTCP Toolbox can be downloaded from the B&R website.
The IP address, subnet and gateway are all defined in the address range 0x1003 to 0x100E. Each has a length of 4
words. The data is applied by writing constant 0xC1 to address 0x1140 ("Write Single Register" fc6, addr. 0x1140,
data 0xC1). The new settings are applied after the bus controller is restarted.
8.4.19.6.3 Integration in a Modbus TCP network
The bus controller is used as the last controller in both a tree or line structure.
Master
Switch
Switch Switch Switch
X67BCJ321 X67BCJ321 X67BCJ321 X67BCJ321 Controller

+
Switch
Controller
+
Switch
X67BCJ321

the bus controller.
Master
Switch
Switch
X2X Link X2X Link
I/O device
X67BCJ321 X67BCJ321 X67PS1300
Information:
power.
POWERLINK POWERLINK
X2X Link
X67CA0X51.xxxx
X67BC I/O I/O I/O

I/O power supply
I/O
8.4.19.7 X2X Link
Up to 250 additional modules can be connected to the bus controller via X2X Link using pre-assembled cables.
The connection is made using an M12 circular connector.
Connection Pinout
Pin Name
B 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1
8.4.19.9.1 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100

8.4.19.10 SG3

Data sheets • Bus controller modules • X67BCJ321.L12
8.4.20 X67BCJ321.L12
Established in 1979, the Modbus protocol has approved the use of Ethernet with both Modbus TCP and Mod-
bus/UDP. Today, Modbus TCP is an open Internet draft standard introduced by Schneider Automation to the In-
ternet Engineering Task Force (IETF), the organization responsible for Internet standardization. The Modbus ser-
vices and object model have been preserved since the original version and left unchanged for use with the TCP/
IP transmission medium.
Modbus/UDP differs from Modbus TCP in that it uses connectionless communication via UDP/IP. The advantages
of faster and easier communication with UDP/IP also brings with it the disadvantage of requiring error detection
and correction in the application layer.
This bus controller makes it possible to connect X2X Link I/O nodes to Modbus via Ethernet. The bus controller
can be operated on B&R controllers through the use of Automation Studio or on third-party systems with Modbus
TCP or -UDP master functionality.
■ Modbus/TCP, Modbus/UDP
■ Integrated 2-port switch for efficient cabling
■ I/O configuration via the fieldbus
■ DHCP-capable
■ Response time: <1 to 8 ms (depends on the load on the integrated switch)
■ Check validity of command sequences before execution
Information:
later.
8.4.20.2 Order data

X67BCJ321.L12 X67 bus controller, 1 Modbus TCP/UDP interface, X2X Link
power supply 15 W, 16 digital channels configurable as inputs or
outputs, 24 VDC, 0.5 A, configurable input filter, 2 event coun-
Table 104: X67BCJ321.L12 - Order data


Model number X67BCJ321.L12

Short description
Bus controller Modbus TCP/UDP slave
General information
B&R ID code
Bus controller 0xAD3C
Diagnostics
Connection type
Power consumption
Fieldbus 4.2 W
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Fieldbus Modbus TCP/UDP slave
Design 2x M12 interface (switch), 2x female connector on the module
Transfer
Half-duplex Yes
Full-duplex Yes
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 1 ms
X2X Link 500 μs
I/O power supply
Power consumption
Digital inputs
Table 105: X67BCJ321.L12 - Technical data

Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0→1 <400 µs
1→0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm

Weight 350 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator for Modbus TCP bus controller
L/A IF Green Blinking Indicates Ethernet activity on one or both Ethernet interfaces
Permanently Indicates an established connection (link) on one or both Ethernet inter-
on faces, but no communication is taking place
Off Indicates that no physical Ethernet connection exists
Status indicator 1: S/E1) Green Permanently Indicates that there is at least one client connection
Left: L/A IF; right: S/E on
2 pulses Indicates that there are no client connections
4 pulses Indicates that the controller is waiting for an address from the DHCP
server
Blinking Initialization of connected I/O modules
Red Permanently Indicates a major unrecoverable hardware fault
1-1 5-1 on
1-2 5-2
2 pulses Watchdog timeout
2-1 6-1 3 pulses Faulty I/O module configuration data
4 pulses Indicates that the controller has detected an IP address being used twice
2-2 6-2
3-1 7-1 5 pulses Indicates a missing, defective or incorrect I/O module
6 pulses Error reading from or writing to flash memory
3-2 7-2
4-1 8-1 I/O LEDs
4-2 8-2 1-1 to 8-2 Orange - Input/Output status of the corresponding channel
Status indicator 2:
On RUN mode
been triggered.
1) The Status/Error LED is a green/red dual LED. The LED blinks red several times immediately after startup. This is a boot message, however, and not an error.
Fieldbus interface
Connector A: Input
X2X Link

Connector C: Supply

connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:
be used for wiring.

Information:

8.4.20.6.2 Modbus TCP network address switches
High Low

0x00 This switch position is the factory default setting. In this position, the address switches have no effect on system para-
meters. The bus controller parameters in flash memory are used (IP address or interface number). The bus controller is
started with factory default values if valid flash data is not present.
0x01 to 0x7F The last position of the IP address saved in flash memory is changed to the address switch value. The IP address saved
in flash memory is not changed. The interface number is read from flash memory.
is generated according to the setting of the address switch.
Example The generated hostname is made up of 3 elements:

215): "brmb215".
ory.
Default parameters:
• IP address: 192.168.100.1
• Subnet mask: 255.255.255.0
• Gateway: 192,168,100,254
• Secondary NetBIOS name: "br" + "mb" + address switch value (decimal)
• Interface number: 502
Changes to the network address switches are only applied after a restart. If the bus controller is restarted with
the address switch value 0xFF, it is initialized with the IP address 192.168.100.1. This address is also the factory
default setting. The interface number is set to 502 (reserved for Modbus).
MAC address: 00-60-65-00-49-02

If a network address switch setting between 0x80 and 0xEF is configured, the bus controller will attempt to request
an IP address from the DHCP server. The assigned IP address can be queried with a "ping" command together
with the hostname. The bus controller registers this hostname on the DHCP server, which should forward it to a
DNS server.
Example The hostname (DNS name) is made up of three elements:
This means, for example, that the following hostname is generated for address switch setting
0xD7 (dec. 215): "brmb215".
If DNS service is not available on the network, the bus controller's two NetBIOS names can also be used for access.
The secondary NetBIOS name is identical to the hostname. If the address switches are set to 0x00, it is identical
to the primary NetBIOS name. The bus controller can only be reached via its NetBIOS name if no other routers
The IP parameters in flash memory can be changed via the Modbus protocol, the ModbusTCP Toolbox or the
Telnet interface. The ModbusTCP Toolbox can be downloaded from the B&R website.
The IP address, subnet and gateway are all defined in the address range 0x1003 to 0x100E. Each has a length of 4
words. The data is applied by writing constant 0xC1 to address 0x1140 ("Write Single Register" fc6, addr. 0x1140,
data 0xC1). The new settings are applied after the bus controller is restarted.
8.4.20.6.3 Integration in a Modbus TCP network
Master
Switch
Switch Switch
X67BCJ321.L12 X67BCJ321.L12 X67BCJ321.L12 X67BCJ321.L12 X67BCJ321.L12
X67BCJ321.L12 X20BC0087 X67BCJ321.L12

the bus controller.
Master
Switch
I/O device
X2X Link X2X Link
X67PS1300
X67BC X67BC
Information:

Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O
8.4.20.7 X2X Link
Up to 250 additional modules can be connected to the bus controller via X2X Link using pre-assembled cables.
The connection is made using an M12 circular connector.
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1

Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1
8.4.20.9.1 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 8

DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND

temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100

8.4.20.10 SG3

Data sheets • Counter modules • Summary
8.5 Counter modules

Counter modules are used for position detection. Each signal on a counter module is assigned to a status LED.
8.5.1 Summary
X67DC1198 X67 digital counter module, 2x 3 inputs 5 V for SSI 1 Mbit/s or ABR 250 kHz, 8 digital channels 24 VDC, 0.1 448
A, configurable as inputs or outputs or 4 AB counters 100 kHz or 4x comparator outputs or 2x PWM outputs,
local time measurement functions
X67DC2322 X67 resolver module, 2x 14-bit resolver input BRX/BRT, 2 digital inputs, 24 VDC, sink, 2 digital outputs, 0.5 A, 494
source

Data sheets • Counter modules • X67DC1198
8.5.2 X67DC1198
The possibilities are almost endless with this digital counter module.
Connectors 1 and 3 are 12-pin M12 connectors. Each of these can be used to connect 1 incremental encoder or
SSI encoder with 5 V differential signals. In addition, there are 2 digital channels available on the same output
which, when configured as inputs, can be used with incremental encoders with status outputs (e.g. alarms). When
configured as outputs, they act as preset and count direction switching functions when used together with SSI
encoders, for example.
2 more sockets and 2 more configurable digital channels are available on female connectors 2 and 4. The inputs
can be used as latch, gate, or home enable switches, while the outputs can be used as comparator outputs, for
example.
■ 2 incremental or SSI encoder inputs 5 V
■ 2 digital channels, 24 V per connection, configurable either as inputs or outputs
■ 4 AB counters on the digital inputs
■ Pulse width modulation of the digital outputs
■ Encoder power supply 5 V and 24 V integrated in encoder connection
Information:
In contrast to freely configurable function model "Standard", the function selection cannot be modified
in function model "Bus controller".
Function model "Bus Contoller":
• 1x ABR incremental encoder (5 V)
• 1x SSI absolute encoder (5 V)
• 1x PWM output (24 V)
• 1x up/down counter (24 V)
• 3x AB counter (24 V)
8.5.2.2 Order data

Multi-function
X67DC1198 X67 digital counter module, 2x 3 inputs 5 V for SSI 1 Mbit/s or
ABR 250 kHz, 8 digital channels 24 VDC, 0.1 A, configurable as
inputs or outputs or 4 AB counters 100 kHz or 4x comparator
outputs or 2x PWM outputs, local time measurement functions
Table 106: X67DC1198 - Order data


Model number X67DC1198

Short description
I/O module 2 SSI absolute encoders 5 V or 2 ABR incremental encoders 5 V,
4 AB counters or 4 up/down counters 24 V,
2x pulse width modulation, time measurement, relative timestamp
General information
Isolation voltage between encoder and bus 500 VEff
B&R ID code 0x18D0
Diagnostics
Connection type
Inputs/Outputs 2x M12, 5-pin, A-keyed
SSI/ABR encoder 2x M12, 12-pin, A-keyed
Power consumption
Internal I/O 2.8 W
Encoder - Bus Yes
Encoder - Encoder No
Encoder - Channel No
Channel - Bus Yes
Certifications
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
SSI absolute encoder
Quantity 2
Encoder inputs 5 V, symmetrical
Counter size 32-bit
Max. transfer rate 1 Mbit/s
Keying Gray/Binary
Overload characteristics of encoder power supply Short circuit protection, overload protection
Transfer rate 125 kbit/s, 250 kbit/s, 500 kbit/s, 1 Mbit/s
Encoder power supply
5 VDC Module-internal, max. 0.3 A summation current
ABR incremental encoder
Quantity 2
Encoder inputs 5 V, symmetrical
Counter size 16/32-bit
Evaluation 4x
Encoder power supply
Table 107: X67DC1198 - Technical data

Input filter
Hardware ≤200 ns
Software -
Common-mode range -7 V ≤ VCM ≤ +12 V
Overload characteristics of encoder power supply Short circuit protection, overload protection
AB counters
Quantity 4
Evaluation 4x
Encoder inputs 24 V, asymmetrical
Encoder power supply 24 VDC Module-internal, max. 0.5 A summation current
Digital inputs 5 VDC
Quantity Up to 6, configurable as inputs or outputs using software
Nominal voltage 5 VDC differential signal, EiA RS-485 standard
Input filter
Hardware 200 ns
Software -
Additional functions ABR incremental encoder, SSI absolute encoder, event counting, time measurement, relative timestamp
Input circuit Sink
Input current at 24 VDC Approx. 3.3 mA
Input resistance 7.31 kΩ
Input filter
Hardware ≤2 µs
Software -
Switching threshold
Low <5 VDC
High >15 VDC
Additional functions Reference enable inputs for ABR, event counting, latch function, time measurement, relative timestamp
Event counter
Quantity 8
Evaluation 2x
Up/Down counters
Quantity 4
Evaluation 2x
Edge detection / Time measurement
Possible measurements Gate time, period duration, edge offset for various channels
Measurements per module Up to 9
Measurements per channel Up to 2
Counter size 16-bit
Counter frequency
Internal 8 MHz, 4 MHz, 2 MHz, 1 MHz, 500 kHz, 250 kHz, 125 kHz, 62.5 kHz
Measurement type Continuous or triggered
Digital outputs 5 VDC
Type 5 VDC differential signal, EiA RS-485 standard
Output circuit Sink or source
Output protection Short circuit protection
Design Push / Pull / Push-Pull
Diagnostic status Output monitoring
Total nominal current 0.8 A
Design Push / Pull / Push-Pull

Braking voltage when switching off inductive loads Switching voltage + 0.6 VDC
Switching on after overload or short circuit cutoff Approx. 10 ms (depends on the module temperature)
Leakage current when switched off Max. 25 µA
Pulse width modulation 2)
Period duration 41.6 µs to 500 ms
Pulse duration 0 to 100%
Resolution 0.1%
Switching frequency
Resistive load Max. 24 kHz
Switching delay
0→1 <2 µs
1→0 <2 µs
Additional functions Pulse width modulation, comparator function
Any Yes
Degree of protection per EN 60529 IP67
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

2) Dead time when switching between push and pull: max. 1.5 µs.


Status indica- Status indicator - X2X Link.
tor 1 Green Red Description
Status indicator 1: Off On X2X Link supplied but X2X Link communication not functioning
1-4 Status indicator for input/output 1 to 8
LED Description
Orange Output status of channel x
Green Input status of channel x
Orange and green One I/O channel is configured as an input and one as an output.
Both channels are active. Both the orange and green LED are
lit. Since only one light conductor is used, however, the color is
mixed.
Status indica- Status indicator for module function.
tor 2 LED Status Description
X2X Link
Connector A: Input
Connector B: Output
Connector 1: ABR incremental or SSI absolute encoder 1

Digital inputs/outputs 1 + 2 or AB counter 1
Connector 3: ABR incremental or SSI absolute encoder 2


Connector C: Supply
Connector D: Pass through
8.5.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.5.2.8 Pinout
Shield
1 ABR-B\; DI/DO
2 DI/DO; AB-A
3 ABR-R; SSI clock; DI/DO
4 ABR-R\; SSI clock\; DI/DO
5 ABR-A; SSI data; DI/DO
X1 and X3
6 ABR-A\; SSI data\; DI/DO
M12 ① 7 DI/DO; AB-B
X1 X3
8 ABR-B; DI/DO
9 Reserved
10 +5 VDC
11 +24 VDC
X2 X4 12 GND
Shield
1 +24 VDC
X2 and X4 2 DI/DO; PWM; AB-A
M12 ② 3 GND
4 DI/DO; AB-B
5 Shield
① X67CA0I41.xxxx: Straight multi-function cable

X67CA0I51.xxxx: Angled multi-function cable
② X67CA0A41.xxxx: M12 straight sensor cable
X67CA0A51.xxxx: M12 angled sensor cable

8.5.2.8.1 Connector X1 and X3
4 pinouts are listed in the following table:

• I/O channels: Division of digital I/O channels (5 VDC differential signal and 24 VDC)
• ABR incremental encoder: Encoder operated as incremental encoder
• SSI absolute encoder: Encoder operated as SSI absolute encoder
• AB counters: 24 V inputs are operated as AB counters
M12, 12-pin Pinout
Connection 1 Pin Assignment Voltage I/O channel ABR en- SSI encoder AB counter
coders
10
1 5V 24 V X1 X3 X1: X1: X1:
2 Encoder 1 Encoder 1 Counter 1
9 X3: X3: X2:
Encoder 2 Encoder 2 Counter 3
1 Inputs/Outputs ● 10\ 14\ B\ - -
12 2 Inputs/Outputs ● 1 5 - - A
11 3 Inputs/Outputs ● 11 15 R Clock -
11 4 Inputs/Outputs ● 11\ 15\ R\ Clock\ -
2 5 Inputs/Outputs ● 9 13 A Data -
6 Inputs/Outputs ● 9\ 13\ A\ Data\ -
7 Inputs/Outputs ● 2 6 - - B
10
8 Inputs/Outputs ● 10 14 B - -
12
1 9 Reserved
9 10 +5 VDC encoder power supply
Connection 3 11 +24 VDC encoder power supply
12 GND
8.5.2.8.2 Connection X2 and X4
M12, 5-pin Pinout

Connection 2 Pin Assignment I/O channel PWM AB counter
X2 X4 X2 X4 X2: Encoder 2
1
X4: Encoder 4
2
5
2 Input/Output 3 7 PWM 1 PWM 2 A
3 GND
4 4 Input/Output 4 8 - - B
3 5 Shield2)
X2 and X4 → A-keyed (female), input
4
1
5
Connection 4

ABR encoder with 24 V power supply
R\
R 1 2
Counter
B\
B 12 11 Connection 1 / 3
8 4
A\
A 6
SSI encoder with 5 V power supply
Clock 1
10 3
Counter
Clock\
12 Connection 1 / 3
Data 4
Data\ 5
6
Sensor connection with 5 V and 24 V power supply
+5 VDC
Sensor 2
DI
1 2
GND
10
12 11 Connection 1 / 3
+24 VDC
Sensor 1
DI 7
GND
PWM output
PWM 1 2
Valve
PWM
5 Connection 2 / 4
GND
4 3

5 V input
Input x
RS485
driver Input status
Recipient I/O status

Input x
LED (green)
GND
GND
PTC
24 V
24 V
5V
24 V
24 V input
Input x
VDR
Input status
I/O status
GND
GND
LED (green)
PTC
24 V
24 V
8.5.2.11 ABR/SSI - Output circuit diagram
5 V output
Output x
RS485
Output status driver
Transmitter
Output x

24 V output
24 V
Output status Push
PTC
Output x
VDR
Output status Pull
GND
Output monitoring
8.5.2.12 Switching inductive loads
100 H 10 H 1H
1000
0.1 H
Coil resistance
Coil inductance
[Ω]
0.01 H
240 Ω ≙ 100 mA
0.1 1 10 100 1000 10000


8.5.2.13 Description of channel assignments
The functions listed here are directly assigned to the respective hardware channels and cannot be changed:
Channel Signal connections
1 • Digital input/output 1 (24 VDC)
• Event counter 1
• AB counter 1, signal line A
• Up/down counter 1 - frequency
• Event counter 2
• AB counter 1, signal line B
• Up/down counter 1 - direction
• Event counter 3
• PWM output 1
• Event counter 4
• Event counter 5
• Event counter 6
• Event counter 7
• PWM output 2
• Event counter 8
• AB counter 4 - signal line B
• Event counter 9
• ABR counter 1, signal line A
• SSI encoder 1 - data line
• Event counter 10
• ABR encoder 1 - signal line B
• ABR encoder 1 - signal line R
• SSI encoder 1 - clock line
12 Not used
• ABR encoder 2 - signal line A
• SSI encoder 2 - data line
• ABR encoder 2 - signal line B
• ABR encoder 2 - signal line R
• SSI encoder 2 - clock line
Options available in addition to these basic functions, such as comparator outputs or latch inputs, can be configured
freely to unused input/output channels.

version.
8.5.2.14.2 Function model 0 "16-bit counter" and function model 1 "32-bit counter"
The following 2 models can be selected:

• 16-bit counter, Function model 0
• 32-bit counter, Function model 1 (identified in the table with a "(D)" in the data type and "(_32Bit)" in the
name.)
The only difference between these two models is that they use either 16-bit or 32-bit registers for incremental
counter functions. The following belong to this group:
• ABR encoders
• AB counters
• Up/down counters
• Event counter
All other module functions e.g. SSI, PWM and time measurement, as well as their data types, are identical for
the two models.
Module configuration - General
(N-1) * 2 CfO_CFGchannelN (index N = 01 to 15) USINT ●
64 + N * 2 CfO_LEDNsource (index N = 0 to 7) USINT ●
Configuration - Input for ABR encoders
512 CfO_DIREKTIOevent0IDwr UINT ●
544 CfO_DIREKTIOevent1IDwr UINT ●
516 CfO_DIREKTIOevent0mode USINT ●
548 CfO_DIREKTIOevent1mode USINT ●
522 CfO_DIREKTIOevent0compState UINT ●
520 CfO_Ev0CompMask UINT ●
552 CfO_Ev1CompMask UINT ●
3088 CfO_Counter5PresetValue1(_32Bit) U(D)INT ●
3072 CfO_Counter5config USINT ●
3584 CfO_Counter7config USINT ●
3080 CfO_Counter5configReg0 USINT ●
3136 CfO_Counter5event0IDwr UINT ●
3144 CfO_Counter5event0config UINT ●
3172 CfO_Counter5event1mode USINT ●
3684 CfO_Counter7event1mode USINT ●
Configuration - Inputs for event counters
2056 + (N-1) * 256 CfO_CounterNconfigReg0 (index N = 1 to 8) USINT ●
2058 + (N-1) * 256 CfO_CounterNconfigReg1 (index N = 1 to 8)1) USINT ●
2112 + (N-1) * 256 CfO_CounterNevent0IDwr (index N = 1 to 8) UINT ●
2120 + (N-1) * 256 CfO_CounterNevent0config (index N = 1 to 8) UINT ●
2116 + (N-1) * 256 CfO_CounterNevent0mode (index N = 1 to 8) USINT ●
2144 + (N-1) * 256 CfO_CounterNevent1IDwr (index N = 1 to 8)1) UINT ●

2152 + (N-1) * 256 CfO_CounterNevent1config (index N = 1 to 8)1) UINT ●
2148 + (N-1) * 256 CfO_CounterNevent1mode (index N = 1 to 8)1) USINT ●
Configuration - Inputs for AB and up/down counters
2048 + (N-1) * 256 CfO_CounterNconfig (index N = 1 to 4) USINT ●
Configuration - Inputs for SSI encoders
7176 CfO_SSI1cfg UINT ●
7432 CfO_SSI2cfg UINT ●
7180 CfO_SSI1control USINT ●
7436 CfO_SSI2control USINT ●
7168 CfO_SSI1eventIDwr UINT ●
7424 CfO_SSI2eventIDwr UINT ●
7232 CfO_SSI1event0IDwr UINT ●
7488 CfO_SSI2event0IDwr UINT ●
7240 CfO_SSI1event0config UINT ●
7496 CfO_SSI2event0config UINT ●
7236 CfO_SSI1event0mode USINT ●
7492 CfO_SSI2event0mode USINT ●
7172 ConfigAdvanced01 UDINT ●
7428 ConfigAdvanced02 UDINT ●
Configuration - Comparator function for ABR and SSI encoders as well as AB and up/down counters
256 CfO_OutClearMask UINT ●
258 CfO_OutSetMask UINT ●
1024 + N * 32 CfO_DIREKTIOouteventNIDwr (index N = 0 to 3) UINT ●
1034 + N * 32 CfO_DIREKTIOoutsetmaskN (index N = 0 to 3) UINT ●
1032 + N * 32 CfO_DIREKTIOoutclearmaskN (index N = 0 to 3) UINT ●
Configuration - Outputs for PWM (pulse width modulation)
6144 CfO_PWM0prescaler UINT ●
6160 CfO_PWM1prescaler UINT ●
Module communication - General
40 Status of encoder supplies USINT ●
PowerSupply01 Bit 0
PowerSupply02 Bit 1
Communication - Digital inputs
264 DigitalInput1_16 UINT ●
... ...
Communication - Digital outputs
260 DigitalOutput1_16 UINT ●
... ...
264 Status of the digital outputs UINT ●
... ...
Communication - Event counters
2080 + (N-1) * 256 EventCounter01 (index N = 1, 3, 5 ... 15) U(D)INT ●
2084 + (N-1) * 256 EventCounter02 (index N = 2, 4, 6 ... 14)2) U(D)INT ●
Communication - Input for ABR encoders (optionally with comparator)
3104 ABRConnector01 (D)INT ●
3616 ABRConnector03 (D)INT ●
3140 ReferenceModeABRConnector01 USINT ●
3652 ReferenceModeABRConnector03 USINT ●
3184 OriginComparatorABRConnector01 (D)INT ●
3696 OriginComparatorABRConnector03 (D)INT ●
3188 MarginComparatorABRConnector01 U(D)INT ●
3700 MarginComparatorABRConnector03 U(D)INT ●
264 Input states of the channels UINT ●
ReferenceEnableSwitchABRConnector01 or Bit x
ReferenceEnableSwitchABRConnector03 (without com-
parator)
ComparatorActualValueABRConnector01 or
ComparatorActualValueABRConnecto03 (with comparator)
3196 Latch01ABR01 (D)INT ●
3708 Latch01ABR02 (D)INT ●

3142 StatusABRConnector01 USINT ●
3654 StatusABRConnector03 USINT ●
Communication - Input for AB counters
2080 + (N-1) * 256 ABConnector0N (index N = 1 to 4) (D)INT ●
2160 + (N-1) * 256 OriginComparatorABConnector0N (index N = 1 to 4) (D)INT ●
2164 + (N-1) * 256 MarginComparatorABConnector01N (index N = 1 to 4) U(D)INT ●
ComparatorActualValueCounterConnector0N (index N = 1 to Bit x
4)
2140 + (N-1) * 256 Latch01AB0N (index N = 1 to 4) (D)INT ●
2172 + (N-1) * 256 Latch02AB0N (index N = 1 to 4) (D)INT ●
Communication - Up/Down counters
2080 + (N-1) * 256 CounterConnector0N (index N = 1 to 4) U(D)INT ●
2160 + (N-1) * 256 OriginComparatorCounterConnector0N (index N = 1 to 4) U(D)INT ●
2164 + (N-1) * 256 MarginComparatorCounterConnector0N (index N = 1 to 4) U(D)INT ●
ComparatorActualValueCounterConnector0N (index N = 1 to Bit x
4)
2140 + (N-1) * 256 Latch01CounterConnector0N (index N = 1 to 4) U(D)INT ●
2172 + (N-1) * 256 Latch02CounterConnector0N (index N = 1 to 4) U(D)INT ●
Communication - Input for SSI encoders
7184 SSIConnector01 UDINT ●
7440 SSIConnector03 UDINT ●
3108 EventCounter10 UINT ●
3620 EventCounter14 UINT ●
7248 OriginComparatorSSIConnector01 UDINT ●
7504 OriginComparatorSSIConnector03 UDINT ●
7252 MarginComparatorSSIConnector01 UDINT ●
7508 MarginComparatorSSIConnector03 UDINT ●
ComparatorActualValueSSIConnector01 or Bit x
ComparatorActualValueSSIConnector01
7260 Latch01SSIConnector01 UDINT ●
7516 Latch01SSIConnector03 UDINT ●
Communication - Outputs for PWM (pulse width modulation)
6146 PWMOutput03 UINT ●
6162 PWMOutput07 UINT ●
Configuration - Edge detection
4104 CfO_EdgeDetectFalling UINT ●
4106 CfO_EdgeDetectRising UINT ●
4108 CfO_FallingDisProtection UINT ●
4110 CfO_RisingDisProtection UINT ●
Configuration - Time measurement
4336 CfO_EdgeTimeglobalenable USINT ●
4344 + N * 82) CfO_EdgeTimeFallingModeN (index N = 01 to 15) UINT ●
4472 + N * 82) CfO_EdgeTimeRisingModeN (index N = 01 to 15) UINT ●
Communication - Time measurement
4342 Trigger rising edge detection USINT ●
TriggerRisingCH01 Bit 0
... ...
4343 Trigger rising edge detection USINT ●
... ...
4350 Show first rising trigger edge USINT ●
BusyTriggerRisingCH01 Bit 0
... ...
4351 Show first rising trigger edge USINT ●
... ...
4340 Trigger falling edge detection USINT ●
TriggerFallingCH01 Bit 0
... ...
4341 Trigger falling edge detection USINT ●
... ...
4348 Show first falling trigger edge USINT ●
BusyTriggerFallingCH01 Bit 0
... ...

4349 Show first falling trigger edge USINT ●
... ...
4474 + N * 82) CountRisingCHN (index N = 01 to 15) USINT ●
4476 + N * 82) TimeStampRisingCHN (index N = 01 to 15) UINT ●
4478 + N * 82) TimeDiffRisingCHN (index N = 01 to 15) UINT ●
4346 + N * 82) CountFallingCHN (index N = 01 to 15) USINT ●
4348 + N * 82) TimeStampFallingCHN (index N = 01 to 15) UINT ●
4350 + N * 82) TimeDiffFallingCHN (index N = 01 to 15) UINT ●
1) Registers with index value 6 and 8 are not used.

2) Register with index value 12 does not exist.
Unlike the function models 0 and 1, this model only offers a selection of functions with a limited scope of config-
uration on the module.
The following functions are provided and can be run at the same time:
• 1 SSI encoder
• 1 ABR encoder with configurable reference pulse edge and reference position
• 1 event counter with configurable counting direction
• 3 AB counters
• 1 PWM output
Configuration - Event counter
2816 - CfO_Counter4config USINT ●
2824 - CfO_Counter4configReg0 USINT ●
2826 - CfO_Counter4configReg1 USINT ●
Configuration - ABR encoder
3088 - CfO_Counter5PresetValue1 UINT ●
3092 - CfO_Counter5PresetValue2 UINT ●
3072 - CfO_Counter5config USINT ●
3080 - CfO_CounterNconfigReg0 USINT ●
3082 - CfO_CounterNconfigReg1 USINT ●
3136 - CfO_Counter5event0IDwr UINT ●
3144 - CfO_Counter5event0config UINT ●
512 - CfO_DIREKTIOevent0IDwr UINT ●
516 - CfO_DIREKTIOevent0mode USINT ●
Configuration - AB counter
2048 + (N-1) * 256 - CfO_CounterNconfig (index N = 1 to 3) USINT ●
2056 + (N-1) * 256 - CfO_CounterNconfigReg0 (index N = 1 to 3) USINT ●
2058 + (N-1) * 256 - CfO_CounterNconfigReg1 (index N = 1 to 3) USINT ●
Configuration - Inputs for SSI encoders
7424 - CfO_SSI2eventIDwr UINT ●
7428 - ConfigAdvanced02 UDINT ●
Configuration - Outputs for PWM (pulse width modulation)
6160 - CfO_PWM1prescaler UINT ●
Module communication - General
40 3 Status of encoder supplies USINT ●
PowerSupply01 Bit 0
PowerSupply02 Bit 1
Communication - Event counters
2852 14 EventCounter08 UINT ●
Communication - Input for ABR encoders
3104 0 ABRConnector01 INT ●
3140 0 ReferenceModeABRConnector01 USINT ●
3142 2 StatusABRConnector01 USINT ●
Communication - Input for AB counters
2080 8 ABConnector01 INT ●
Communication - Input for SSI encoders
7440 4 SSIConnector03 UDINT ●
Communication - Outputs for PWM (pulse width modulation)
6162 2 PWMOutput07 UINT ●

8.5.2.14.4 General module registers
8.5.2.14.4.1 Configuring LED status indicators
Name:
CfO_LED0source to CfO_LED7source
These registers can be used to define how the module's LED status indicators are used. Blinking patterns can be
generated from the application, and the status of the physical inputs and outputs can be indicated.
The following applies:
Connection LED
CfO_LED0source 1 Green
CfO_LED1source 1 Orange
... ... ...
CfO_LED6source 4 Green
CfO_LED7source 4 Orange
Data type Values

Bit structure:
0-3 MODE = 0 0 LED off
1 Blinking quickly
2 Blinking
3 Blinking slowly
4 Single flash
5 Double flash
6 to 15 Reserved
MODE = 1 (inverted) 0 LED on
1 Blinking quickly
2 Blinking
3 Blinking slowly
4 Single flash
5 Double flash
6 to 15 Reserved
MODE = 2 0 to 15 Number of the physical input channel
MODE = 3 0 to 15 Number of the physical output channel
4-7 Selection of the mode for the LED status indicator 0 LED blinking pattern
1 Inverted LED blinking pattern
2 Displays a channel's physical input status
3 Displays a channel's physical output status
4 to 15 Reserved
8.5.2.14.4.2 Status of encoder supplies
Name:
PowerSupply01 to PowerSupply02
This register shows the status of the integrated encoder supplies. A faulty encoder power supply is displayed as
a warning.
Data type Value
Bit structure:
0 PowerSupply01 0 24 VDC encoder power supply OK
1 24 VDC encoder power supply faulty
1 PowerSupply02 0 5 VDC encoder power supply OK
1 5 VDC encoder power supply faulty
2-7 Reserved -

8.5.2.14.5 Digital inputs and outputs
8.5.2.14.5.1 Configure physical channels
Name:
CfO_CFGchannel01 to CfO_CFGchannel15
This register can be used to configure physical I/O channels 1 to 15.
Information:
CfO_CFGchannel12 is not connected to a physical I/O channel.
Data type Values
Bit structure:
0 Pull1) 0 Disabled
1 Enabled
1 Push1) 0 Disabled
1 Enabled
2 Inverted input 0 Disabled
1 Enabled
3 Inverted output 0 Disabled
1 Enabled
4-7 Output type 0 Direct I/O
1 to 5 Reserved
6 PWM (channel-specific)
7 Reserved
1) To configure a channel as an output, Push and/or Pull must be enabled.
8.5.2.14.5.2 Reset mask of the digital channels
Name:
CfO_OutClearMask
The settings in this register only affect the values written to register "DigitalOutput xx" on page 466.
• 0 allows manual reset of digital outputs using registers DigitalOutput01 to 15.
• 1 prevents manual reset of digital outputs using registers DigitalOutput01 to 15.
When "1" is used, the output event function can be used to reset the outputs.
Data type Values
UINT See bit structure.
Bit structure:
0 DigitalOutput01 0 Writing 0 to register DigitalOutput01 resets the output.
1 Writing 0 to register DigitalOutput01 does not reset the output.
... ... ...
11 Reserved (output 12 does not exist) -
... ... ...
15 Reserved -

8.5.2.14.5.3 Set mask of the digital channels
Name:
CfO_OutSetMask
The settings in this register only affect the values written to register "DigitalOutput xx" on page 466.
• 0 allows manual setting of digital outputs using registers DigitalOutput01 to 15.
• 1 prevents manual setting of digital outputs using registers DigitalOutput01 to 15.
When "1" is used, the output event function can be used to reset the outputs.
Data type Values
Bit structure:
0 DigitalOutput01 0 Writing 1 to register DigitalOutput01 sets the output.
1 Writing 1 to register DigitalOutput01 does not set the output.
... ... ...
... ... ...
15 Reserved -
8.5.2.14.5.4 Input states of the digital inputs
Name:
DigitalInput1_16
This register reads the input status of a physical channel. The polarity settings are accounted for in the value (bit
2 in "CfO_CFGchannel[x]" on page 464 register).
Data type Values
Bit structure:
0 DigitalInput01 0 or 1 Input state of the physical channel
.. ... ...
11 Reserved (input 12 does not exist) -
... ... ...

8.5.2.14.5.5 Output states of the channels
Name:
DigitalOutput1_16
The output status of a physical channel can be written using this register. In order to configure a channel as an
output:
1 Bit 0 "Push" and/or bit 1 "Pull" must be enabled in the "CfO_CFGchannel[x]" on page 464 register.
2 Bits 4 to 7 in the "CfO_CFGchannel[x]" on page 464 register must be set to Direct I/O.
3 0 must be set for the respective channel in the "CfO_OutClearMask" on page 464 and "CfO_OutSetMask"
on page 465 registers.
Data type Values
Bit structure:
0 DigitalOutput01 0 or 1 Output state of the physical channel
.. ... ...
... ... ...
8.5.2.14.5.6 Status of the digital outputs
Name:
The state of the output channel passed to the hardware is indicated in this register.
Data type Values
Bit structure:
0 StatusDigitalOutput01 0 or 1 State of the hardware output channel
.. ... ...
... ... ...

8.5.2.14.5.7 Input states of the channels
Name:
ComparatorActualValueABConnector01 to ComparatorActualValueABConnector04
ComparatorActualValueCounterConnector01 to ComparatorActualValueCounterConnector04
ComparatorActualValueABRConnector01 and ComparatorActualValueABRConnector03
ReferenceEnableSwitchABRConnector01 and ReferenceEnableSwitchABRConnector03
ComparatorActualValueSSIConnector01 and ComparatorActualValueSSIConnector03
This register reads out the input state of a physical channel. The polarity settings are accounted for in the value
(bit 2 in "CfO_CFGchannel[x]" on page 464 register).
To improve readability, the bits in this register are shown in the Automation Studio I/O mapping table under different
names based on the function being used.
Information:
In Automation Studio, only the BOOL value of the channel configured in Automation Studio is returned
for each function instead of the entire UINT value.
Data type Values
Bit structure:
0 Channel 1 0 or 1 Input state of the physical channel
..
14 Channel 15 0 or 1 Input state of the physical channel
The following table shows which input channels can be assigned to the individual names/functions.
Bit 0 1 2 3 4 5 6 7 8 9 10 11 12 12 14
Channel XX 01 02 03 04 05 06 07 08 09 10 11 12 13 14 15
ComparatorActualValueABConnector01 ● ● ● ● ● ● ● ● ● ● ● ●
ComparatorActualValueABRConnector01 ● ● ● ● ● ● ● ● ● ● ●
ComparatorActualValueABRConnector03 ● ● ● ● ● ● ● ● ● ● ●
ReferenceEnableSwitchABRConnector01 ● ● ● ● ● ● ● ● ● ● ●
ReferenceEnableSwitchABRConnector03 ● ● ● ● ● ● ● ● ● ● ●
ComparatorActualValueCounterConnector01 ● ● ● ● ● ● ● ● ● ● ● ●
ComparatorActualValueSSIConnector01 ● ● ● ● ● ● ● ● ● ● ● ●
ComparatorActualValueSSIConnector03 ● ● ● ● ● ● ● ● ● ● ● ●

8.5.2.14.6 Event functions
The module provides configurable event functions. An event function can be connected to physical I/O and the
values derived from them (e.g. counters) or be purely used for internal processing.
Every event function has event inputs and outputs. Event functions can also have only inputs or only outputs. Each
event output has a unique event ID. It is possible to configure when an event is generated on an event output. The
effect of an event is determined by the respective event function.
Event functions can also be linked to one another. The link takes place using the event input. Every event input
has a 16-bit register to which the event number of the linked event output is written.
Information:
The module functions that can be configured in the Automation Studio I/O configuration are primarily
based on these event functions and their links. Changes in the Automation Studio I/O configuration
have multiple effects on event functions and their links.

8.5.2.14.6.1 List of event IDs
Various hardware and software functions send event IDs or require event IDs in order to start. The following table
shows all of the IDs available to configure the module.
Event ID Description
Direct event inputs
512 Comparator condition 1 FALSE
513 TRUE
545 TRUE
577 TRUE
609 TRUE
Counter comparator functions
2112 Counter function 1 Event function 1; FALSE
2113 Event function 1; TRUE
2144 Event function 2; FALSE
Edge events
4096 Falling edge on I/O channel Channel 1
... ...
4111 Channel 16
4112 Rising edge on I/O channel Channel 1
... ...
4127 Channel 16
4128 Rising or falling edge on I/O channel Channel 1
... ...
4143 Channel 16
SSI counter events
7168 SSI 1 SSI valid
7169 SSI ready
7424 SSI 2 SSI valid
7425 SSI ready
SSI comparator events
7232 SSI 1 comparator condition FALSE
7233 TRUE
7488 SSI 2 comparator condition FALSE
7489 TRUE
Timer events
208 Timer1 50 μs
209 Timer2 100 μs
210 Timer3 200 μs
211 Timer4 400 μs
212 Timer5 800 μs
213 Timer6 1600 μs
214 Timer7 3200 μs
215 Timer8 3200 μs (time offset to timer 7)
Network functions
224 SOAISOP (synchronous out asynchronous in start of protocol)
225 AOSISOP (asynchronous out synchronous in start of protocol)
226 SOAIEOP (synchronous out asynchronous in end of protocol)
227 AOSIEOP (asynchronous out synchronous in end of protocol)
Idle event
192 No-load operation

Timer
There are 8 timer events that the module can generate.
Information:
The timers have the highest event priority. All other system functions are interrupted when a timer
event occurs, and jitter for the amount of time it takes to process the event.
Idle event
Idle time is the time that remains after the system has processed all higher priority events and operations. The
module performs the following functions during idle time:
• Handling of the asynchronous protocol
• Mechanism for (re-)linking events
• Operation of LEDs
• Execution of event event functions linked to the idle function
8.5.2.14.6.2 Edge events
For each physical channel there are 3 event functions

• Falling edge
• Rising edge
• Falling and rising edge
The respective event is triggered when an edge is detected on the hardware input and the "CfO_EdgeDetectRising"
on page 471 and/or "CfO_EdgeDetectFalling" on page 470 register has been configured for the respective
channel.
Edges are detected by the hardware and processed for each interrupt. The interrupt handler uses an event distrib-
utor, which requires a specific amount of time for each edge to operate the hardware and execute linked event
functions. To reduce this time, edge detection can be enabled/disabled individually for each channel. To optimize
system load and I/O jitter, it is important to only enable edge detection where it is actually needed.
Information:
Edge detection can also be used for channels that are configured as outputs.
Event frequency limitation
To stabilize the system, there is a mechanism that limits the number of events created through edge recognition.
At least one idle event must occur between two edge events for the same edge.
The "CfO_FallingDisProtection" on page 471 and "CfO_RisingDisProtection" on page 471 registers can be
used to disable this limitation for each edge, and then an event will be generated for every edge. However, this can
cause a system overload, i.e. I/O operation can fail for up to 100 ms before the module changes to the reset state.
Generate event on falling edge
Name:
CfO_EdgeDetectFalling
This register defines whether an event is generated on a falling edge.
Data type Values
Bit structure:
0 Channel 1 0 No event generated on falling edge.
1 Events 4096 and 4128 are generated on falling edge.
... ...
15 Channel 16 0 No event generated on falling edge.
1 Events 4111 and 4143 are generated on falling edge.

Generate event on rising edge
Name:
CfO_EdgeDetectRising
This register defines whether an event is generated on a rising edge.
Data type Values
Bit structure:
0 Channel 1 0 No event generated on rising edge.
1 Events 4112 and 4128 are generated on rising edge.
... ...
15 Channel 16 0 No event generated on rising edge.
1 Events 4127 and 4143 are generated on rising edge.
Enable limit for falling edges
Name:
CfO_FallingDisProtection
This register can be used to enable/disable the event frequency limit for falling edges on the respective channel.
Data type Values
Bit structure:
0 Channel 1 0 Event frequency limit enabled.
1 Event frequency limit disabled.
... ...
Enable limit for rising edges
Name:
CfO_RisingDisProtection
This register can be used to enable/disable the event frequency limit for rising edges on the respective channel.
Data type Values
Bit structure:
... ...
8.5.2.14.6.3 Direct input functions
The module has 2 "direct input functions"

These event functions are based on comparator functionality. If the event configured in the "CfO_DIREKTIOeven-
t0IDwr" on page 472 register occurs, the event function compares the status of all Direct I/O channels enabled
in the "CfO_EvCompMask" on page 472 register to a status defined in the "CfO_DIREKTIOeventcompState" on
page 472 register. The event that is generated depends on the results of this comparison.
• If the respective bits are the same, this is event number 513 or 545.
• If the respective bits are not the same, this is event number 512 or 544.

Configure event ID for input function
Name:
CfO_DIREKTIOevent0IDwr to CfO_DIREKTIOevent1IDwr
This register holds the event ID generated by the direct input function. For a list of all possible event IDs, see "List
of event IDs" on page 469
UINT 192 to 7489 ID of event function
Configure the mode of the input function
Name:
CfO_DIREKTIOevent0mode to CfO_DIREKTIOevent1mode
The mode in which the direct input function operates can be set in this register.
Comparator functions can be operated in 4 different modes. For a description, see "Comparator modes" on page
481.
Data typ Value Information
USINT See bit structure. Default value in the bus controller function model: CfO_DIREKTIOevent1mode= 0x03
Bit structure:
0-1 Comparator mode 0 Off
1 Individual
2 State change
3 Continuous
2-7 Reserved -
Comparator status for comparator mask
Name:
CfO_DIREKTIOevent0compState to CfO_DIREKTIOevent1compState
This register contains the status bits that are compared with the bits specified in the "CfO_Ev0CompMask" on page
472 register, which contain the I/O input status, when an event is received.
Data type Values
Bit structure:
0 Comparator status of channel 1 0 or 1
... ...
14 Comparator status of channel 15 0 or 1
Configure the comparator mask for the input function
Name:
CfO_Ev0CompMask to CfO_Ev1CompMask
If a bit is set, then the input status of the respective channel is compared with that bit in the "CfO_DIREKTIOevent-
compState" on page 472 register.
Data type Values
Bit structure:
0 Channel 1 0 Do not compare bit
1 Compare bit in register
... ...
14 Channel 15 0 Do not compare bit
1 Compare bit in register

8.5.2.14.6.4 Direct output functions
The module has 4 of these event functions

The effect of executing this event function is similar to writing to the "DigitalOutput02 to 08" on page 466 registers.
When this event function is triggered, however, the changed output states are passed on to the hardware imme-
diately, regardless of the X2X cycle.
When this event function is used, the masks of the respective outputs (see "CfO_OutClearMask" on page 464
and "CfO_OutSetMask" on page 465 registers) must be set to 1. Otherwise the output status would constantly be
overwritten by the values in the "DigitalOutput02 to 08" on page 466 registers.
Configure event ID for output function
Name:
CfO_DIREKTIOoutevent0IDwr to CfO_DIREKTIOoutevent3IDwr
These registers hold the event IDs that trigger the direct output function. For a list of all possible event IDs, see
"List of event IDs" on page 469
INT 192 to 7489 ID of event function
Configure channels for resetting
Name:
CfO_DIREKTIOoutclearmask0 to CfO_DIREKTIOoutclearmask3
Writing "1" to the bit position that corresponds to a channel resets the output if the output event function is being
executed. This corresponds to writing "0" in register "DigitalOutput" on page 466.
The bit that corresponds to channels that should be reset should be set to "1" in the "CfO_OutClearMask" on page
464 register.
Data type Values
Bit structure:
0 Channel 1 0 Reset channel 1
1 Do not reset channel 1
... ...
14 Channel 15 0 Reset channel 15
1 Do not reset channel 15
15 Reserved -
Configure channels for setting
Name:
CfO_DIREKTIOoutsetmask0 to CfO_DIREKTIOoutsetmask3
Writing "1" to the bit position that corresponds to a channel sets the output if the output event function is being
executed. This corresponds to writing "1" in register "DigitalOutput" on page 466.
The bit that corresponds to channels that should be reset should be set to "1" in the "CfO_OutSetMask" on page
465 register.
Data type Values
Bit structure:
0 Channel 1 0 Set channel 1
1 Do not set channel 1
... ...
14 Channel 15 0 Set channel 15
1 Do not set channel 15
15 Reserved -

8.5.2.14.7 Counters and encoders
The module has 8 internal counter functions, each with 2 event counter registers. Each of these 8 counters is
permanently assigned to 2 physical inputs. This assignment cannot be changed.
The counter registers perform different functions based on how the event functions are connected. The counter
registers can be configured in the following ways:
• AB counters
• Up/down counters
• Event counter
Different names are used for them in Automation Studio and in the register description to improve clarity.
Channel Counter function Counter register Name in Automation Studio
1 1 1 ABConnector01
CounterConnector01
EventCounter01
2 2 EventCounter02
3 2 1 ABConnector02
CounterConnector02
EventCounter03
4 2 EventCounter04
5 3 1 ABConnector03
CounterConnector03
EventCounter05
6 2 EventCounter06
7 4 1 ABConnector04
CounterConnector04
EventCounter07
8 2 EventCounter08
9 5 1 EventCounter09
10 2 EventCounter10
12 2 Not used
14 2 EventCounter14
16 2 Not used
8.5.2.14.7.1 Counter value calculation
There are 3 steps for calculating the state of any counter function
1. The counter value is based on the 2 absolute value counters "abs1" and "abs2". These are only used internally in
the module and cannot be read. Depending on the mode, these registers show the respective physical input signals.
Mode
Edge counters AB counters Up/Down counters
abs1 Edges of counter channel 1 Increments in positive direction Counter channel 2 = 0:
Edges of counter channel 1
in up direction
abs2 Edges of counter channel 2 Increments in negative direction Counter channel 2 = 1
Edges of counter channel 1
in down direction
2. 2 more counters are formed from absolute value registers "abs1" and "abs2": "counter1" and "counter2". They
are only used internally in the module and cannot be read. The following values are used for the calculation:
• Absolute value registers "abs1" and "abs2"
• SW_reference_counter 1 and 2: This reference value can be predefined by register "CfO_CounterPreset-
Value" on page 478 to allow referencing <> 0.
• HW_reference_counter 1 and 2: In register "CfO_CounterEventMode" on page 482, you can configure
whether latched values should be copied to these registers when counter events occur.
counter1 = abs1 + SW_reference_counter1 - HW_reference_counter1
counter2 = abs2 + SW_reference_counter2 - HW_reference_counter2
3. The counter registers contain the sum of the two internal counters "counter 1" and "counter 2". The "CfO_Coun-
terConfigReg" on page 478 register allows you to define a sign for each "counter" register and define whether
or not it should be used.
Counter register = counter1 + counter2

8.5.2.14.7.2 Sample configurations
All of the settings available in Automation Studio for ABR encoders, AB counters, up/down counters and event
counters are based on the 2 counter functions.
The following configuration examples show the values with which Automation Studio initializes the module registers
in order to implement these functions.
I/O configuration - ABR encoder
The following table shows how the module's various event functions can be linked in order to configure an ABR
encoder.
Register Value Comment
For the function
CfO_Counter5PresetValue1 (any) Desired offset value for referencing
CfO_Counter7PresetValue1
CfO_Counter5event0IDwr 0x0201 Link between the first counter event and the "direct input" comparator condition
CfO_Counter7event0IDwr TRUE
CfO_Counter5config 0x01 Mode = AB counter
CfO_Counter7config
CfO_Counter5configReg0 0x0D Configures the calculation of the internal registers "counter1" and
CfO_Counter7configReg0 "counter2" (see "Counter value calculation" on page 474 and "Examples of
calculation configurations" on page 478)
CfO_DIREKTIOevent0IDwr 0x1002 or 0x1012 Selection of the desired input edge as trigger for the ABR encoder function
CfO_DIREKTIOevent1IDwr
CfO_Counter5event0config 0x0000 Configuration of the first counter event (for referencing)
CfO_Counter7event0config
CfO_DIREKTIOevent0mode 0x03 Mode of the "direct input function" - Continuous
CfO_DIREKTIOevent1mode
CfO_DIREKTIOevent0compState 0x00 or 0x08 Comparator status for the "direct input function"
CfO_DIREKTIOevent1compState
CfO_Ev0CompMask 0x08 Comparator mask for the "direct input function"
CfO_Ev1CompMask
For the latch
CfO_Counter5event0config 0x000D Configuration of the calculation of the value used for the latch
CfO_Counter5event0mode 0x03 Mode of the first counter event function - Continuous
CfO_Counter7event1mode
CfO_Counter5event0IDwr (any) Number of the event that should trigger the latch
CfO_Counter7event1IDwr
For the comparator
CfO_Counter5event1IDwr 0x00D0 Event number of Timers1 (50 µs)
Information:
The latch and comparator must not have the same event number!
CfO_Counter5event1config 0x900D or 0xA00D Configuration of the comparator for the second counter event
CfO_DIREKTIOoutevent0IDwr 0x0861 TRUE event output of the second counter to trigger the direct output function
CfO_DIREKTIOoutevent2IDwr 0x0A61 (set outputs).
CfO_DIREKTIOoutsetmask0 0x08, 0x20, 0x80 Outputs that should be set when comparator condition = TRUE
CfO_DIREKTIOoutsetmask2 0x02, 0x08, 0x80
CfO_DIREKTIOoutevent1IDwr 0x0860 FALSE event output of the second counter to trigger the direct output function
CfO_DIREKTIOoutevent3IDwr 0x0A60 (reset outputs).
CfO_DIREKTIOoutclearmask1 0x08, 0x20, 0x80 Outputs that should be reset when comparator condition = FALSE
CfO_DIREKTIOoutclearmask3 0x02, 0x08, 0x80

I/O configuration - AB counter
The following table shows how the module's various event functions can be linked in order to configure an AB
counter.
[x] stands for the respective counter function, from 1 to 4
For the function
CfO_Counter[x]config 0x01 Mode = Up/down counter
CfO_Counter[x]configReg0 0x0D Configures the calculation of the internal registers "counter1" and
"counter2" (see "Counter value calculation" on page 474 and "Examples of
For the latch
CfO_Counter[x]event0config 0x000D Configuration of the calculation of the first value used for the latch
CfO_Counter[x]event0mode 0x03 Mode of the first counter event function - Continuous
CfO_Counter[x]event0IDwr (any) Number of the event that should trigger latch 1 ("Latch 01 - Channel" in the Au-
tomation Studio I/O configuration).
CfO_Counter[x]event1config 0x0D Configuration of the calculation of the second value used for the latch
CfO_Counter[x]event1mode 0x03 Mode of the second counter event function - Continuous
CfO_Counter[x]event1IDwr (any) Number of the event that should trigger latch 2
For the comparator
CfO_Counter1event1IDwr 0x00D0 Event number of Timer 1 (50 μs)
Information:
CfO_Counter1event1config 0x900D or 0xA00D Configuration of the comparator for the second counter event
CfO_Counter1event1mode 0x03 Mode of the second counter event function - Continuous
CfO_Counter3event1mode
CfO_DIREKTIOoutevent2IDwr 0x0A61 (set outputs).
CfO_DIREKTIOoutevent3IDwr 0x0A60 (reset outputs).
I/O configuration - Up/down counter
The following table shows how the module's various event functions can be linked in order to configure an up/
down counter.
For the function
CfO_Counter[x]config 0x03 Counter mode = Up/down counter
CfO_Counter[x]configReg0 0x0D, 0x07 Configures the calculation of the internal registers "counter1" and
For the latch
CfO_Counter[x]event0config 0x0D, 0x07 Configuration of the calculation of the first value used for the latch
CfO_Counter[x]event0mode 0x03 Mode of the first counter function - Continuous
CfO_Counter[x]event0IDwr (any) Number of the event that should trigger Latch 1
CfO_Counter[x]event1config 0x0D, 0x07 Configuration of the calculation of the second value used for the latch
CfO_Counter[x]event1mode 0x03 Mode of the second counter function - Continuous
CfO_Counter[x]event1IDwr (any) Number of the event that should trigger Latch 2
For the comparator
CfO_Counter1event1IDwr 0x00D0 Event number of Timer 1 (50 μs)
CfO_Counter3event1lDwr
Information:
CfO_Counter1event1config 0x900D, 0xA00d or 0x9007, 0xA007 Configuration of the comparator for the second counter event
CfO_Counter1event1mode 0x03 Mode of the second counter event function - Continuous
CfO_Counter3event1lmode
CfO_DIREKTIOoutevent2lDwr (set outputs).
CfO_DIREKTIOoutevent3lDwr 0x0A60 (reset outputs).

I/O configuration - Event counter
The following table shows how the module's various event functions can be linked in order to configure an event
counter.
For event counters on uneven channel numbers (counter register 1)
CfO_Counter[x]configReg0 0x01 or 0x03 Configures the calculation of the internal registers "counter1" and
CfO_Counter[x]event0mode 0x43 Mode of the first counter event function and referencing configuration
CfO_Counter[x]event0IDwr (any) Number of the event that should trigger referencing
For event counters on even channels (counter register 2)
CfO_Counter[x]configReg1 0x04 or 0x08 Configures the calculation of the internal registers "counter1" and
CfO_Counter[x]event1mode 0x83 Mode of the second counter event function and referencing configuration
CfO_Counter[x]event1IDwr (any) Number of the event that should trigger referencing
8.5.2.14.7.3 General event functions
Each of the 8 counter functions has 2 counter event functions. These consist of:
• Event ID that triggers the counter event function
• A window comparator
• Latch register for saving the counter value
When the counter event function is complete, a combined event ID in the range 2112 to 2913 (see "List of event
IDs" on page 469) is sent.
Each counter event function also has the option to copy the current counter value to the "reference counter" when
an event occurs (see "Counter value calculation" on page 474).
Event input
E
True event False event

Comparator window
Logic
Latch true
CfO_Counter(x)event(y) False CfO_Counter(x)event(y) False

mode.Bit6 = 1 ? mode.Bit4 = 1 ?
True True
Hardware reference Hardware reference
Counter 1 = abs 1 Counter 1 = abs 1
CfO_Counter(x)event(y) False CfO_Counter(x)event(y) False

mode.Bit7 = 1 ? mode.Bit5 = 1 ?
True True
Hardware reference Hardware reference
Counter 2 = abs 2 Counter 2 = abs 2
E E
Event output Event output
True False

Configure counter mode
Name:
CfO_Counter1config to CfO_Counter8config
These registers are used to configure the mode of the counter function. Each counter function can be operated
in 3 different modes.
Counter function mode
Edge counters AB counters Up/down counter
Counter channel 11) Counting pulses, edge counter 1 A Metering pulses
Counter channel 21) Counting pulses, edge counter 2 B Counting direction (0 =
positive, 1 = negative)
Counter register 1 Counter value 1 Position Counter value
Counter register 2 Counter value 2
1) Corresponds to the physical channels of the counter functions. See "Description of channel assignments" on page 458
Data type Values

Bit structure:
0-1 Counter mode 00 Edge counters
01 AB counters
11 Up/Down counters
2-7 Reserved -
Configure calculation of internal counters
Name:
CfO_Counter1configReg0 to CfO_Counter8configReg0 ("counter1")
CfO_Counter1configReg1 to CfO_Counter8configReg1 ("counter2")
The calculation of the internal "counter1" and "counter2" registers can be configured in these registers. For infor-
mation on using these internal registers, see "Counter value calculation" on page 474.
Data type Values
Bit structure:
0 counter 1 - use 0 0 is added instead of "counter 1"
1 "counter 1" is used for addition
1 counter 1 - sign 0 The sign of the "counter 1" register is not changed for addition
1 The sign of the "counter 1" register is reversed for addition
4-7 Reserved -
Examples of calculation configurations

0b00000001 = 0x01 Only the "counter1 - use" bit is set, entering the contents of the "counter" (edge of counter event channel 1) directly
in the counter register.
0b00000011 = 0x03 "counter 1 - use" and "counter1 - sign" bits are set. The sign is changed so that the counter register counts in
the negative direction.
0b00001101 = 0x0d Edges on counter input channel 1 increase the value in the counter register. Edges on counter input channel 2
decrease the value in the counter register. This value is the best setting for modes "AB counter" and "Up/Down
counter".
Offset value for referencing
Name:
CfO_Counter1PresetValue1 to CfO_Counter8PresetValue1
CfO_Counter1PresetValue1_32Bit to CfO_Counter8PresetValue1_32Bit (SW_reference_counter1)
CfO_Counter1PresetValue2 to CfO_Counter8PresetValue2
CfO_Counter1PresetValue2_32Bit to CfO_Counter8PresetValue2_32Bit (SW_reference_counter2)
These registers can be used to define an offset value for referencing. This value is copied to internal register
SW_reference_counter of the respective counter register.
Data type Value
INT -32768 to 32767
DINT -2,147,483,648 to 2,147,483,647

Counter registers
Name:
Different names are used for these 16 registers in Automation Studio and in the register description depending
on the function.
ABConnector01 to ABConnector04
CounterConnector01 to CounterConnector04
EventCounter01 to EventCounter15
ABRConnector01 and ABRConnector03
These 16 registers show the results of the counter value calculation for the respective register. Depending on the
function, this corresponds to either the encoder position or the counter value.
For information on the relationship between physical channels and counter registers, see "Counters and encoders"
on page 474 and "Description of channel assignments" on page 458
INT -32,768 to 32,767 Encoder position or counter value
DINT1) -2,147,483,648 Encoder position or counter value
to 2,147,483,647
1) Only in function model 1
Status of the ABR encoder
Name:
StatusABRConnector01 to StatusABRConnector02
The referencing status of the ABR encoder is indicated in this register.
Data type Values
Bit structure:
0-1 Reserved 0
2 Bit is always 1 after the first reference pulse. 0 No reference pulses have occurred since the start of referenc-
ing.
1 The first reference pulse has occurred.
3 State change when referencing is complete 0 or 1 State change when referencing is complete
4 Bit is always 1 after the first reference pulse. 0 No reference pulses have occurred since the start of referenc-
ing.
1 The first reference pulse has occurred.
5-7 Continuous counter xxx Increased with each reference pulse
Examples of possible values

0b00000000 = 0x00 Referencing OFF or homing procedure already active
0b00111100 = 0x3C First reference complete, reference value applied in the "ABREncoder0" on page 479 register
0bxxx11100 = 0xxB Bits 5 to 7 are changed with each reference pulse
0bxxx1x100 = 0xxx Bits changed continuously with the setting continuous referencing. With every reference pulse, the reference value
is applied to the "ABREncoder0" on page 479 register

Configure ABR referencing mode
Name:
ReferenceModeABRConnector01 and ReferenceModeABRConnector03
The bits in this register are used to configure the reaction to the configured reference pulse.
Data type Values
Bit structure:
0-1 Sets the referencing mode 00 Referencing OFF
01 Single-shot referencing
10 Reserved
11 Continuous referencing
2-5 Reserved -
6-7 Reserved 11 Must always be 11!
This results in the following values:

0b00000000 = 0x00 Referencing OFF
0b11000001 = 0xC1 Single-shot referencing →When starting over after the referencing process is complete, the value 0x00 must be
written to start again. Wait until the "StatusABR" on page 479 register also takes on the value 0x00, then the
value 0xC1 can be written again.
0b11000011 = 0xC3 Continuous referencing → Referencing takes place automatically with every reference pulse

8.5.2.14.7.4 Comparator functions
The ABR and AB counters and the up/down counter have a comparator function. It always works the same and
is described here globally for all three.
The comparators are implemented in software form. They do not work actively but rather passively, i.e. the com-
parison is only carried out when an event is received. The event received is forwarded along the TRUE or FALSE
branch depending on the status of the comparator condition. An event function like this generally also offers a latch
for the TRUE and FALSE branch to save the value used for the comparator at the time of the event.
Comparator modes
Comparator functions can be operated in 4 different modes.

• Off
Events are ignored.
• Individual
The event function is executed once and then disables itself automatically. To re-enable it, the "event
function mode" must be changed, preferably to "off" and then to the desired mode. This setting allows a
hardware latch to be simulated.
• State change
The event function only responds when the comparator status has changed, i.e. from false to true (or vice
versa). Only the first event for each status is processed, e.g. the first "true" of a sequence of events with the
comparator condition "true". After the event function is enabled, the first incoming event is used to determine
the starting status and therefore not forwarded. This setting allows a hardware comparator to be simulated.
• Continuous
Each incoming event is forwarded to the true or false branch depending on the comparator condition. This
setting allows event filters to be created.
Configure event ID for comparator

Name:
CfO_Counter1event0IDwr to CfO_Counter8event0IDwr (event function 1)
CfO_Counter1event1IDwr to CfO_Counter8event1IDwr (event function 2)
This register holds the event ID that should trigger the counter event function. For a list of all possible event IDs,
see "List of event IDs" on page 469
UINT 192 to 7489 ID of counter event function

Configure calculation of comparator
Name:
CfO_Counter1event0config to CfO_Counter8event0config (event function 1)
CfO_Counter1event1config to CfO_Counter8event1config (event function 2)
These registers are used to configure the counter event function for the respective counter function.
Bits 0 to 3 configure the calculation of the comparison or to latch the value. This calculation is similar to the calcu-
lation of the counter register (see "Counter value calculation" on page 474)
Bits 8 to 13 can be used to limit the number of bits used for the comparison. A mask is calculated as 2n - 1 and
linked with an "AND" operation. This makes it possible to generate a comparator pulse every 2n increments.
Data type Values
Bit structure:
4-7 Reserved -
8 - 13 Number of bits for comparator mask x The mask value is calculated as 2n-1, where n is value set in
these bits. Default: 0
14 Reserved -
15 Margin comparator mode 0 MarginComparator >= (Current position - OriginComparator)
1 MarginComparator > (Current position - OriginComparator)
Configure mode and latching of comparator function
Name:
CfO_Counter1event0mode to CfO_Counter8event0mode (event function 1)
CfO_Counter1event1mode to CfO_Counter8event1mode (event function 2)
In these registers you can set the mode for the comparator function and optional copying of the latched registers.
481.
Bits 4 to 7 can be used to define hardware referencing actions.
Based on these bits, the values of the internal absolute value counters "abs1" and "abs2" can be copied to the
respective "HW_reference_counter" register at every counter event (see "Counter value calculation" on page 474).
This function can be used to reference the counter values directly in the hardware.
Data type Values
Bit structure:
1 Individual
2 State change
3 Continuous
2-3 Reserved -
4 Copy abs1 counter value 0 No action
1 When event is FALSE → hardware reference counter 1 = abs1
1 When event is FALSE → hardware reference counter 2 = abs2
1 When event is TRUE → hardware reference counter 1 = abs1
1 When event is TRUE → hardware reference counter 2 = abs2

Width of the comparator
Name:
MarginComparatorABConnector01 to MarginComparatorABConnector04
MarginComparatorABRConnector01 and MarginComparatorABRConnector03
MarginComparatorCounterConnector01 to MarginComparatorCounterConnector04
This register is available for the comparator function of the ABR encoder, AB counter and up/down counter.
It defines the width of the comparator window in the positive direction.
INT -32768 to 32767 Width of comparator window, 16-bit
DINT -2,147,483,648 Width of comparator window, 32-bit
to 2,147,483,647
Comparator origin
Name:
OriginComparatorABConnector01 to OriginComparatorABConnector04
OriginComparatorABRConnector01 and OriginComparatorABRConnector03
OriginComparatorCounterConnector01 to OriginComparatorCounterConnector04
This register is available for the comparator function of the ABR encoder, AB counter and up/down counter.
It defines the position value at which the respective configured comparator output channel is set.
INT -32,768 to 32,767 Comparator window origin, 16-bit
DINT -2,147,483,648 Comparator window origin, 32-bit
to 2,147,483,647
Read latch position or counter value
Name:
Latch01ABConnector01 to Latch01ABConnector04 (event function 1)
Latch02ABConnector01 to Latch02ABConnector04 (event function 2)
Latch01ABRConnector01 and Latch01ABRConnector03
Latch01CounterConnector01 and Latch01CounterConnector04 (event function 1)
Latch02CounterConnector01 and Latch02CounterConnector04 (event function 2)
These registers are available for the comparator function of the ABR encoder, AB counter and up/down counter.
If the comparator returns "TRUE", then the current counter value is latched and copied to these registers. The
calculation of the comparator value used for the latch can be configured in the "CfO_Counter[x]event[y]config" on
page 482 register.
INT -32,768 to 32,767 Latched encoder position or counter value
DINT1) -2,147,483,648 Latched encoder position or counter value
to 2,147,483,647
1) Only in function model 1

8.5.2.14.8 SSI encoder interface
The module has 2 SSI encoders available, supported directly in the hardware. 2 5 V output channels are set for
each SSI encoder and cannot be changed. (See also "Description of channel assignments" on page 458)
When using the SSI encoder, the corresponding clock channel can be configured in the "CfO_CFGchannel" on
page 464 register as "Channel-specific" and "Push/Pull".
Encoder Data channel Clock channel
SSI1 9 11
SSI2 13 15
8.5.2.14.8.1 SSI event functions
Each of the 2 SSI encoders consists of an event function and an event input. The SSI cycle is started when an
event is received on this input.
Information:
The SSI event function is not linked to an event by default, i.e. SSI functions are disabled.
2 events are sent from the SSI encoder interface..
• An "SSI valid" event is triggered immediately after the end of the SSI cycle if a new counter value is available.
• The "SSI ready" event then shows when the monoflop time has expired (tp in SSI encoder timing diagram).
This is the earliest that the next SSI cycle can be started.
SSI encoder - Timing diagram
SSI cycle
Clock 1 2 3 4 5 6 n
Data
MSB LSB MSB

0
tp
SSI valid
SSI start event SSI ready
Configure event ID for SSI
Name:
CfO_SSI1eventIDwr to CfO_SSI2eventIDwr
This register holds the event ID that should start the SSI cycle. For a list of all possible event IDs, see "List of
event IDs" on page 469
Normally this register is set to network event 225 "AOSISOP"- This ensures that the new encoder position is
available at the next "I/O → Synchronous Frame" transfer. Check the SSI transfer time and the X2X cycle time,
because the SSI cycle must be completed within this time.
UINT 192 to 7489 ID of event function

Configure SSI
Name:
CfO_SSI1cfg to CfO_SSI2cfg
This configuration register is used to set the coding, the clock rate and the number of bits. Default = 0.
Data typ Value Information
UINT See bit structure. Default value in the bus controller function model: CfO_SSI1cfg = 0x0000
Bit structure:
0-5 SSI value valid bits x
6-7 Clock rate 00 1 MHz
01 500 kHz
10 250 kHz
11 125 kHz
8 - 13 SSI number of bits x Number of bits including leading zeros
14 Reserved 0
15 Keying 0 Binary coding
1 Gray coding
SSI advanced configuration
Name:
ConfigAdvanced01 to ConfigAdvanced02
This configuration register is used to set the coding, the clock rate, the number of bits and the monostable multi-
vibrator settings. Default = 0.
It only differs from "CfO_SSI1cfg" on page 485 by data length and additional monostable multivibrator testing.
Data type Value
Bit structure:
0-5 SSI value valid bits x
6-7 Clock rate 00 1 MHz
01 500 kHz
10 250 kHz
11 125 kHz
8 - 13 SSI number of bits x Number of bits including leading zeros
14 Reserved 0
15 Keying 0 Binary coding
1 Gray coding
16 - 17 Monostable multivibrator check 00 Check OFF, no additional clock bit
01 Check set to High level
10 Check set to Low level
11 Level is clocked but ignored
18 - 31 Reserved 0
Enable SSI event function
Name:
CfO_SSI1control to CfO_SSI2control
The 2 SSI encoder events can be enabled/disabled using this register.
Data type Values
Bit structure:
0 Event: "SSI valid" 0 Not sent
1 Sent
1 Event: "SSI ready" 0 Not sent
1 Sent
2-7 Reserved -

Read SSI position
Name:
SSIConnector01 and SSIConnector03
The last transferred SSI position can be read out from this register. The SSI encoder value is displayed as a 32-
bit position value. This position value is generated synchronously with the X2X cycle.
UDINT 0 to 4,294,967,295 Last SSI position transferred
8.5.2.14.8.2 SSI comparator condition
The module has an assigned comparator function for the SSI function. These consist of:
• Event ID that triggers the comparator function
• The window comparator
• Latch register for saving the SSI position
When the comparator function is complete, event ID 7232 to7489 (see "List of event IDs" on page 469) is sent.
Configure event ID for SSI comparator
Name:
CfO_SSI1event0IDwr to CfO_SSI2event0IDwr
This register holds the event ID that should start the SSI comparator function. For a list of all possible event IDs,
see "List of event IDs" on page 469
INT 192 to 7489 ID of comparator function
Configure the mode of the SSI comparator function
Name:
CfO_SSI1event0mode to CfO_SSI2event0mode
This register can be used to configure the mode of the comparator function.
481.
Data type Values
Bit structure:
1 Individual
2 State change
3 Continuous
2-7 Reserved -

Configure calculation of SSI comparator
Name:
CfO_SSI1event0config and CfO_SSI2event0config
The calculation of the position value used for the comparator can be configured in this register.
The window comparator condition is calculated as follows:
counter_window_value = ssi_counter & (2^ssi_data_bits - 1)
diff = counter_window_value – origin_comparator
if ((diff & (2^(comparator_mask)-1)) <= margin_comparator)
condition = True;
else
condition = False;
Data type Values
Bit structure:
0-5 SSI data bits x Number of data bits used for masking
6-7 Reserved -
8 - 13 Comparator mask x The mask value is calculated from 2n-1, where n is the value
configured in SSI data bits. Default: 0
14 Comparator mode 0 MarginComparator >= SSI position - OriginComparator
1 MarginComparator > SSI position - OriginComparator
Origin of the SSI comparator
Name:
OriginComparatorSSIConnector01 and OriginComparatorSSIConnector03
This register contains the origin of the window comparator.
UDINT 0 to 4,294,967,295 Origin of the window comparator.
Width of the SSI comparator
Name:
MarginComparatorSSIConnector01 and MarginComparatorSSIConnector03
This register provides the width of the window comparator.
UDINT 0 to 4,294,967,295 Width of the SSI window comparator
Read SSI latch position
Name:
Latch01SSIConnector01 and Latch01SSIConnector03
If the SSI window comparator returns "True", then the current SSI position is latched and saved in this register.
UDINT 0 to 4,294,967,295 Latched SSI position

8.5.2.14.9 PWM - Pulse width modulation
The module has 2 PWM functions available, supported directly by the hardware. A 24 V output channel is set for
each PWM encoder and cannot be changed. (See also "Description of channel assignments" on page 458)
When using the PWM function, the corresponding channel can be configured in the "CfO_CFGchannel" on page
464 register as "Channel-specific".
PWM function Channel
PWM1 3
PWM2 7
8.5.2.14.9.1 Configure PWM prescaler
Name:
CfO_PWM0prescaler to CfO_PWM1prescaler
The length of the PWM cycle is configured using this register. The base is a 48 MHz clock, which can be changed
(divided) using the setting in this register. One PWM cycle consists of 1000 of the resulting clocks after they have
been divided. The period duration of the PWM cycle is calculated as follows:
prescale
PWM_cycle = 1000 [s]
48000000
UINT 2 to 65535 Prescaler for PWM cycle
Information:
The period duration of the PWM function must be greater than 500 µs. Period durations that are too
short cause the outputs to heat up considerably.
8.5.2.14.9.2 Output PWM values
Name:
PWMOutput03, PWMOutput07
In this register, a configuration is made for the percentage of the PWM cycle (in 1/10% steps) that the PWM output
is logical 1, i.e. ON.
UINT 0 PWM output always off
1 to 999 Turn on time in 1/10% steps
1000 PWM output always on

8.5.2.14.10 Time measurement function
The module has a time measurement function for each I/O channel. It can be configured separately for rising and
falling edges on each channel.
A starting edge can be configured for each time measurement function. When a configured starting edge occurs,
the value of the internal timer is saved in a FIFO. This FIFO holds up to 16 elements. When the actual trigger edge
occurs, the difference in time between the starting edge and the triggered edge is copied to the respective register.
Bits 8 to 11 "Previous start edge" of the "CfO_EdgeTimeFallingMode" on page 489 and "CfO_EdgeTimeRising-
Mode" on page 490 registers can be used to define which detected starting edge from the FIFO should be used
to calculate the difference. Additionally, when the trigger edge occurs, the counter clocked internally using bits
12 to 15 "Time measurement resolution" are copied to the "TimeStampFallingCH" on page 492 and "TimeStam-
pRisingCH" on page 492 registers.
Information:
The time measurement function is an extension of edge detection, so all of the channels used must
be configured there.
8.5.2.14.10.1 Enable time measurement function
Name:
CfO_EdgeTimeglobalenable
This register enables/disables the time measurement function for the entire module.
Data type Values
Bit structure:
0 Time measurement function 0 Disabled for entire module
1 Enabled for entire module
1-7 Reserved -
8.5.2.14.10.2 Configure time measurement function for the falling edge
Name:
CfO_EdgeTimeFallingMode01 to CfO_EdgeTimeFallingMode15
These registers can be used to configure the time measurement function for the falling edge of the respective
channel.
Data type Values
Bit structure:
0-3 Selects the channel for the starting edge 0 Channel 1
...
14 Channel 15
4 Selects the edge for the starting edge 0 The falling edge of the channel configured in bits 0 to 3 serves
as the starting edge.
1 The rising edge of the channel configured in bits 0 to 3 serves
5-6 Reserved -
7 Trigger 0 Triggered1)
1 Continuous2)
8 - 11 Previous start edge 0 to 15 The value determines which entry in the starting edge FIFO
should be used to calculate the time difference.
12 - 15 Time measurement resolution 0 8 MHz
1 4 MHz
2 2 MHz
3 1 MHz
4 500 kHz
5 250 kHz
6 125 kHz
7 62.5 kHz
1) The time measurement is triggered by the corresponding bit in register "TriggerFallingCH" on page 490.
2) Time measurement runs continuously and is triggered at every edge.

8.5.2.14.10.3 Configure time measurement function for the rising edge
Name:
CfO_EdgeTimeRisingMode01 to CfO_EdgeTimeRisingMode15
These registers can be used to configure the time measurement function for the rising edge of the respective
channel.
Data type Values
Bit structure:
0-3 Selects the channel for the starting edge 0 Channel 1
...
14 Channel 15
4 Selects the edge for the starting edge 0 The falling edge of the channel configured in bits 0 to 3 serves
1 The rising edge of the channel configured in bits 0 to 3 serves
5-6 Reserved -
7 Trigger 0 Triggered1)
1 Continuous2)
8 - 11 Previous start edge 0 to 15 The value determines which entry in the starting edge FIFO
should be used to calculate the time difference.
12 - 15 Time measurement resolution 0 8 MHz
1 4 MHz
2 2 MHz
3 1 MHz
4 500 kHz
5 250 kHz
6 125 kHz
7 62.5 kHz
1) The time measurement is triggered by the corresponding bit in the "TriggerRisingCH" on page 491 register.
2) Time measurement runs continuously and is triggered at every edge.
8.5.2.14.10.4 Trigger falling edge detection
Name:
1: TriggerFallingCH01 to TriggerFallingCH08
2: TriggerFallingCH09 to TriggerFallingCH15
If bit 7 "Trigger" is cleared in the "CfO_EdgeTimeFallingMode" on page 489 register, then detection of a falling
edge on the respective input can be triggered using the respective bit in this register. After a bit has been set, the
next falling edge on the corresponding channel is detected.
Data type Values
Bit structure:
0 1: TriggerFallingCH01 0 Falling edges on the channel are not detected.
2: TriggerFallingCH09 1 The next falling edge on the channel will be detected.
... ...
2: TriggerFallingCH15 1 The next falling edge on the channel will be detected.
2: Reserved 1 The next falling edge on the channel will be detected.

8.5.2.14.10.5 Trigger rising edge detection
Name:
1: TriggerRisingCH01 to TriggerRisingCH08
2: TriggerRisingCH09 to TriggerRisingCH15
If bit "Continued/Triggered" in register "CfO_EdgeTimeRisingMode" on page 490 is cleared, then detection of a
rising edge on the respective input can be triggered using the respective bit in this register. After a bit has been
set, the next rising edge on the corresponding channel is detected.
Data type Values
Bit structure:
0 1: Trigger rising edge - Channel 01 0 Rising edges on the channel are not detected.
2: Trigger rising edge - Channel 09 1 The next rising edge on the channel will be detected.
... -
2: Trigger rising edge - Channel 15 1 The next rising edge on the channel will be detected.
2: Reserved 1 The next rising edge on the channel will be detected.
8.5.2.14.10.6 Show first falling trigger edge
Name:
1: BusyTriggerFallingCH01 to BusyTriggerFallingCH08
2: BusyTriggerFallingCH09 to BusyTriggerFallingCH15
If edges are triggered via the bits in the "TriggerFallingCH" on page 490 register, then a set bit in this register
indicates that no falling edges have been detected on the respective channel since the corresponding bit was
set in the "TriggerFallingCH" register. If a falling edge occurs on the respective channel, then the corresponding
BusyTriggerFalling bit is cleared.
Data type Values
Bit structure:
0 1: BusyTriggerFallingCH01 0 A falling edge was detected on the channel.
2: BusyTriggerFallingCH01 1 The module is waiting for a falling edge on the channel.
... ...
1: BusyTriggerFallingCH07 0 A falling edge was detected on the channel.
2: BusyTriggerFallingCH15 1 The module is waiting for a falling edge on the channel.
7 1: BusyTriggerFallingCH08 0 A falling edge was detected on the channel.
2: Reserved 1 The module is waiting for a falling edge on the channel.
8.5.2.14.10.7 Show first rising trigger edge
Name:
1: BusyTriggerRisingCH01 to BusyTriggerRisingCH08
2: BusyTriggerRisingCH09 to BusyTriggerRisingCH15
If edges are triggered via the bits in the "TriggerRisingCH" on page 491 register, then a set bit in this register
indicates that no rising edges have been detected on the respective channel since the corresponding bit was
set in the "TriggerRisingCH" register. If a rising edge occurs on the respective channel, then the corresponding
BusyTriggerRising bit is cleared.
Data type Values
Bit structure:
0 1: BusyTriggerRisingCH01 0 A rising edge was detected on the channel.
2: BusyTriggerRisingCH09 1 The module is waiting for a rising edge on the channel.
... ...
2: BusyTriggerRisingCH15 1 The module is waiting for a rising edge on the channel.
2: Reserved 1 The module is waiting for a rising edge on the channel.

8.5.2.14.10.8 Count falling trigger edges
Name:
CountFallingCH01 to CountFallingCH15
These registers contain cyclic counters that are incremented with every detected falling edge on the respective
channel.
USINT 0 to 255 Counter for falling edges
8.5.2.14.10.9 Count rising trigger edges
Name:
CountRisingCH01 to CountRisingCH15
These registers contain cyclic counters that are incremented with every detected rising edge on the respective
channel.
USINT 0 to 255 Counter for rising edges
8.5.2.14.10.10 Timestamp of falling edge
Name:
TimeStampFallingCH01 to TimeStampFallingCH15
When a falling edge occurs on the respective channel, the current counter value of the module timer is copied
to these registers.
UINT 0 to 65535 Timestamp for rising edges
8.5.2.14.10.11 Timestamp of the rising edge
Name:
TimeStampRisingCH01 to TimeStampRisingCH15
When a rising edge occurs on the respective channel, the current counter value of the module timer is copied to
these registers.
UINT 0 to 65535 Timestamp for rising edges
8.5.2.14.10.12 Time difference of falling edge
Name:
TimeDiffFallingCH01 to TimeDiffFallingCH15
When a falling edge occurs on the respective channel, the time difference compared to the starting edge configured
in bit 4 of the "CfO_EdgeTimeFallingMode" on page 489 register is copied to this register.
UINT 0 to 65535 Time difference from starting edge
8.5.2.14.10.13 Time difference of rising edge
Name:
TimeDiffRisingCH01 to TimeDiffRisingCH15
When a rising edge occurs on the respective channel, the time difference compared to the starting edge configured
in bit 4 of the "CfO_EdgeTimeRisingMode" on page 490 register is copied to this register.
UINT 0 to 65535 Time difference from starting edge

mands.
Minimum cycle time
150 μs
150 µs

8.5.3 X67DC2322
The module is equipped with 2 resolver connections as well as 2 digital inputs and outputs for each. It is possible
to evaluate BRX and BRT resolvers using a configurable sine gain of 1 or 0.25.
• 2 resolvers
• BRX/BRT evaluation
• 2 digital inputs and outputs for each
8.5.3.2 Order data

Multi-function
X67DC2322 X67 resolver module, 2x 14-bit resolver input BRX/BRT, 2 digital
inputs, 24 VDC, sink, 2 digital outputs, 0.5 A, source
Table 108: X67DC2322 - Order data



Short description
I/O module 2 resolver inputs, 2 digital inputs, 2 digital outputs
General information
B&R ID code 0xA5C7
Diagnostics
Connection type
Inputs/Outputs M12, A-keyed
Encoder M12, 12-pin, A-keyed
Power consumption
Internal I/O 1W
Additional power dissipation caused by actuators 12.5 W
(resistive) [W]
Channel - Bus Yes
Certifications
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Resolver inputs
Quantity 2
Reference output
Output voltage Typ. 4.4 VEff
Output current Max. 50 mAEff
Frequency 10 kHz
Type Differential
Angular position resolution 14-bit
Short circuit protection (reference output) Yes
Input impedance 10.4 kΩ - j*11.1 kΩ
Resolver type BRX / BRT
Resolver transformation ratio
BRX 0.5 (±10%)
BRT 1 (±10%)
I/O power supply
Digital inputs
Quantity 2
Input filter
Hardware ≤20 µs
Software -
Input circuit Sink
Sensor power supply 0.5 A summation current
Input delay <1 ms
Switching threshold
Low <5 V
High >15 V
Digital outputs
Quantity 2

Switching delay
0→1 Max. 500 µs
1→0 Max. 500 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

Status indicator 1: Off On X2X Link supplied but X2X Link communication not functioning
Left: green; Right: red On On PREOPERATIONAL: X2X Link supplied, module not initialized
1, 3 Status indicator for corresponding resolver input (green)
Green Off Open circuit or resolver not connected
On Resolver connected, everything OK
Blinking Axis in movement
2, 4 Status indicator for corresponding digital input/output
Green Off Digital input switched off
On Digital input switched on
Orange Off Digital output switched off
On Digital input switched on
Status indicator 2: Single flash RESET mode
On RUN mode

X2X Link
Connector A: Input
Connector B: Output
Resolver inputs 1 to 2

Connector C: Supply
8.5.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.5.3.8 Pinout
Shield
1 /REF
2 REF
3 NC
4 COS
5 /COS
X1 and X3
6 SIN
M12 ① 7 /SIN
X1 X3
8 NC
9 NC
10 NC
11 Shield
X2 X4 12 Shield
Shield
1 +24 VDC
X2 and X4 2 DI
M12 ② 3 GND
4 DO
5 Shield
① X67CA0I41.xxxx: Straight multi-function cable

② X67CA0A41.xxxx: M12 straight sensor cable
M12, 12-pin Pinout

1 Ref
10
1 2 /Ref
2
3 Not connected
9 4 Cos
5 /Cos
12 6 Sin
11 7 /Sin
8 - 10 Not connected
11 11 - 12 Shield1)
10 X1 and X3 → A-keyed (female), input/output

12
1
9
Connection 3
M12 - 5-pin Pinout

1
2 2 Digital input
3 GND
5
4 Digital output
5 Shield1)
3
X2 and X4 → A-keyed (female), input/output
3
2
4
1
5
Connection 4

Example X1 and X3
/REF
REF 1
2
Resolver
/SIN
4 Connection 1 / 3
SIN 7 6 5
/COS
COS
Example X2 and X4
+24 VDC
Sensor
DI 1 2
5 Connection 2 / 4
DO
Actuator
4 3
GND
Connection X2/X4
1 2
Output status Control logic
5
temperature
cutoff
3
4
Filter (t IN)
Output monitoring
Filter (t IN)
Digital input
VDR
Status of
Filter (t IN)
actuator power supply
Short circuit and

overload protection
C D
I/O supply +24 V
2 2
1 4 1
4
3 3
GND
VDR
>30 V

8.5.3.11 Note when using long cables
Information:
If the stator winding exhibits high inductance, this can cause problems when using long cables.
In this case, the inductance of the stator winding and capacitance of the cable can result in an oscil-
lating circuit. The oscillating circuit expands the voltage signal beyond the permitted measurement
limits. This causes the module to indicate a resolver fault.

version.

Configuration
36 ConfigurationResolver1 UINT ●
44 ConfigurationResolver2 UINT ●
32 ZeroPositionResolver1 DINT ●
40 ZeroPositionResolver2 DINT ●
Communication
0 Control01 USINT ●
EnableTriggerCnt01 Bit 0
EnableReferencing01 Bit 1
2 Control02 USINT ●
6 Status01 USINT ●
ResolverError01 Bit 0
ErrPosition01 Bit 1
DOReadback01 Bit 5
14 Status02 USINT ●
ErrPosition02 Bit 1
DOReadback02 Bit 5
0 PosVal01 DINT ●
8 PosVal02 DINT ●
4 PosTime01 INT ●
12 PosTime02 INT ●
16 TriggerTime01 INT ●
20 TriggerTime02 INT ●
18 TriggerCnt01 SINT ●
22 TriggerCnt02 SINT ●


Configuration
36 - ConfigurationResolver1 UINT ●
44 - ConfigurationResolver2 UINT ●
32 - ZeroPositionResolver1 DINT ●
40 - ZeroPositionResolver2 DINT ●
Communication
0 0 Control01 USINT ●
2 2 Control02 USINT ●
6 6 Status01 USINT ●
ErrPosition01 Bit 1
DOReadback01 Bit 5
14 14 Status02 USINT ●
ErrPosition02 Bit 1
DOReadback02 Bit 5
0 0 PosVal01 DINT ●
8 8 PosVal02 DINT ●
4 4 PosTime01 INT ●
12 12 PosTime02 INT ●

8.5.3.12.4.1 BRT resolver transformation ratio
A BRT resolver is usually supplied with 2 sine signals. The signal on the output of the rotor is measured to calculate
the angle of rotation of the axis (primary winding = stator).
In order to use a BRT resolver with this module that only provides 1 sine signal, the resolver must be inverted. The
sine signal is fed into the rotor winding (R1 and R2), and the 2 stator signals are measured in order to calculate
the angle of rotation of the axis. In this case, the transformation ratio is also inverted.
Primary winding : Stator
Transformation ratio ±10%
Stator Rotor
S1
R1
S3
S2
R2
S4
1
±10%
Transformation ratio
The module works with resolvers that have a transformation ratio of 1.
With inversion, it is also possible to use resolvers with the primary stator winding and a transformation ratio of 2
±10%. In this case, a transformation ratio of 0.5 must be configured in the BRX configuration.
Primary winding Transformation ratio according to data sheet Configuration in Automation Studio
Rotor 0.5 ±10% BRX
Rotor 1.0 ±10% BRT
Stator 1.0 ±10% BRT
Stator 2.0 ±10% BRX
8.5.3.12.4.2 Resolver configuration
Name:
ConfigurationResolver01 to ConfigurationResolver02
The resolvers can be configured in these registers.
Data type Values
Bit structure:
0-1 Trigger mode1) 00 No trigger
01 On rising edge of digital input
10 On falling edge of digital input
11 On rising and falling edge of digital input
2-3 Homing mode 00 No referencing
Set null position of register PosVal0x 01 On rising edge
10 On falling edge
11 Immediately if EnableReferencing0x = 1
4 Resolver type 0 BRX (default)
1 BRT
5 - 15 Reserved 0
1) The trigger mode must be 0 in function model "254 - Bus controller".

8.5.3.12.4.3 Defining the zero position
Name:
ZeroPositionResolver1 to ZeroPositionResolver2
The zero position of the resolver can be defined in this register. There are two possibilities for this:
• Edge event on the digital input. See register "ConfigurationResolver0x" on page 503.
• Setting the zero position directly. See bit 1 of register "Control0x" on page 504.
Data type Values
DINT -2,147,483,648 to 2,147,483,647
8.5.3.12.5.1 Status of the resolver and digital inputs/outputs
Name:
Status01 to Status02
ResolverError01 to ResolverError02
ErrPosition01 to ErrPosition02
DOReadback01 to DOReadback02
The status of the resolvers and digital inputs/outputs can be read out in this register.
Data type Values
Bit structure:
0 ResolverError0x 0 No error
1 Open circuit or resolver not connected1)
1 ErrPosition0x 0 No error
1 Resolver not yet initialized1)
2-3 Reserved 0
4 DigitalInput0x 0 Input not set
1 Input set
5 DOReadback0x 0 Output not set
1 Output set
6-7 Reserved 0
1) No update of registers "Trigger counter" on page 505 and "Trigger time" on page 505
8.5.3.12.5.2 Setting the resolver/trigger configuration and digital outputs
Name:
Control01 to Control02
EnableTriggerCnt01 to EnableTriggerCnt02
EnableReferencing01 to EnableReferencing02
The digital outputs, resolver homing and the mode of the trigger counter can be set in this register.
Data type Values
Bit structure:
0 EnableTriggerCnt0x1) 0 "Trigger counter" on page 505 and "Trigger time" on page
505 are set to 0.
1 Trigger mode corresponds to bits 0 to 1 of register "Resolver
configuration" on page 503.
1 EnableReferencing0x 0 Disabled
1 Sets the zero position
2 DigitalOutput0x 0 Digital output not set
1 Digital output set
3-7 Reserved 0
1) In function model "254 - Bus controller", the value must be equal to 0.

8.5.3.12.5.3 Resolver timestamp
Name:
PosTime01 to PosTime02
The timestamp (X2X system time) of the last measurement of the resolver position is indicated in this register.
This register can be hidden in the Automation Studio I/O mapping in order to reduce the X2X Link load.
Data type Values
INT -32768 to 32767
8.5.3.12.5.4 Resolver position
Name:
PosVal01 to PosVal02
The current position of the resolver is indicated in this register.
• The high word contains the number of revolutions.
• The low word contains the position within a revolution.
Datentyp Werte
DINT -2.147.483.648 bis 2.147.483.647
8.5.3.12.5.5 Trigger counter
Name:
TriggerCnt01 to TriggerCnt02
The counter in this register is increased on every occurrence of a trigger event.
Data type Values
SINT -128 to 127
8.5.3.12.5.6 Trigger time
Name:
TriggerTime01 to TriggerTime02
The system time of the last trigger event is indicated in this register.
Data type Values
INT -32768 to 32767
mands.
Minimum cycle time
250 µs

Data sheets • Digital input modules • Summary
8.6 Digital input modules

Digital input modules convert binary process signals into the internal signal level required by the PLC. The states
of the digital inputs are indicated with status LEDs.
8.6.1 Summary

Data sheets • Digital input modules • X67DI1371
8.6.2 X67DI1371
The module is a digital input module for 24 VDC. It has 8 inputs for sink input circuits.
■ For all standard sensors with M8 connectors
■ Extremely short cycle times
■ Integrated sensor supply with short circuit protection
8.6.2.2 Order data

Digital input modules
X67DI1371 X67 digital input module, 8 inputs, 24 VDC, sink, input filter 1 ms
Table 110: X67DI1371 - Order data


Model number X67DI1371

Short description
I/O module 8 digital inputs 24 VDC
General information
B&R ID code 0x1434
Diagnostics
I/O power supply Yes, using status LED
Connection type
Inputs 8x M8, 3-pin
Power consumption
Internal I/O 1W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Hardware ≤100 μs
Software 1 ms
Input circuit Sink
Sensor supply 0.5 A summation current
Switching threshold
Low <5 VDC
High >15 VDC
Sensor supply
Any Yes
Temperature
Derating -
Table 111: X67DI1371 - Technical data

Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 170 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Status indicator 1: Status indicator for X2X Link
LED Green (left) Red (right) Description
I/O LEDs
LED Color Status Description
1-8 Green - Input state of the corresponding digital input
On RUN mode
Status indicator 2:
Left: green; Right: red On Error or reset status
X2X Link
Connector A: Input
Connector B: Output
Digital inputs 1 to 8

Connector C: Supply

8.6.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.6.2.8 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI x


M8, 3-pin Pinout

3 Pin Name
4
1 24 VDC sensor supply1)
3 GND
4 Input
1) Sensors are not permitted to be supplied externally.
1
Connections (female), input
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
24 V digital in
1…8
4
VDR 3 1
I/O status
LED (green)
C +24 V D
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

Digital signal - Communication
... ...

0 0 Input state of digital inputs 1 to 8 USINT ●
... ...
The module occupies 1 digital logical slot on CAN I/O.

8.6.2.11.4 Digital signal - Communication
Filtered
The filtered status is collected with a fixed offset to the network cycle and transferred in the same cycle.
Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
mands.
Minimum cycle time
150 μs
150 µs

Data sheets • Digital input modules • X67DI1371.L08
8.6.3 X67DI1371.L08
The module is a digital input module with high component density. The module is equipped with 16 inputs and
M8 connectors.
■ 16 digital inputs
■ 1:1 replacement for passive distributors
8.6.3.2 Order data

X67DI1371.L08 X67 digital input module, 16 inputs, 24 VDC, sink, input filter 1
ms, M8 connectors, high-density module
Table 112: X67DI1371.L08 - Order data


Model number X67DI1371.L08

Short description
General information
B&R ID code 0x1A1A
Diagnostics
Connection type
Inputs 16x M8, 3-pin
Power consumption
Internal I/O 0.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Hardware ≤100 μs
Software 1 ms
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Sensor supply
Any Yes
Temperature
Derating -
Table 113: X67DI1371.L08 - Technical data

Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 300 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


7
I/O LEDs
1 11 LED Color Status Description
2 12 1 - 16 Green - Input state of the corresponding digital input
8
3 13
9
4 14 Left Green Off No power to module
5 15
10 Double flash BOOT mode (during firmware update)1)
5 16
On RUN mode
Status indicator 2: On Error or reset status
X2X Link
Connection A: Input
7
1 11
2 12
8
3 13
9
4 14
5 15
10
6 16


8.6.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
1 1 24 VDC power supply
2 24 VDC power supply1)
4
3 GND
4 GND
3
C → Connector (female) in module, routing of I/O power supply
2
1
3
1) The I/O power supply on pin 2 is not used by this module. Pin 2 must still be connected, however, since the I/O power supply is passed on to subsequent
modules.
8.6.3.8 Pinout
7
1 11
2 12
1 +24 VDC
8 X1 to X16
3 GND
3 13 M8 ①
4 DI x
9
4 14
5 15
10
6 16


M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Input
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
24 V digital in
1…16
4
VDR 3 1
I/O status
LED (green)
Short circuit and

overload protection
+24 V
+24 V
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

version.

... ...
... ...

... ...
... ...
The module occupies 2 digital logical slots on CAN I/O.

Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
mands.
Minimum cycle time
150 μs
150 µs

8.6.4 X67DI1371.L12
This module is a digital input module with high component density. The module is equipped with 16 inputs and
M12 connectors.
8.6.4.2 Order data

X67DI1371.L12 X67 digital input module, 16 inputs, 24 VDC, sink, input filter 1
ms, M12 connectors, high-density module
Table 114: X67DI1371.L12 - Order data



Short description
General information
B&R ID code 0x1A1B
Diagnostics
Connection type
Power consumption
Internal I/O 0.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Hardware ≤100 μs
Software 1 ms
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Sensor supply
Any Yes
Temperature
Derating -

Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 320 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


I/O LEDs
1-1 5-1
1-2 5-2 1/1 - 8/2 Green - Input state of the corresponding digital input
2-1 6-1
2-2 6-2 LED Color Status Description
3-1 7-1
3-2 7-2
4-1 8-1
On RUN mode
X2X Link
Connection A: Input
1-1 5-1
1-2 5-2
2-1 6-1
2-2 6-2
3-1 7-1
3-2 7-2
4-1 8-1
4-2 8-2
Left side / Channels 1 to 8 in the first byte Right side / Channels 9 to 16 in the second byte
Channel Connection Connection Channel
1 1-1 5-1 9
2 1-2 5-2 10
... ... ... ...
7 4-1 8-1 15
8 4-2 8-2 16

8.6.4.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
1 1 24 VDC power supply
2 24 VDC power supply1)
4
3 GND
4 GND
3
C → Connector (female) in module, routing of I/O power supply
2
1
3
1) The I/O power supply on pin 2 is not used by this module. Pin 2 must still be connected, however, since the I/O power supply is passed on to subsequent
modules.
8.6.4.8 Pinout
X1 X5
Shield
1 +24 VDC
X2 X6
X1 to X8 2 DI x-1
M12 ① 3 GND
4 DI x-2
X3 X7
5 NC
X4 X8


M12, 5-pin Pinout

1 Pin Name
2 1 24 VDC sensor supply1)
5 2 Input 1
3 GND
4 Input 2
4
3 5 NC
Shield connection made via threaded insert in the module
3 1) Sensors are not permitted to be supplied externally.
2
Connections → A-keyed (female), input
4
1
5
+24 VDC
Sensor 1
DI
GND 1 2
5 Connection X
+24 VDC
Sensor 2
4 3
DI
GND
24 V digital in 1-x…8-x
VDR
Input status x-1 2

I/O status
LED (green) 5
1 3
VDR
Input status x-2

I/O status
LED (green)
Short circuit and

overload protection
+24 V
+24 V
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

version.

... ...
... ...

... ...
... ...

Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
mands.
Minimum cycle time
150 μs
150 µs

8.6.5 X67DI1372
This module is a digital input module for 24 VDC. It has 8 inputs for source input circuits.
8.6.5.2 Order data

X67DI1372 X67 digital input module, 8 inputs, 24 VDC, source, 1 ms input
filter
Table 116: X67DI1372 - Order data



Short description
General information
B&R ID code 0xC5E9
Diagnostics
Connection type
Inputs 8x M8, 3-pin
Power consumption
Internal I/O 0.6 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
Input current at 24 VDC Typ. -3.5 mA
Input filter
Hardware ≤100 μs
Software 1 ms
Input circuit Source
Input resistance Typ. 6.8 kΩ
Switching threshold
Low > Usupp - 5 V
High < Usupp - 15 V
Sensor supply
Any Yes
Temperature
Derating -

Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 170 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


I/O LEDs
1-8 Green - Input state of the corresponding digital input
On RUN mode
Status indicator 2:
Left: green; Right: red On Error or reset status
X2X Link
Connector A: Input
Connector B: Output

Connector C: Supply
8.6.5.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.6.5.8 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Input
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3

+24 V
V CC
1…8
I/O status 4
LED (green)
Input status +
Filter (tIN) − V ref 3 1
24 V digital input
C +24 V D
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

... ...

... ...

Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
mands.
Minimum cycle time
150 μs
150 µs

Data sheets • Digital mixed modules • Summary
8.7 Digital mixed modules

Digital mixed modules are a combination of digital input and output modules. The states of the digital inputs or
outputs are shown by the LED status indicators.
8.7.1 Summary
X67DM1321 X67 digital mixed module, 8 channels configurable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 536
2 event counters 50 kHz
X67DM1321.L08 X67 digital mixed module, 16 channels configurable as inputs or outputs, 24 VDC, 0.5 A, configurable input 570
filter, 2 event counters 50 kHz, M8 connectors, high-density module
filter, 2 event counters 50 kHz, M12 connectors, high-density module
X67DM1321.L12-1 X67 digital mixed module, 16 channels configurable as input or output, 24 VDC, 0.5 A, pinning variant, config- 551
urable input filter, 2 event counters 50 kHz, M12 connectors, high-density module
X67DM9321 X67 digital mixed module, 8 channels configurable as inputs or outputs, 24 VDC, 0.5 A, configurable input filter, 588
2 event counters 50 kHz X2X Link address switch
filter, 2 event counters 50 kHz, M12 connectors, X2X Link address switch, high-density module
X67DM9331.L12 X67 digital mixed module, 8 channels configurable as inputs or outputs, 24 VDC, 2 A, configurable input fil- 622
ter, single-channel sensor/actuator supply monitoring, M12 connectors, X2X Link address switch, high-density
module

Data sheets • Digital mixed modules • X67DM1321
8.7.2 X67DM1321
This module has 8 digital channels that can be configured as inputs or outputs. The inputs are designed for sink
connections, the outputs for source connections.
■ Outputs with short circuit protection
■ All outputs with single-channel diagnostics
■ Configurable input delay
■ 2 additional channels with counter functions
8.7.2.2 Order data

X67DM1321 X67 digital mixed module, 8 channels configurable as inputs or
outputs, 24 VDC, 0.5 A, configurable input filter, 2 event counters
50 kHz
Table 118: X67DM1321 - Order data


Model number X67DM1321

Short description
I/O module 8 digital channels, configurable as inputs or outputs using software, inputs with additional functions
General information
B&R ID code 0x1311
Diagnostics
Connection type
Power consumption
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Table 119: X67DM1321 - Technical data

Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Status indicator 1: LED Green Red Description
Left: green; Right: red Off Off No power supply via X2X Link
I/O LEDs
1-8 Orange - Output status of the corresponding digital input/output
On RUN mode
Status indicator 2:
X2X Link
Connector A: Input
Connector B: Output

Connector C: Supply
8.7.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.7.2.8 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


version.

Configuration
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
... ...


Configuration
20 ConfigOutput01 (counter channel 1) USINT ●
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
... ...
20 Reset counter 1 USINT ●


Configuration
16 - ConfigIOMask01 USINT ●
20 - ConfigOutput01 (counter channel 1) USINT ●
18 - ConfigOutput03 (input filter) USINT ●
Communication
... ...
2 0 Switching state of digital outputs 1 to 8 USINT ●
... ...
30 - Status of digital outputs 1 to 8 USINT ●
... ...
26 - Input latch - Rising edges 1 to 8 USINT ●
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
28 - Acknowledgment - Input latch 1 to 8 USINT ●
... ...
4 - Counter01 UINT ●
20 - Reset counter 1 USINT ●

8.7.2.12.5.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Information:
Data type Values
Bit structure:
... ...
Eingangs-
signal
Zeit

dem Filter
Zeit
Name:
ConfigOutput03
2 0.2 ms
... ...

8.7.2.12.5.3 Configuration of Counter Channels 1 and 2
Name:
ResetCounter01 to ResetCounter02
Counter channels 1 and 2 are configured in this register.
Data type Values
Bit structure:
0-2 Configuration of the counter frequency (only with gate mea- 000 Counter frequency = 48 MHz
surement) 001 Counter frequency = 3 MHz
010 Counter frequency = 187.5 kHz
011 to 111 Reserved
3-4 Reserved 0
5 ResetCounter0x 0 No influence on the counter
1 Delete counter
6-7 Configuration of the operating mode 0 Event counter operation
1 Gate measurement
Event counter operation

The falling edges are registered on the counter input.
The counter status is collected with a fixed offset to the network cycle and transferred in the same cycle.
Gate measurement
Information:
Only one of the counter channels at a time can be used for gate measurement.
The time of rising to falling edges for the gate input is registered using an internal frequency. The result is checked
for overflow (0xFFFF).
The recovery time between measurements must be >100 µs.
The measurement result is transferred with the falling edge to the result memory.
Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Reset x R S Q State
0 1 1 Set
Input x
1 1 0 Reset
Pos. edge

Name:
Data type Values
Bit structure:
1 Latch input 1
... ...
1 Latch input 8
Name:
Data type Values
Bit structure:
1 Reset input 1
... ...
1 Reset input 8
8.7.2.12.6.5 Event counter / Gate measurement
Name:
Counter01 and Counter02
Depending on the mode, this register contains the counter value or gate time of channel 1 and channel 2.
Data type Values
UINT 0 to 65535
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0

Name:
asy_SupplyInput
8.7.2.12.6.9 Output supply voltage
Name:
asy_SupplyOutput
This register contains the output supply voltage measured by the module.

Data sheets • Digital mixed modules • X67DM1321.L12(-1)
8.7.3 X67DM1321.L12(-1)
■ Replacement of passive distributors
■ Extensive additional status information
8.7.3.2 Order data

X67DM1321.L12 X67 digital mixed module, 16 channels configurable as inputs or
X67DM1321.L12-1 X67 digital mixed module, 16 channels configurable as input or
output, 24 VDC, 0.5 A, pinning variant, configurable input filter,
Table 120: X67DM1321.L12, X67DM1321.L12-1 - Order data


Model number X67DM1321.L12 X67DM1321.L12-1

Short description
General information
B&R ID code 0x1A1D 0xDAC0
Diagnostics
Connection type
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes -
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
Input current at 24 VDC Typ. 4.4 mA
61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Table 121: X67DM1321.L12, X67DM1321.L12-1 - Technical data

Model number X67DM1321.L12 X67DM1321.L12-1
Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 320 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 121: X67DM1321.L12, X67DM1321.L12-1 - Technical data



I/O LEDs
1-1 5-1
1/1 - 8/2 Orange - Output status of the corresponding digital input/output
1-2 5-2 Status indicator 2: Status indicator for module function
2-1 6-1
3-1 7-1
3-2 7-2 Double flash BOOT mode (during firmware update)1)
4-1 8-1
4-2 8-2 On RUN mode
Status indicator 2: Single flash Warning/Error on an I/O channel. Level monitoring for digital out-
Left: green, Right: red puts has been triggered.
X2X Link
Connection A: Input
1-1 5-1
1-2 5-2
2-1 6-1
2-2 6-2
3-1 7-1
3-2 7-2
4-1 8-1
4-2 8-2
1 1-1 5-1 9
2 1-2 5-2 10
... ... ... ...
7 4-1 8-1 15
8 4-2 8-2 16

8.7.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC1)
2 24 VDC1)
4
3 GND
4 GND
D 2
1
1) Both supply pins must be supplied. Cutting off the outputs is only ensured if both pins are disconnected from the power supply.
Information:
If the summation current of the outputs is >4 A, current must also be supplied via connector D, pin 2.
8.7.3.8 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

xxx.L12 xxx.L12-1
1
2 1 24 VDC sensor/actuator power supply1)
5
3 GND
4 5 NC
3
Shield connection made via threaded insert in the module.
2
4
1
5
Connection 5 to 8
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND


temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
I/O power supply +24 V1)
+24 V1)
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V
1) Cutting off the outputs is only ensured if both pins are disconnected from the power supply.

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


version.

Configuration
Communication
... ...
... ...
... ...
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...
8210 asy_SupplyOutput USINT ●


Configuration
Communication
... ...
... ...
... ..
... ..
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...


Configuration
Communication
0 0 Input state of digital inputs 1 to 16 UINT ●
... ...
2 2 Switching state of digital outputs 1 to 16 UINT ●
... ...
30 - Status of digital outputs 1 to 16 UINT ●
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...
8210 - asy_SupplyOutput USINT ●

8.7.3.12.5.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Information:
Data type Values
Bit structure:
... ...
8.7.3.12.5.2 I/O mask 9 to 16
Name:
ConfigIOMask02
Data type Values
Bit structure:
... ...
Eingangs-
signal
Zeit

dem Filter
Zeit

Name:
ConfigOutput03
2 0.2 ms
... ...
Name:
Data type Values
Bit structure:
011 to 111 Reserved
3-4 Reserved 0
1 Delete counter
1 Gate measurement

Gate measurement
Information:

Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...


Reset x R S Q State
0 1 1 Set
Input x
1 1 0 Reset
Pos. edge
Name:
Data type Values
Bit structure:
1 Latch input 1
... ...
1 Latch input 8
Name:
Data type Values
Bit structure:
1 Latch input 9
... ...
1 Latch input 16
Name:
Data type Values
Bit structure:
1 Reset input 1
... ...
1 Reset input 8

Name:
Data type Values
Bit structure:
1 Reset input 9
... ...
1 Reset input 16
Name:
Data type Values
UINT 0 to 65535
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Value
Bit structure:
0 Input supply within / outside of the warning limits 0 Within the warning limits (18 to 30 V)
1 Reserved 0
2 Output supply within / outside of the warning limits 0 Within the warning limits (18 to 30 V)
3-7 Reserved 0
Name:
asy_SupplyInput
Name:
asy_SupplyOutput

Counter operation 250 µs
mands.
Minimum cycle time

Data sheets • Digital mixed modules • X67DM1321.L08
8.7.4 X67DM1321.L08
8.7.4.2 Order data

Table 122: X67DM1321.L08 - Order data


Model number X67DM1321.L08

Short description
General information
B&R ID code 0x1A1C
Diagnostics
Connection type
Power consumption
Internal I/O 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1
Table 123: X67DM1321.L08 - Technical data

Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 320 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



I/O LEDs
7 LED Color Status Description
1 11
1 - 16 Orange - Output status of the corresponding digital input/output
2 12 Status indicator 2: Status indicator for module function
8
3 13
9
4 14
5 15 Double flash BOOT mode (during firmware update)1)
10 Blinking PREOPERATIONAL mode
5 16
On RUN mode
X2X Link
Connection A: Input
7
1 11
2 12
8
3 13
9 Digital inputs/outputs 1 to 16
4 14
5 15
10
6 16

8.7.4.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC1)
2 24 VDC1)
4
3 GND
4 GND
D 2
1
Information:
8.7.4.8 Pinout
7
1 11
2 12
1 +24 VDC
8 X1 to X16
3 GND
3 13 M8 ①
4 DI/DO x
9
4 14
5 15
10
6 16

M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4

+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3
24 V 0.5 A digital I/O

Temperature 1…16
cutoff 4
VDR 3 1
I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
Module power supply +24 V1)
+24 V1)
2 2
1 4 4 1
C 3 3 D
Module power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


version.

Configuration
Communication
... ...
... ...
... ...
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...


Configuration
Communication
... ...
... ...
... ..
... ..
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...


Configuration
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...

8.7.4.12.5.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Information:
Data type Values
Bit structure:
... ...
8.7.4.12.5.2 I/O mask 9 to 16
Name:
ConfigIOMask02
Data type Values
Bit structure:
... ...
Eingangs-
signal
Zeit

dem Filter
Zeit

Name:
ConfigOutput03
2 0.2 ms
... ...
Name:
Data type Values
Bit structure:
011 to 111 Reserved
3-4 Reserved 0
1 Delete counter
1 Gate measurement

Gate measurement
Information:

Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...


Reset x R S Q State
0 1 1 Set
Input x
1 1 0 Reset
Pos. edge
Name:
Data type Values
Bit structure:
1 Latch input 1
... ...
1 Latch input 8
Name:
Data type Values
Bit structure:
1 Latch input 9
... ...
1 Latch input 16
Name:
Data type Values
Bit structure:
1 Reset input 1
... ...
1 Reset input 8

Name:
Data type Values
Bit structure:
1 Reset input 9
... ...
1 Reset input 16
Name:
Data type Values
UINT 0 to 65535
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Value
Bit structure:
1 Reserved 0
3-7 Reserved 0
Name:
asy_SupplyInput
Name:
asy_SupplyOutput

mands.
Minimum cycle time

8.7.5 X67DM9321
The node number switch for setting the X2X Link address is a unique feature. When modular machine configura-
tions change, it is necessary, for example, to define specific module groups at a fixed address that is independent
of the preceding modules in the line. All subsequent standard modules refer to this offset and use it automatically
for addressing purposes.
■ Node number switches for setting the X2X Link address
■ Configurable input delay
8.7.5.2 Order data

X67DM9321 X67 digital mixed module, 8 channels configurable as inputs or
50 kHz X2X Link address switch
Table 124: X67DM9321 - Order data



Short description
General information
B&R ID code 0x199B
Diagnostics
Connection type
Power consumption
Internal I/O 2.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1

Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 190 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



Left: Green, Right: Red Off Off No power supply via X2X Link
I/O LEDs
1-8 Orange - Output status of the corresponding digital input/output
On RUN mode
Status indicator 2:
X2X Link
Connection A: Input

8.7.5.6 Node number switches
High Low
The decentralized X2X Link backplane, which connects individual X67 modules with one another, is set up to be
self-addressing. Because of this, it is not necessary to set the node numbers. The module address is assigned
according to its position in the X2X Link line.
For this reason, the digital mixed module is equipped with node number switches that can be used to set the X2X
Link address. All subsequent modules refer to this offset and use it automatically for addressing purposes.
#10 #11 #12 #30 #31 #20 #21 #22 #50 #51 #52
X2X Link
Figure 53: Sample configuration

If the node number on the module is set to 0x00, then the module address is assigned according to its position
in the X2X Link line.

8.7.5.7 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.7.5.9 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DI/DO x


M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Inputs/Outputs
1
1
4
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
+24 VDC 4 1
Actuator
DO
Connection X
GND
3

temperature
cutoff 4
3 1
I/O status
LED (orange)
Short circuit
Monitoring of
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


version.

Configuration
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
... ...


Configuration
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
... ...


Configuration
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
... ...

8.7.5.13.5.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Information:
Data type Values
Bit structure:
... ...
Eingangs-
signal
Zeit

dem Filter
Zeit
Name:
ConfigOutput03
2 0.2 ms
... ...

Name:
Data type Values
Bit structure:
011 to 111 Reserved
3-4 Reserved 0
1 Delete counter
1 Gate measurement

Gate measurement
Information:
Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Reset x R S Q State
0 1 1 Set
Input x
1 1 0 Reset
Pos. edge

Name:
Data type Values
Bit structure:
1 Latch input 1
... ...
1 Latch input 8
Name:
Data type Values
Bit structure:
1 Reset input 1
... ...
1 Reset input 8
Name:
Data type Values
UINT 0 to 65535
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0

Name:
asy_SupplyInput
Name:
asy_SupplyOutput

8.7.6 X67DM9321.L12
8.7.6.2 Order data

50 kHz, M12 connectors, X2X Link address switch, high-density
module



Short description
General information
B&R ID code 0x199B
Diagnostics
Connection type
Power consumption
I/O power supply 3W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Event counter
Quantity 2
Counter 1 Input 1
Counter 2 Input 3
Counter size 16-bit
Gate measurement
Quantity 1

Counter frequency
Counter size 16-bit
Digital outputs
Switching delay
0 -> 1 <400 µs
1 -> 0 <400 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 330 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



I/O LEDs
1-1 5-1
1/1 - 8/2 Orange - Output status of the corresponding digital input/output
2-1 6-1
3-1 7-1
4-1 8-1
4-2 8-2 On RUN mode
X2X Link
Connection A: Input
1-1 5-1
1-2 5-2
2-1 6-1
2-2 6-2
3-1 7-1
3-2 7-2
4-1 8-1
4-2 8-2
1 1-1 5-1 9
2 1-2 5-2 10
... ... ... ...
7 4-1 8-1 15
8 4-2 8-2 16

High Low
#10 #11 #12 #30 #31 #20 #21 #22 #50 #51 #52
X2X Link

8.7.6.7 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC1)
2 24 VDC1)
4
3 GND
4 GND
D 2
1
Information:
8.7.6.9 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6
M12 ① 3 GND
4 DI/DO x-2
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
3 GND
5
4 Input/Output x-2
5 NC
3
2
4
1
5
Connection 5 to 8

DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND

temperature
cutoff 2
5
1 3

I/O status
LED (orange)

temperature
cutoff

I/O status
LED (orange)
Monitoring of
short circuit and

overload protection
Monitoring of
+24 V1)
2 2
1 4 4 1
C 3 3 D
I/O power supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
1000
1H
100
10 mH
50
0.1 1 10 100


version.

Configuration
Communication
... ...
... ...
... ...
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...


Configuration
Communication
... ...
... ...
... ..
... ..
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...


Configuration
Communication
... ...
... ...
... ...
InputLatch01 Bit 0
... ...
InputLatch08 Bit 7
InputLatch09 Bit 0
... ...
InputLatch16 Bit 7
... ...
... ...

8.7.6.13.5.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Information:
Data type Values
Bit structure:
... ...
8.7.6.13.5.2 I/O mask 9 to 16
Name:
ConfigIOMask02
Data type Values
Bit structure:
... ...
Eingangs-
signal
Zeit

dem Filter
Zeit

Name:
ConfigOutput03
2 0.2 ms
... ...
Name:
Data type Values
Bit structure:
011 to 111 Reserved
3-4 Reserved 0
1 Delete counter
1 Gate measurement

Gate measurement
Information:

Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...


Reset x R S Q State
0 1 1 Set
Input x
1 1 0 Reset
Pos. edge
Name:
Data type Values
Bit structure:
1 Latch input 1
... ...
1 Latch input 8
Name:
Data type Values
Bit structure:
1 Latch input 9
... ...
1 Latch input 16
Name:
Data type Values
Bit structure:
1 Reset input 1
... ...
1 Reset input 8

Name:
Data type Values
Bit structure:
1 Reset input 9
... ...
1 Reset input 16
Name:
Data type Values
UINT 0 to 65535
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Value
Bit structure:
1 Reserved 0
3-7 Reserved 0
Name:
asy_SupplyInput
Name:
asy_SupplyOutput

mands.
Minimum cycle time

8.7.7 X67DM9331.L12
connections, the outputs for source connections. The outputs can handle up to 2 A. The summation current is 8 A.
■ Outputs can handle up to 2 A
8.7.7.2 Order data

outputs, 24 VDC, 2 A, configurable input filter, single-channel
sensor/actuator supply monitoring, M12 connectors, X2X Link



Short description
I/O module 8 digital channels, configurable as inputs or outputs using software
General information
B&R ID code 0x1B15
Sensor/Actuator current 0.1 A
Summation current 0.5 A
Status indicators I/O function for each channel, sensor/actuator power supply for each channel, supply voltage, bus function
Diagnostics
Sensor/Actuator power supply Yes, using status LED and software
Connection type
Power consumption
Internal I/O 1.7 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Hardware ≤70 μs
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Digital outputs

Switching delay
0 -> 1 <250 µs
1 -> 0 <270 µs
Switching frequency
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 325 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1: Off Off No power supply via X2X Link
Left: green, Right: red On Off X2X Link supplied, communication OK
I/O LEDs
x-1 Red Off Sensor/Actuator power supply within valid range
1-1 5-1 On Short circuit or overload
x-2 Orange - Input/Output status of the corresponding digital input/output
1-2 5-2
2-2 6-2
3-2 7-2
4-2 8-2
On RUN mode
Status indicator 2:
Left: green, Right: red Single flash Warning/Error on an I/O channel. Level monitoring of digital out-
puts triggered or short circuit / overload of sensor/actuator pow-
er supply
Double flash Supply voltage not within valid range

X2X Link
Connection A: Input
1 5
2 6
3 7
4 8

High Low
#10 #11 #12 #30 #31 #20 #21 #22 #50 #51 #52
X2X Link

8.7.7.7 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC1)
2 24 VDC1)
4
3 GND
4 GND
D 2
1
Information:
8.7.7.9 Pinout
X1 X5
SHLD
1 +24 VDC
X2 X6 X1 to X8 2 Reserved
M12 ① 3 GND
4 DI/DO
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1
2 2 Reserved
3 GND
5
4 Input/Output x
5 NC
3
2
4
1
5
Connection 5 to 8

+24 VDC 1 2
Sensor
DI
5 Connection x
GND
4 3
+24 VDC 1 2
Actuator
DO
5 Connection x
GND
4 3
24 V 2 A digital I/O 1…8

2
Output status Control logic, 5

1 3
temperature
cutoff
4
VDR
I/O status
LED (orange)
Status of
sensor/actuator power supply
Short circuit and

overload protection
Monitoring of
+24 V1)
2 2
1 4 4 1
C 3 3 D
Input supply
GND
VDR
>30 V

Coil inductance
100 H 10 H
500
1H
Coil resistance [Ω]

100 mH
100
10 mH
12
0.1 1 10 100

8.7.7.13 Derating / Operation with 2 A
1 Any No
Examples:
Possible divisions:

2
1.5
Output current [A]
0.5
0
-25 50 60

version.

Configuration
Communication
... ...
... ...
28 Status of the actuator/sensor power supply USINT ●
StatusSensor01 Bit 0
... ...
... ...

Configuration
Communication
... ...
... ...
28 - Status of the actuator/sensor power supply USINT ●
... ...
... ...

8.7.7.14.4.1 I/O mask 1 to 8
Name:
ConfigIOMask01
Data type Values
Bit structure:
... ...
Eingangs-
signal
Zeit

dem Filter
Zeit
Name:
ConfigOutput01
2 0.2 ms
... ...

Unfiltered
Filtered
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
Status of the actuator/sensor power supply
Name:
StatusSensor01 to StatusSensor08
This register is used to indicate the status of digital actuator/sensor power supply 1 to 8.
Data type Values
Bit structure:
0 StatusSensor01 0 Channel 01: Actuator/Sensor power supply in valid range
... ...
7 StatusSensor08 0 Channel 08: Actuator/Sensor power supply in valid range

Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
Name:
asy_SupplyOutput

mands.
Minimum cycle time
Without filtering 150 µs
With filtering 200 µs

Data sheets • Digital output modules • Summary
8.8 Digital output modules

Digital output modules are used to control external loads (relays, motors, solenoids). The states of the digital
outputs are indicated by status LEDs.
8.8.1 Summary
X67DO9332.L12 X67 digital output module, 8 outputs, 24 VDC, 2 A, single-channel actuator power supply monitoring, M12 643
connectors, X2X Link address switch, high-density module

Data sheets • Digital output modules • X67DO1332
8.8.2 X67DO1332
The module is a digital output module for 24 VDC. It has 8 outputs for the source output circuit.
■ 8 A summation current per module
■ All outputs with single-channel diagnostics for short circuit or overload
■ Integrated protection for switching inductances
8.8.2.2 Order data

Digital output modules
X67DO1332 X67 digital output module, 8 outputs, 24 VDC, 2 A, readable
output status
Table 130: X67DO1332 - Order data


Model number X67DO1332

Short description
I/O module 8 digital outputs 24 VDC
General information
B&R ID code 0x1467
Diagnostics
Connection type
Outputs 8x M8, 3-pin
Power consumption
Internal I/O 2W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital outputs
Quantity 8 2)
Actuator power supply 0.5 A summation current
Group 1 Channels 1 to 4
Group 2 Channels 5 to 8
Switching delay
0 -> 1 <250 µs
1 -> 0 <270 µs
Switching frequency
Continuous current per
Output Max. 2 A
Group Max. 4 A (simultaneity factor = 50%) 3)
Module Max. 8 A
Table 131: X67DO1332 - Technical data

Model number X67DO1332
Any Yes
Temperature
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 180 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 131: X67DO1332 - Technical data

1) The power consumption of the actuators connected to the module is not permitted to exceed 12 W.
2) In 2 groups of 4 channels each
3) Simultaneous factor = 50%: A maximum 2 of 4 outputs in a group are allowed to be fully loaded at the same time.

Status indicator 1:
LED Green Red Description
I/O LEDs
1-8 Orange - Output status of the corresponding digital output
On RUN mode
Left: green; Right: red Single flash Warning/Error on an I/O channel. Level monitoring for digital out-
X2X Link
Connection A: Input
Digital outputs 1 to 8


8.8.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.8.2.8 Pinout
1 +24 VDC
X1 to X8
3 GND
M8 ①
4 DO x


M8, 3-pin Pinout

3 Pin Name
4
1 24 VDC actuator supply1)
3 GND
4 Output
1) Actuators are not permitted to be supplied externally.
1
Connections (female), output
1
4
+24 VDC 4 1
Actuator
DO
Connection X
GND
3
8.8.2.10 Output circuit diagram
24 V 2 A digital output

Temperature 1…8
cutoff 4
VDR 3 1
Output
monitoring Filter (tIN)
I/O status
LED (orange)
Short circuit
C +24 V D
2 2
1 4 4 1
3 3
GND
VDR
>30 V

Coil inductance
100 H 10 H
500
1H

100 mH
100
10 mH
12
0.1 1 10 100

1 Any No
Examples:
Possible divisions:

2
1.5
Output current [A]
0.5
0
-25 50 60

version.

... ...
... ...

... ...
... ...
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
mands.
Minimum cycle time
150 μs
150 µs

Data sheets • Digital output modules • X67DO9332.L12
8.8.3 X67DO9332.L12
The module is a digital output module with 8 channels. The outputs can handle up to 2 A. The summation current
is 8 A.
The node number switches for setting the X2X Link address are a unique feature. When modular machine configu-
rations change, it is necessary, for example, to define specific module groups at a fixed address that is independent
■ 8 digital outputs
■ Outputs can handle up to 2 A
8.8.3.2 Order data

Digital output modules
X67DO9332.L12 X67 digital output module, 8 outputs, 24 VDC, 2 A, single-chan-
nel actuator power supply monitoring, M12 connectors, X2X Link
Table 132: X67DO9332.L12 - Order data


Model number X67DO9332.L12

Short description
I/O module 8 digital outputs 24 VDC
General information
B&R ID code 0x2658
Status indicators I/O function for each channel, actuator power supply for each channel, supply voltage, bus function
Diagnostics
Actuator power supply Yes, using status LED and software
Connection type
Power consumption
Internal I/O 1.7 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital outputs
Quantity 8
Actuator current 0.1 A
Switching delay
0 -> 1 <250 µs
1 -> 0 <270 µs
Switching frequency
Any Yes
Table 133: X67DO9332.L12 - Technical data

Model number X67DO9332.L12
Temperature
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 330 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 133: X67DO9332.L12 - Technical data


I/O LEDs
x-1 Red Off Actuator supply within valid range
1-1 5-1
On Short circuit or overload
1-2 5-2 x-2 Orange - Output status of the corresponding channel
2-1 6-1
2-2 6-2 LED Color Status Description
3-1 7-1
3-2 7-2 Single flash RESET mode
4-1 8-1
On RUN mode
Left: green, Right: red Single flash Warning/Error on an I/O channel. Level monitoring of digital out-
puts triggered or short circuit / overload of actuator supply
X2X Link
Connection A: Input
Digital outputs 1 to 8


8.8.3.5.1 Node number switches
High Low
#10 #11 #12 #30 #31 #20 #21 #22 #50 #51 #52
X2X Link

8.8.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC I/O power supply1)
2 24 VDC output supply1)
4
3 GND
4 GND
D 2
1 1) Both supply pins must be supplied. Due to the division of the supply voltage, the output supply can be cut off
while the module continues to be supplied.
4
Information:
8.8.3.8 Pinout
X1 X5
Shield
1 +24 VDC
X2 X6
X1 to X8 2 Reserved
M12 ① 3 GND
4 DO
X3 X7
5 NC
X4 X8

M12, 5-pin Pinout

1 Pin Name
2 1 24 VDC actuator supply1)
5 2 Reserved
3 GND
4 Output
4
3 5 Not connected
3 1) Actuators are not permitted to be supplied externally.
2
4
1
5

+24 VDC 1 2
Actuator
DO
5 Connection X
GND
4 3
24 V 2 A digital I/O 1…8

2
Output status Control logic, 5

Temperature 1 3
cutoff
4
VDR
Output
Filter (tIN)
monitoring I/O status
LED (orange)
Status of the
Actuator supply
Short circuit
Monitoring the
+24 V
2 2
Monitoring the
Output supply 1 4 1
4
C 3 3 D
I/O power supply
GND
Reverse polarity protection VDR

Output supply >30 V
Coil inductance
100 H 10 H
500
1H
100 mH
100
10 mH
12
0.1 1 10 100


1 Any No
Examples:
Possible divisions:

2
1.5
Output current [A]
0.5
0
-25 50 60

version.

... ...
... ...
28 Status of the actuator supply for digital outputs 1 to 8 USINT ●
StatusSupplyOutput01 Bit 0
... ...

... ...
... ...
28 - Status of the actuator supply for digital outputs USINT ●
1 to 8
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

8.8.3.13.4.3 Monitoring status of actuator supply
The actuator supply is monitored for each channel. The status of each individual channel can be read.
Status of the actuator supply for digital outputs 1 to 8
Name:
StatusSupplyOutput01 to StatusSupplyOutput08
The status of the actuator supply for digital outputs 1 to 8 is mapped in this register.
Data type Value
Bit structure:
0 StatusSupplyOutput01 0 Channel 01: Supply within valid range
... ...
8 StatusSupplyOutput08 0 Channel 08: Supply within valid range
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Value
Bit structure:
1 Reserved 0
3-7 Reserved 0

Name:
asy_SupplyInput
Name:
asy_SupplyOutput
mands.
Minimum cycle time
150 μs
150 µs

Data sheets • Digital valve control modules • Summary
8.9 Digital valve control modules

Multi-pin is a simple way of connecting valve terminals. Digital outputs are connected here via the 25-pin DSUB
connector, which then switch the valves. The valve control modules use an M16 connector to link to the multipin
connector.
This lets you control up to 16 valves with a simple cable connection. The current can be a maximum of 100 mA.
Feedback signals of piston positions or other manipulated variables are possible using 16 standard digital inputs
on the same module.
There are 2 types of valve control modules available for delivery, which use different connection types for the
digital inputs.
8.9.1 Summary
X67DV1311.L08 X67 digital valve control module, 16 digital outputs, 24 VDC, 0.1 A, 1 M16 connection, 16 digital inputs, 24 VDC, 655
sink, configurable input filter, M8 connectors, high-density module
X67DV1311.L12 X67 digital valve control module, 16 digital outputs, 24 VDC, 0.1 A, 1 M16 connection, 16 digital inputs, 24 VDC, 668
sink, configurable input filter, M12 connectors, high-density module

Data sheets • Digital valve control modules • X67DV1311.L08
8.9.2 X67DV1311.L08
This module lets you control valve terminals using multi-pin technology. The digital inputs use M8 connectors.
■ Controlling valve manifolds with multi-pin technology
■ Up to 16 valves per valve manifold
■ 16 digital inputs for feedback
■ Separate feed for inputs and valve coils
■ Configurable digital input filter
■ All outputs with single channel diagnostics
8.9.2.2 Order data

Valve control
X67DV1311.L08 X67 digital valve control module, 16 digital outputs, 24 VDC, 0.1
A, 1 M16 connection, 16 digital inputs, 24 VDC, sink, config-
Table 134: X67DV1311.L08 - Order data


Model number X67DV1311.L08

Short description
I/O module 16 digital outputs for controlling valve terminals with multi-pin technology
16 digital inputs for feedback
General information
B&R ID code 0x1AED
Status indicators I/O function for each digital input, supply voltage, bus function
Diagnostics
Connection type
Outputs M16, 19-pin
Inputs 16x M8, 3-pin
Power consumption
Internal I/O 1.3 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Hardware ≤100 μs
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Digital outputs
Switching delay
0 -> 1 <100 µs
1 -> 0 <150 µs
Table 135: X67DV1311.L08 - Technical data

Switching frequency
Inductive load See "Switching inductive loads"
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 350 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
M16 Max. 1.0 Nm


Status indicator 1: Left/Right Green (left) Red (right) Description
7 1 - 16 Color Status Description
1 11
Green On/Off Input state of the corresponding digital input.
2 12 Status indicator 2: Status indicator for module function
8
3 13
9
4 14
5 15 Blinking PREOPERATIONAL mode
10 On RUN mode
6 16

X2X Link
Connection A: Input
Valve manifold connection

7
1 11
2 12
8
3 13
9 Digital inputs 1 to 16
4 14
5 15
10
6 16

8.9.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
8.9.2.7 I/O power supply
Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC input supply1)
4
3 GND
4 GND
3
1
1) Dividing up the supply voltage can cause the power supply to the outputs to be cut off. The power supply of the inputs is maintained, however.
Information:
In order to achieve category 4 shutdown in accordance with EN 954-1, the entire I/O power supply
(supply via 2 pins) must be safely cut off.

8.9.2.8 Pinout
A DO 1
B DO 2
C DO 3
D DO 4
E DO 5
F DO 6
Valves
G DO 7
H DO 8
7 J DO 9
1 11 Valves
K DO 10
M16 ①
L DO 11
2 12
8 M GND
N DO 12
3 13
O DO 13
9 P DO 14
4 14
R DO 15
5 15 S DO 16
10 T NC
6 16 U GND
1 +24 VDC
X1 to X16
3 GND
M8 ②
4 DI x
① X67CA0V40.xxxx: Valve terminal cable, straight

X67CA0V50.xxxx: Valve terminal cable, angled
② X67CA0D40.xxxx: M8 sensor cable, straight
8.9.2.8.1 Valve connection
M16, 19-pin Pinout

Pin Name Wire colors Pin Name Wire colors
A Output 1 White/Gray L Output 11 Gray/Brown
J R B Output 2 White/Yellow M GND Brown
U C Output 3 Green N Output 12 Yellow
D Output 4 Red O Output 13 Gray
E Output 5 Gray/Pink P Output 14 White/Green
L
F Output 6 Pink R Output 15 White
G Output 7 Red/Blue S Output 16 Purple
M H Output 8 Black T NC -
A
J Output 9 Brown/Green U GND Blue
K Output 10 Yellow/Brown
M8, 3-pin Pinout

3 Pin Name
4
3 GND
4 Input
1
1
4

Valves (Only 1 valve shown)
GND
Valve U
DO A
A
Digital inputs
+24 VDC 4 1
Sensor
DI
Connection X
GND
3
24 V 0.1 A digital output

1…16
Output status Control logic, J R
temperature
U
cutoff
L
Output monitoring Filter (tIN) VDR M A
24 V digital in 1…16
4
VDR 3 1
Input status Filter (t IN)
I/O status
LED (green)
Short circuit and

overload protection
Monitoring the
input supply +24 V
+24 V
Monitoring the 2 2
output supply
1 4 4 1
C 3 3 D
input supply
GND
VDR
>30 V
output supply

Coil inductance
10000
1000 H

100 H
1000
10 H
240
0.1 1 10 100


version.

Configuration
18 ConfigOutput01 USINT ●
Communication
... ...
... ...
... ...
... ...
... ...
... ...


Configuration
18 - ConfigOutput01 USINT ●
Communication
... ...
... ...
... ...
... ...
DigitalOutput16 Bit7
... ...
... ...

8.9.2.12.4 Digital inputs
Unfiltered
Filtered
Name:
ConfigOutput01
2 0.2 ms
... ...
8.9.2.12.4.2 Input state of digital inputs 1 to 8
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

8.9.2.12.5 Digital outputs
The output status is transferred to the output channels with a fixed offset (<60 µs) in relation to the network cycle
(SyncOut).
8.9.2.12.5.1 Switching state of digital outputs 1 to 8
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
8.9.2.12.6 Status of the outputs
8.9.2.12.6.1 Status of digital outputs 1 to 8
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyInput
8.9.2.12.9 Output supply voltage
Name:
asy_SupplyOutput

Name:
asy_SupplyStatus
Data type Value
Bit structure:
1 Reserved 0
3-7 Reserved 0
mands.
Minimum cycle time

8.9.3 X67DV1311.L12
This module lets you control valve terminals using multi-pin technology. The digital inputs use M12 connectors.
■ Controlling valve manifolds with multi-pin technology
■ Up to 16 valves per valve manifold
■ 16 digital inputs for feedback
■ Separate feed for inputs and valve coils
■ Configurable digital input filter
■ All outputs with single channel diagnostics
8.9.3.2 Order data

Valve control
X67DV1311.L12 X67 digital valve control module, 16 digital outputs, 24 VDC, 0.1
A, 1 M16 connection, 16 digital inputs, 24 VDC, sink, config-
Table 136: X67DV1311.L12 - Order data



Short description
I/O module 16 digital outputs for controlling valve terminals with multi-pin technology
16 digital inputs for feedback
General information
B&R ID code 0x1AEE
Status indicators I/O function for each digital input, supply voltage, bus function
Diagnostics
Connection type
Outputs M16, 19-pin
Power consumption
Internal I/O 1.3 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Power consumption
Digital inputs
61131-2
Input filter
Hardware ≤100 μs
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Digital outputs
Switching delay
0 -> 1 <100 µs
1 -> 0 <150 µs

Switching frequency
Inductive load See "Switching inductive loads"
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 330 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
M16 Max. 1.0 Nm


Status indicator 1: Left/Right Green (left) Red (right) Description
1-1 to 8-2 Color Status Description
1-1 5-1
Green On/Off Input state of the corresponding digital input.
2-1 6-1
2-2 6-2 Green Off No power to module
3-1 7-1
4-1 8-1
On RUN mode
4-2 8-2 Right Color Status Description

X2X Link
Connection A: Input
Valve manifold connection
1-1 5-1
1-2 5-2
2-1 6-1
2-2 6-2
3-1 7-1
3-2 7-2
4-1 8-1
4-2 8-2
1 1-1 5-1 9
2 1-2 5-2 10
... ... ... ...
7 4-1 8-1 15
8 4-2 8-2 16
8.9.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 C Pin Name
1 1 24 VDC input supply1)
4
3 GND
4 GND
3
1
1) Dividing up the supply voltage can cause the power supply to the outputs to be cut off. The power supply of the inputs is maintained, however.
Information:
In order to achieve category 4 shutdown in accordance with EN 954-1, the entire I/O power supply
(supply via 2 pins) must be safely cut off.
8.9.3.8 Pinout
A DO 1
B DO 2
C DO 3
D DO 4
E DO 5
F DO 6
G DO 7
H DO 8
Valves
J DO 9
Valves
K DO 10
X1 X5
M16 ①
L DO 11
M GND
X2 X6 N DO 12
O DO 13
P DO 14
X3 X7 R DO 15
S DO 16
T NC
X4 X8
U GND
Shield
1 +24 VDC
X1 to X8 2 DI x-1
M12 ② 3 GND
4 DI x-2
5 NC
① X67CA0V40.xxxx: Valve terminal cable, straight

X67CA0V50.xxxx: Valve terminal cable, angled
② X67CA0A41.xxxx: M12 sensor cable, straight

8.9.3.8.1 Valve connection
M16, 19-pin Pinout

Pin Name Wire colors Pin Name Wire colors
A Output 1 White/Gray L Output 11 Gray/Brown
J R B Output 2 White/Yellow M GND Brown
U C Output 3 Green N Output 12 Yellow
D Output 4 Red O Output 13 Gray
E Output 5 Gray/Pink P Output 14 White/Green
L
F Output 6 Pink R Output 15 White
G Output 7 Red/Blue S Output 16 Purple
M H Output 8 Black T NC -
A
J Output 9 Brown/Green U GND Blue
K Output 10 Yellow/Brown
M12, 5-pin Pinout

1 Pin Name
5 2 Input 1
3 GND
4 Input 2
4
3 5 NC
2
4
1
5
Valves (Only 1 valve shown)
GND
U
Valve
DO A
A
Digital inputs
+24 VDC
Sensor 1
DI
GND 1 2
5 Connection X
+24 VDC
Sensor 2
4 3
DI
GND

24 V 0.1 A digital output

1…16
Output status Control logic, J R
temperature
U
cutoff
L
Output monitoring Filter (tIN) VDR M A
24 V digital in 1-1/2…8-1/2
VDR
Input status x-1 Filter (tIN) 2
I/O status
LED (green) 5
1 3
VDR
Input status x-2 Filter (tIN)
I/O status
LED (green)
Short circuit and

overload protection
Monitoring the
input supply +24 V
+24 V
Monitoring the 2 2
output supply 1 1
4 4
C 3 3 D
input supply
GND
VDR
>30 V
output supply

Coil inductance
10000
1000 H

100 H
1000
10 H
240
0.1 1 10 100


version.

Configuration
Communication
... ...
... ...
... ...
... ...
... ...
... ...


Configuration
18 - ConfigOutput01 USINT ●
Communication
... ...
... ...
... ...
... ...
DigitalOutput16 Bit7
... ...
... ...

8.9.3.12.4 Digital inputs
Unfiltered
Filtered
Name:
ConfigOutput01
2 0.2 ms
... ...
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...

8.9.3.12.5 Digital outputs
(SyncOut).
Name:
Data type Values
Bit structure:
... ...
Name:
Data type Values
Bit structure:
... ...
8.9.3.12.6 Status of the outputs
Name:
Data type Values
Bit structure:
... ...

Name:
Data type Values
Bit structure:
... ...
Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyInput
8.9.3.12.9 Output supply voltage
Name:
asy_SupplyOutput

Name:
asy_SupplyStatus
Data type Value
Bit structure:
1 Reserved 0
3-7 Reserved 0
mands.
Minimum cycle time

Data sheets • Communication modules • Summary
8.10 Communication modules

The communication modules allow complex devices to be remotely connected to the X67 system via a serial
interface.
8.10.1 Summary
X67IF1121-1 X67 interface module, 1 RS232 interface, 1 RS422/RS485 interface, 2 digital channels configurable as inputs 683
or outputs, 24 VDC, 0.5 A, configurable input filter, 2 inputs 24 VDC, sink, configurable input filter

Data sheets • Communication modules • X67IF1121-1
8.10.2 X67IF1121-1
Serial interfaces (barcode scanners for example) are often scattered throughout systems. This interface module
from the remote X67 system is the optimal choice for this area of application: RS232 and RS485/RS422 connection
options directly where they are needed, distributed on the machine or system.
In addition, there are digital inputs and outputs on the same module so that corresponding 24 V sensors/actuators
can also be connected.
■ RS232 and RS485/RS422 usable in parallel
■ Connection of barcode readers, ID systems and sensors on one module
8.10.2.2 Order data

Communication modules
X67IF1121-1 X67 interface module, 1 RS232 interface, 1 RS422/RS485 in-
terface, 2 digital channels configurable as inputs or outputs, 24
VDC, 0.5 A, configurable input filter, 2 inputs 24 VDC, sink, con-
figurable input filter
Table 138: X67IF1121-1 - Order data


Model number X67IF1121-1

Short description
Communication module 1x RS232 or 1x RS485/RS422, 2 digital inputs, 2 digi-
tal channels configurable as inputs or outputs using software
General information
B&R ID code 0xA90F

Status indicators RS232, RS485/RS422, I/O function for each channel, supply voltage, bus function
Diagnostics
RS232 Yes, using status LED
RS485/RS422 Yes, using status LED
Connection type
Interfaces and inputs/outputs 4x M12, A-keyed
Power consumption
Internal I/O 2.4 W
IF - Bus Yes
IF - Channel No
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
IF1 interface
Signal RS232
Max. distance 900 m
Transfer rate Max. 115.2 kbit/s
FIFO Software
Handshake lines No
IF2 interface
Signal RS485/RS422
Transfer rate Max. 115.2 kbit/s
FIFO Software
Terminating resistor Integrated in the module
I/O power supply
Power consumption
Digital inputs
Quantity Up to 4 if the 2 digital channels are used as digital inputs
61131-2
Table 139: X67IF1121-1 - Technical data

Model number X67IF1121-1
Input filter
Hardware ≤100 µs
Input circuit Sink
Switching threshold
Low <5 V
High >15 VDC
Digital outputs
Quantity Up to 2 if the 2 digital channels are used as digital outputs
Leakage current when switched off <120 μA
Peak short circuit current <2.1 A
Switching on after overload or short circuit cutoff Approx. 1 ms (depends on the module temperature)
Switching delay
0 -> 1 <100 μs
1 -> 0 <150 μs
Switching frequency
Braking voltage when switching off inductive loads Typ. 68 VDC
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 139: X67IF1121-1 - Technical data



Status indica- Status indicator - X2X Link.
tor 1 Green Red Description
1 Orange Lit when the module is receiving data via the RS232 interface.
Status indicator 1:
3 Orange Lit when the module is receiving or transmitting data via the
RS485/RS422 interface.
2 Status indicator for input/output 3 and digital input 1.
LED Description
Orange Input/output status of channel 3
Green Input status of channel 1
Orange and green1) Both channel 1 and channel 3 are active.
4 Status indicator for input/output 4 and digital input 2.
LED Description
Orange Input/output status of channel 4
Green Input status of channel 2
Orange and green1) Both channel 2 and channel 4 are active.
Status indica- Status indicator for module function.
tor 2 LED Status Description
Status indicator 2:
Left: Green, Right: Red Single flash RESET mode
On RUN mode
1) Both LEDs are lit, but a mixed color is seen because there is only one light conductor.
X2X Link
Connection A: Input
Connection 1: RS232
Connection 3: RS485/RS422
Connection 2: Input 1 and input/output 3

Connection 4: Input 2 and input/output 4

8.10.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.10.2.8 Pinout
Shield
1 Reserved
X1 2 TxD
M12 ① 3 GND
4 RxD
5 Shield
Shield
1 TxD\
X2 2 TxD
M12 ① 3 RxD\
4 RxD
5 GND
Shield
1 +24 VDC
X3 to X4 2 AI-1
M12 ① 3 GND
4 AI-2
5 Shield

8.10.2.8.1 RS232 interface
The input is connected using M12 circular connectors.

Connection Pinout
Pin Name
X1
1 Reserved
1 2 TxD
2 3 GND
5 4 RxD
5 Shield
3
X1 → A-keyed (female), output

8.10.2.8.2 RS485/RS422 interface
The input is connected using M12 circular connectors.

Connection Pinout
X3 Pin RS422 RS485
1 TxD\ Reserved
3 2 TxD Reserved
2
3 RxD\ Data\
4 RxD Data
5 GND GND
1
5 X3 → A-keyed (female), output
8.10.2.8.3 Connections X2 and X4
M12, 5-pin Pinout

1 24 VDC sensor/actuator supply1)
1
2 2 DI 1 or 2
3 GND
5
4 DI/DO 3 or 4
5 Shield2)
3
X2 → A-keyed (female), input/output
2
4
1
5
Connection 4
8.10.2.9 Usage example
In the application displayed here, the proximity sensor and barcode reader are connected with the communication
module. The sensor activates the barcode scanner when a corresponding product arrives in the read area.
X20 control system
X67 I/O system

24 V 0.5 A digital I/O

2+4
2
I/O status 5
VDR 1 3
LED (green)
Input status 1/2 Filter (tIN) 4
Output status 3/4 Control logic,

temperature
cutoff
VDR
I/O status
LED (orange)
Input status 3/4 Filter (t IN)
Short circuit and

overload protection
Monitoring of the I/O power supply
+24 V
2 2
1 4 4 1
C 3 3
D
GND
VDR
>30 V
Coil inductance
10 H 1H 100 mH
1000
10 mH
100
48
0.1 1 10 100 1000 5000


version.
8.10.2.12.2 Function model 2 - Stream and Function model 254 - Cyclic stream
Function models "Stream" and "Cyclic stream" use a module-specific driver for the operating system. The interface
can be controlled using library "DvFrame" and reconfigured at runtime.
Function model - Stream
In function model "Stream", the CPU communicates with the module acyclically. The interface is relatively conve-
nient, but the timing is very imprecise.
Function model - Cyclic stream
Function model "Cyclic stream" was implemented later. From the application's point of view, there is no difference
between function models "Stream" and "Cyclic stream". Internally, however, the cyclic I/O registers are used to
ensure that communication follows deterministic timing.
Information:
• In order to use function models "Stream" and "Cyclic stream", you must be using B&R con-
trollers of type "SG4".
• These function models can only be used in X2X Link and POWERLINK networks.
- AsynSize -
Configuration
1294 InputFilter UINT ●
1281 OutputEnable USINT ●
Communication
... ...
129 Output status of the digital outputs USINT ●
133 Status of the digital outputs USINT ●
137 Status of the operating limits USINT ●
StatusSupplyVoltage Bit 0

8.10.2.12.3 Function model 254 - Flatstream
Flatstream provides independent communication between an X2X Link master and the module. This interface was
implemented as a separate function model for the module. Serial information is transferred via cyclic input and
output registers. The sequence and control bytes are used to control the data stream (see section 9.2 "Flatstream
communication").
When using function model Flatstream, the user can choose whether to use library "AsFltGen" in Automation Studio
for implementation or to adapt Flatstream handling directly to the individual requirements of the application.
Configuration - I/O and status
1294 InputFilter UINT ●
1281 OutputEnable USINT ●
Configuration - Interface
260 IF1CfgPhy UDINT ●
772 IF2CfgPhy UDINT ●
268 IF1phyBaud UDINT ●
780 IF2phyBaud UDINT ●
Configuration - Handshake
284 IF1hshCfg UDINT ●
796 IF2hshCfg UDINT ●
292 IF1hssXOnOff UDINT ●
804 IF2hssXOnOff UDINT ●
298 IF1hssPeriod UINT ●
810 IF2hssPeriod UINT ●
274 IF1hshInvTxF UINT ●
786 IF2hshInvTxF UINT ●
324 IF1rxlLockUnlock UDINT ●
836 IF2rxlLockUnlock UDINT ●
Configuration - Frame
332 IF1rxCtoEomSize UDINT ●
844 IF2rxCtoEomSize UDINT ●
364 IF1txCtoEomSize UDINT ●
876 IF2txCtoEomSize UDINT ●
340 IF1rxEomChar01 UDINT ●
372 IF1txEomChar01 UDINT ●
Communication
... ...
6145 Error message status bits USINT ●
IF1StartBitError Bit 0
IF1StopBitError Bit 1
IF1ParityError Bit 2
IF1RXoverrun Bit 3
IF2RXoverrun Bit 7
6209 Acknowledging the status bits USINT ●
IF1QuitStartBitError Bit 0
IF1QuitStopBitError Bit 1
IF1QuitParityError Bit 2
IF1QuitRXoverrun Bit 3
137 Status of the operating limits USINT ●

Flatstream1)
196 IF1CfgMTU UDINT ●
212 IF2CfgMTU UDINT ●
204 IF1forwardDelay UINT ●
220 IF2forwardDelay UINT ●
0 IF1InputSequence USINT ●
64 IF2InputSequence USINT ●
N IF1RxByteN (index N = 1 to 27) USINT ●
64 + N IF2RxByteN (index N = 1 to 27) USINT ●
32 IF1OutputSequence USINT ●
96 IF2OutputSequence USINT ●
32 + N IF1TxByteN (index N = 1 to 27) USINT ●
96 + N IF2TxByteN (index N = 1 to 27) USINT ●
1) A separate Flatstream is available for each interface.
Function model "Bus controller" is a reduced form of function model "Flatstream". Instead of up to 27 Tx / Rx bytes,
a maximum of 7 Tx / Rx bytes can be used.
Information:
It is not possible to change or expand the predefined configuration in this function model!
Configuration - I/O and status
1294 - InputFilter UINT ●
1281 - OutputEnable USINT ●
6273 - CfO_ErrorID0007 USINT ●
Configuration - Interface
260 - IF1CfgPhy UDINT ●
772 - IF2CfgPhy UDINT ●
268 - IF1phyBaud UDINT ●
780 - IF2phyBaud UDINT ●
Configuration - Handshake
284 - IF1hshCfg UDINT ●
796 - IF2hshCfg UDINT ●
292 - IF1hssXOnOff UDINT ●
804 - IF2hssXOnOff UDINT ●
298 - IF1hssPeriod UINT ●
810 - IF2hssPeriod UINT ●
274 - IF1hshInvTxF UINT ●
786 - IF2hshInvTxF UINT ●
324 - IF1rxlLockUnlock UDINT ●
836 - IF2rxlLockUnlock UDINT ●
Configuration - Frame
332 - IF1rxCtoEomSize UDINT ●
844 - IF2rxCtoEomSize UDINT ●
364 - IF1txCtoEomSize UDINT ●
876 - IF2txCtoEomSize UDINT ●
340 - IF1rxEomChar01 UDINT ●
372 - IF1txEomChar01 UDINT ●
Communication
... ...
129 18 Output status of the digital outputs USINT ●
6145 16 Error message status bits USINT ●

IF1RXoverrun Bit 3
IF2RXoverrun Bit 7
6209 16 Acknowledging the status bits USINT ●
133 19 Status of the digital outputs USINT ●
137 - Status of the operating limits USINT ●
Flatstream2)
192 - IF1CfgMTU UDINT ●
212 - IF2CfgMTU UDINT ●
204 - IF1forwardDelay UINT ●
220 - IF2forwardDelay UINT ●
0 0 IF1InputSequence USINT ●
64 8 IF2InputSequence USINT ●
N N IF1RxByteN (index N = 1 to 7) USINT ●
64 + N 8+N IF2RxByteN (index N = 1 to 7) USINT ●
32 0 IF1OutputSequence USINT ●
96 8 IF2OutputSequence USINT ●
32 + N N IF1TxByteN (index N = 1 to 7) USINT ●
96 + N 8+N IF2TxByteN (index N = 1 to 7) USINT ●
2) A separate Flatstream is available for each interface.
The module occupies 3 analog logical slots with CAN I/O.

8.10.2.12.5 Configuration - I/O and status
Name:
InputFilter
2 0.2 ms
... ...
8.10.2.12.5.2 Input/output configuration channels 3 and 4
Name:
OutputEnable
This register configures channels 3 and 4 as either an input or output.
Data type Values
Bit structure:
0-1 Reserved -
2 Channel 03 0 Configured as input
3 Channel 04 0 Configured as input
4-7 Reserved -
8.10.2.12.5.3 Forward error to the application
Name:
CfO_ErrorID0007
This register sets which error messages are forwarded to the application.
Data type Value
USINT See bit structure
Bit structure:
0 StartBitError - IF1 0 Ignore
1 Indicate faulty start bit
1 StopBitError - IF1 0 Ignore
1 Indicate faulty stop bit
2 ParityError - IF1 0 Ignore
1 Indicate faulty parity bit
3 RXoverrun - IF1 0 Ignore
1 Indicate overflow in the receive direction
4 StartBitError - IF2 0 Ignore
1 Indicate faulty start bit
5 StopBitError - IF2 0 Ignore
1 Indicate faulty stop bit
6 ParityError - IF2 0 Ignore
1 Indicate faulty parity bit
7 RXoverrun - IF2 0 Ignore
1 Indicate overflow in the receive direction

8.10.2.12.6 Configuration - Serial interface
8.10.2.12.6.1 Configuration - Interfaces
Name:
IF1CfgPhy to IF2CfgPhy
These registers are used to configure the interfaces. Only the corresponding interface values are permitted to be
used for each register.
• IF1CfgPhy configures RS232 interface
• IF2CfgPhy configures RS422/485 interface
After all other configuration registers have been written, the last write command must enable the interface. If pa-
rameters need to be changed, the interface must first be disabled.
Data type Value
Bit structure:
0-7 Parity bit configuration1) 48 "0" - (low) bit is always 0
49 "1" - (high) bit is always 1
69 "E" - (even) even parity (default)
78 "N" - (no) no bit
79 "O" - (odd) odd parity
8 - 15 Number of stop bits 2 1 stop bit (default)
4 2 stop bits
16 - 23 Number of data bits per character 7 7 data bits
8 8 data bits (default)
24 - 31 Interface mode 0 Interface disabled (default)
2 RS232 interface active
4 RS422 interface active2)
5 RS422 interface active as bus3)
6 RS485 interface active with echo
7 RS485 interface active without echo
1) ASCII-encoded decimal values

2) Connection between 2 stations
3) Connections between multiple stations possible. Transmit lines connected as with RS485 tri-state.
8.10.2.12.6.2 Setting the baud rate
Name:
IF1phyBaud to IF2phyBaud
This register sets the baud rate of the interface in bit/s.
Data type Value Function
UDINT 1200 1.2 kbaud
2400 2.4 kbaud
4800 4.8 kbaud
9600 9.6 kbaud
19200 19.2 kbaud
38400 38.4 kbaud
57600 57.6 kbaud
115200 115.2 kbaud

8.10.2.12.7 Configuration - Handshake
In order to guarantee that serial communication runs smoothly, the size of the receive buffer in the module must
be known. In addition, the user can configure a software or hardware handshake algorithm.
8.10.2.12.7.1 RTS evaluation and frame detection
Name:
IF1hshCfg to IF2hshCfg
This register configures how the hardware RTS handshake line is controlled depending on the fill level of the receive
buffer in addition to generally enabling frame detection on the hardware side.
The RTS line is enabled as long as data is being sent. This Tx-Framing mode can be used to control external
interface converters.
Data type Value
Bit structure:
0-7 Frame detection 0 RTS line freely available for other flow control methods (default)
16 Tx frame detection switched on for RTS line
80 Tx frame detection switched on for RTS line (without echo)
8 - 15 Flow control 0 RTS line freely available for other flow control methods (default)
16 RTS line controlled by the fill level of the receive buffer
16 - 31 Reserved 0
8.10.2.12.7.2 Software handshake control characters
Name:
IF1hssXOnOff to IF2hssXOnOff
These registers configure the XOn and XOff control characters, which are used for flow control via software hand-
shake. Valid XOn/XOff control characters must be defined in order to ensure proper functionality.
The default values are XOn (17) and XOff (19), but other values can also be used.
Data type Value
Bit structure:
0 - 15 XOff control character 19 Default XOff ASCII character
65535 No software handshake (default)
16 - 31 XOn control character 17 Default XOn ASCII character
65535 No software handshake (default)
8.10.2.12.7.3 Repeating the handshake
Name:
IF1hssPeriod to IF2hssPeriod
When using a software handshake, some applications require periodic repetition of the current status. The repeat
time can be defined in this register in ms for this purpose.
Data type Value Function
UINT 0 Automatic status repetition disabled
500 to 10000 Repeat time in ms (default = 5000)

8.10.2.12.7.4 Inverting RTS/CTS
Name:
IF1hshInvTxF to IF2hshInvTxF
This register can be used to create a logical inverse of the RTS/CTS signals.
Data type Values
Bit structure:
0-7 Mask TX signal 0 No masking (default)
1 Mask CTS signal
8 - 15 Invert signals 0 Inverse off (default)
1 CTS signal inversion on
16 RTS signal inversion on
17 CTS and RTS signal inversion on
8.10.2.12.7.5 Locking/unlocking the receive buffer
Name:
IF1rxlLockUnlock to IF2rxlLockUnlock
The two registers "Lock" and "Unlock" can be used for "flow control" monitoring of the communication. If the amount
of data from the module input exceeds the value of register "Lock", flow control switches to state "Passive". To
return to state "Active" or "Ready", the amount of data in the receive buffer must fall below the default value of
register "Unlock".
Information:
These registers simulate the behavior of a Schmitt trigger, so the value of register "Lock" must be
greater than the value of register "Unlock".
Data type Value
Bit structure:
0 - 15 Lower limit of the receive buffer 0 to 4095 (default = 512)
16 - 31 Upper limit of the receive buffer 0 to 4095 (default = 1024)

8.10.2.12.8 Configuration - Frame
Different message termination codes can be specified in order to correctly create transmitted Tx frames and cor-
rectly interpret received Rx frames.
8.10.2.12.8.1 Configuring the receive frame
Name:
IF1rxCtoEomSize to IF2rxCtoEomSize
This register is used to configure the maximum number of bytes of the receive frame and the duration until a receive
timeout is triggered.
Data type Value
Bit structure:
0 - 15 Maximum number of bytes of the receive frame 0 Function disabled
1 to 4096 Configurable receive frame length in characters (default = 256)
16 - 31 Duration until a receive timeout is triggered. 0 Function disabled
1 to 65535 Receive timeout in characters (default = 4)
Maximum number of bytes of the receive frame

The message is considered to be ended as soon as a frame with the specified size in bytes is transferred. The
longest possible frame length is the size of the 4096-byte receive buffer. Larger frames cause the Receive Overrun
error.
Duration until a receive timeout is triggered.

The message is considered to be terminated when nothing is transfered for the specified duration. The time is
specified here in characters to ensure that it is independent of the transfer rate. The number of characters is then
multiplied by the time needed to transfer a character.
8.10.2.12.8.2 Configuring the transmit frame
Name:
IF1txCtoEomSize to IF2txCtoEomSize
This register is used to configure the maximum byte number of the transmit frame and the duration until a transmit
timeout is triggered.
Data type Value
Bit structure:
0 - 15 Maximum number of bytes of the transmit frame 0 Function disabled
1 to 4096 Configurable transmit frame length in characters (default = 256)
16 - 31 Transmit timeout 0 Function disabled
1 to 65535 Transmit timeout in characters (default = 5)
Maximum number of bytes of the transmit frame

The message is considered to be ended as soon as a frame with the specified size in bytes is transferred. The
longest possible frame length is the size of the 4096-byte transmit buffer. The configured transmit timeout is main-
tained after the frame has been sent.
Transmit timeout
No characters are transmitted for the specified time. The time is specified here in characters to ensure that it is
independent of the transfer rate. The number of characters is then multiplied by the time needed to transfer a
character.

8.10.2.12.8.3 Define receive terminator
Name:
IF1rxEomChar01 to IF2rxEomChar01
IF1rxEomChar23 to IF2rxEomChar23
It is possible to configure a receive terminator for all registers.
All 4 characters are equal. The message is considered to be terminated as soon as one of the defined characters
is transferred.
Data type Value
Bit structure:
0 - 15 2. Character: IF1rxEomChar01 0 to 255 Frame terminator (ASCII code)
4. Character: IF1rxEomChar23 65535 Function disabled (default)
16 - 31 1. Character: IF2rxEomChar01 0 to 255 Frame terminator (ASCII code)
3. Character: IF2rxEomChar23 65535 Function disabled (default)
8.10.2.12.8.4 Define transmit terminator
Name:
IF1txEomChar01 to IF2txEomChar01
IF1txEomChar23 to IF2txEomChar23
It is possible to configure a transmit terminator for all registers.
All 4 characters are equal. The message is considered to be terminated as soon as one of the defined characters
is transferred.
Data type Value
Bit structure:
0 - 15 2. Character: IF1txEomChar01 0 to 255 Frame terminator (ASCII code)
4. Character: IF1txEomChar23 65535 Function disabled (default)
16 - 31 1. Character: IF2txEomChar01 0 to 255 Frame terminator (ASCII code)
3. Character: IF2txEomChar23 65535 Function disabled (default)
8.10.2.12.9 Configuration - Flatstream MTU
Name:
IF1CfgMTU to IF2CfgMTU
These registers configure the Maximum Transmission Unit settings. For a description, see the corresponding sec-
tion in "Flatstream communication" on page 960.
Data type Value
Bit structure:
0-7 Number of unacknowledged sequences 1 to 7 Default = 1
8 Flatstream mode (bit 0) 0 Multiple segments not permitted (default)
1 Multiple segments permitted within MTU
9 Flatstream mode (bit 1) 0 Maximum segment size is MTU size (default)
1 Segment size can exceed MTU size
10 - 15 Reserved -
16 - 23 Number of enabled Tx and Rx bytes (InputMTU size) 1 to 27 Default = 71)
24 - 31 Number of enabled Tx and Rx bytes (OutputMTU size) 1 to 27 Default = 71)
1) The size cannot be altered in function model 254 - Bus controller. Fixed length = 7.

Unfiltered
Filtered
Name:
Data type Values
Bit structure:
0 DigitalInput01 0 or 1 Input status of digital input 1
... ...
(SyncOut).
Output status of the digital outputs
Name:
Data type Values
Bit structure:
0-1 Reserved -
4-7 Reserved -
Status of the digital outputs
Name:
This register is used to indicate the status of digital outputs 3 and 4.
Data type Values
Bit structure:
0-1 Reserved -
4-7 Reserved -

8.10.2.12.10.3 Error message status bits
Name:
IF1StartBitError to IF2StartBitError
IF1StopBitError to IF2StopBitError
IF1ParityError to IF2ParityError
IF1RXoverrun to IF2RXoverrun
This register transfers the individual bits that indicate an error. If a error occurs, the corresponding bit is set and
maintained until it is acknowledged.
Data type Values
Bit structure:
0 IF1StartBitError 0 No error
1 Start bit error occurred1)
1 IF1StopBitError 0 No error
1 Stop bit error occurred1)
2 IF1ParityError 0 No error
1 Parity bit error occurred1)
3 IF1RXoverrun 0 No error
1 Receive buffer overflow occurred2)
4 IF2StartBitError 0 No error
1 Start bit error occurred1)
5 IF2StopBitError 0 No error
1 Stop bit error occurred1)
6 IF2ParityError 0 No error
1 Parity bit error occurred1)
7 IF2RXoverrun 0 No error
1 Receive buffer overflow occurred2)
1) This error can result from things such as mismatched interface configurations or problems with the wiring.
2) This data point reports a receive buffer overrun. The buffer capacity on the module is exhausted and all subsequent data arriving at the interface is lost. An
overrun always means that the data received on the module is not read fast enough by the higher-level system.
The solution here is to optimize the cycle times of all transfer routes and task classes involved and utilize the available handshake options.
8.10.2.12.10.4 Acknowledging the status bits
Name:
IF1QuitStartBitError to IF2QuitStartBitError
IF1QuitStopBitError to IF2QuitStopBitError
IF1QuitParityError to IF2QuitParityError
IF1QuitRXoverrun to IF2QuitRXoverrun
This register is used to transfer the individual bits that acknowledge an indicated error state. After one of the bits
has been set, it can be reset using the corresponding acknowledgment bit.
If the error is still actively pending, the error status bit is not deleted. The acknowledgment bit can only be reset
if the error status bit is no longer set.
Data type Values
Bit structure:
0 IF1QuitStartBitError 0 No acknowledgment
1 Acknowledge start bit error
1 IF1QuitStopBitError 0 No acknowledgment
1 Acknowledge stop bit error
2 IF1QuitParityError 0 No acknowledgment
1 Acknowledge parity bit error
3 IF1QuitRXoverrun 0 No acknowledgment
1 Acknowledge receive buffer overflow error
4 IF2QuitStartBitError 0 No acknowledgment
1 Acknowledge start bit error
5 IF2QuitStopBitError 0 No acknowledgment
1 Acknowledge stop bit error
6 IF2QuitParityError 0 No acknowledgment
1 Acknowledge parity bit error
7 IF2QuitRXoverrun 0 No acknowledgment
1 Acknowledge receive buffer overflow error

8.10.2.12.10.5 Status of the operating limits
Name:
StatusSupplyVoltage
Data type Value
Bit structure:
0 StatusSupplyVoltage 0 I/O power supply within the warning limits (18 to 30 V)
1 I/O power supply outside the warning limits (<18 V or >30 V)
1-7 Reserved 0
8.10.2.12.12 Serial with FlatStream
When using FlatStream communication, the module acts as a bridge between the X2X Link master and an intelligent
field device connected to the module. FlatStream mode can be used for either point-to-point connections as well
as for multidrop systems. Specific algorithms such as timeout and checksum monitoring are usually managed
automatically. During normal operation, the user does not have access to these details.
In a serial network, the module is always the master (DTE). Various adjustments can be made to ensure that
signals are transmitted without errors.
The user can, for example, define a handshake algorithm or set the baud rate in order to adapt the transmission
quality to the requirements of the application.
Operation
When using FlatStream, the general structure of the FlatStream frame must be maintained.
Input/Output sequence Tx/Rx bytes
(unchanged) Control byte (unchanged) Serial frame (without hand-
shake or similar measures)
8.10.2.12.13 Acyclic frame size
Name:
AsynSize
When the stream is used, data is exchanged internally between the module and CPU. For this purpose, a defined
amount of acyclic bytes is reserved for this slot.
Increasing the acyclic frame size leads to increased data throughput on this slot.
Information:
This configuration involves a driver setting that cannot be changed during runtime!
- 8 to 28 Acyclic frame size in bytes. Default = 24
mands.
Minimum cycle time
200 µs
200 µs

Data sheets • Hub modules • Summary
8.11 Hub modules

The Ethernet hub is a standalone device that can be used universally as a hub in POWERLINK networks. It is
suitable for both 100 Mbit/s (Fast Ethernet) and 10 Mbit/s networks.
8.11.1 Summary

Data sheets • Hub modules • X67HB8880.L12
8.11.2 X67HB8880.L12
The Ethernet hub is a standalone device that can be used universally as a hub in POWERLINK networks. It is
suitable for both 100 Mbit/s (Fast Ethernet) and 10 Mbit/s networks. The hub automatically recognizes the transfer
speed for the channels.
The Ethernet connections are made using D-keyed M12 connectors. All ports are equipped with auto-MDIX (au-
to-crossover).
The module is designed for a voltage range of 8 to 32 VDC and equipped with a power supply protected against
load dump.
• 8-port industrial hub
• Large voltage range of 8 to 32 VDC
• Load dump protection
8.11.2.2 Order data

X67HB8880.L12 X67 8-port industrial hub (layer 2), 10/100 Mbit/s with autonego-
tiation, automatic MDIX, 8x M12, 8-32 VDC
Table 140: X67HB8880.L12 - Order data


Model number X67HB8880.L12

Short description
Hub 8-port industrial hub
General information
Status indicators Network activity for each channel, link/collision for each channel, supply voltage
Diagnostics
Bus function Yes, using status LED
Hub supply Yes, using status LED
Connection type
Fieldbus 8x M12, D-keyed
Power consumption
Internal Max. 2.5 W
Certification
CE Yes
GOST-R Yes
Interfaces
Type Ethernet
Standard (compliance) ANSI/IEEE 802.3 Class II
Transmission
Physical layer 10 BASE-T/100 BASE-TX
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Hub propagation delay 0.79 to 0.86 µs
I/O power supply
Nominal voltage 12/24 VDC
Integrated protection Reverse polarity protection, overvoltage protection
Any Yes
Temperature
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 320 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 141: X67HB8880.L12 - Technical data

Ethernet interfaces 1 to 8
I/O power supply 8 to 32 VDC

Connector C: Supply

Ethernet LEDs
1/1 - 8/1 L/C1) Green On A link to the remote station has been established.
Red On A network collision has been detected.
1/2 - 8/2 Run Orange On A link to the remote station has been established. Indicates Ethernet
1-1 2-1 activity is taking place on the bus.
Status indicator: Status indicator for module function
2-1 2-2
3-1 3-2 Left Green Off No power supplied to the module
4-1 4-2
On RUN mode
5-1 5-2 Right Red Off No power to module or everything OK
6-1 6-2 On Supply voltage not in the valid range
7-1 7-2
8-1 8-2
Status display
1) LED "L/C" is a red/green dual LED.
8.11.2.6 Ethernet interface
connectors.
Connection Pinout
X1 to X8 Pin Name
1 TXD Transmit data
2
2 RXD Receive data
1
3
4 A → D-keyed (female), input

The module supply is connected via M8 connectors C and D. The I/O power supply is connected via connector C
(male). Connector D (female) is used to route the I/O power supply to other modules.
Information:
The maximum permitted current for the circular connector is 8 A (4 A per pin).
Connection Pinout
2 Pin Name
C
1 1 12/24 VDC1)
2 12/24 VDC1)
4
3 GND
4 GND
3
1
1) Nominal voltage. The valid supply voltage is 8 to 32 VDC.
8.11.2.8 Network size and collision detection
Information:
This section applies to the use of Ethernet networks, not POWERLINK networks.
According to Ethernet specification IEEE 802.3, the transmission duration of a frame of minimum length must
always be greater than the round-trip delay time (RTD). RTD is the time needed by a data packet to travel from
one end of the network to the other.
If this is not observed, collision detection can no longer be guaranteed.
Illustration of RTD
2 * Maximum length = RTD
Station Station
A Z
When using copper cables, the maximum distance is generally 100 m. Since there are often many different devices
with different PHYs in a network, the propagation delay of the frames changes due to the different latency of each
PHY. This also affects the network size, and collision detection can no longer be guaranteed at 100 m.

Example for calculating network size

The following parameters are specified for a network:
– Transfer rate: 100 Mbit/s
– Cable length: 100 m
– Number of hubs: 2
– Hub propagation delay of a frame: 1 µs
– Minimum frame size in the Ethernet network: 72 bytes
Calculation procedure
1. How long does 1 byte take at 100 Mbit?
– 100 Mbit/s / 8 = 12.5 MB/s
2. Propagation delay of minimum Ethernet frame

– Minimum frame in Ethernet network: 72 bytes
3. Propagation delay in cable and hub
– 100 m cable = 0.5 µs
– 2 hubs = 2 x 1 µs
4. Calculation of total propagation delay
– Outbound/Inbound propagation delay
Result
Collision detection is possible since the total time of 5 µs is less than the minimum Ethernet
propagation delay of 5.76 µs.
Example for calculating the network reach with devices between 2 stations
Station Hub Hub Hub Station

A Z
Corresponding to the previous example, the following situation occurs in a network with 3 hubs and 100 m cables:
• The transmission duration of a frame of minimum length is 5.76 µs.
Calculation procedure
1. Propagation delay in cable and hub
– 100 m cable = 0.5 µs
– 3 hubs = 3 x 1 µs
2. Calculation of total propagation delay
– Outbound/Inbound propagation delay
Result
Collision detection is not possible since the total time of 7 µs is greater than the minimum Ethernet
propagation delay of 5.76 µs.
The ≈1.3 µs missing for collision detection can only be recovered by removing a hub.

8.11.2.9 Derating
The module may become warm depending on the number of ports in use.
100°C
94.5°C
Maximum
Module temperature
80°C
Module temperature
4 ports
5 ports
60°C 8 ports
40°C
20°C
0°C
80°C 70°C 60°C 50°C 25°C
Ambient temperature
Note:
The maximum module temperature of 94.5°C is not permitted to be exceeded at any time since this will
result in irreparable damage to the module.

Data sheets • Motor controllers • Summary
8.12 Motor controllers

The motor controllers offer extensive possibilities for controlling motors, valves or resistive loads and are particularly
well suited for controlling brush DC motors. Each output is assigned a status LED.
8.12.1 Summary
X67MM2436 X67 PWM motor module, I/O power supply 24-38.5 VDC ±25%, 2 PWM motor bridges, 3 A continuous current, 711
5 A peak current, 2x 3 digital inputs 24 VDC, sink, configurable as incremental encoder
X67SM2436 X67 stepper motor module, I/O power supply 24-38.5 VDC ±25%, max. 8 A, 2 motor connections, 3 A continuous 731
current, 5 A peak current, 2x 3 digital inputs 24 VDC, sink, configurable as incremental encoder, NetTime
function
X67SM4320 X67 stepper motor module, I/O power supply 24 VDC ±25%, 4 motor connections, 1 A continuous current, 1.5 786
A peak current

Data sheets • Motor controllers • X67MM2436
8.12.2 X67MM2436
This motor bridge module is used to control 2 DC motors with a nominal voltage of 24 to 38.5 VDC ±25% at a
nominal current up to 3 A. The module can be reconfigured and used in current controller mode for controlling
inductive loads. The module is also equipped with 6 digital inputs, which can be used as incremental counters.
Each motor is controlled with a full-bridge (H-bridge). This enables the motors to be moved in both directions.
• 2x outputs (H bridge) with PWM control and 24 to 38.5 VDC ±25% supply
– 3 A rated current (5 A max current)

– 15 Hz to 50 kHz frequency, 16-bit
– PWM resolution, 15-bit, + sign, minimum 10 ns
– Configurable dither
• 2x 3 inputs 24 V, can be configured as ABR
– Sink connection
– Integrated sensor supply with short circuit protection
– 1-wire connections
– 24 VDC and GND for encoder supply
8.12.2.2 Order data

Motor modules
X67MM2436 X67 PWM motor module, I/O power supply 24-38.5 VDC ±25%,
2 PWM motor bridges, 3 A continuous current, 5 A peak current,
2x 3 digital inputs 24 VDC, sink, configurable as incremental en-
coder
Table 142: X67MM2436 - Order data


Model number X67MM2436

Short description
I/O module 2-channel PWM output (H bridge)
2x 3 inputs for ABR incremental encoder
General information
B&R ID code 0x2273
Sensor supply Max. 0.02 A per group
Status indicators
Output Per channel
Input Per group (3 inputs)
Other Supply voltage, bus function
Diagnostics
Outputs Yes, open circuit via software status
Connection type
Power consumption
Internal I/O 1W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Nominal voltage 24 to 38.5 VDC ±25%
Power consumption
Sensor supply Max. 1 W
Integrated protection
Reverse polarity protection No
Digital inputs
Quantity 6
Input voltage 24 VDC (-15%/+20%)
Input current at 24 VDC Approx. 4 mA
61131-2
Input filter
Hardware <5 µs
Software -
Input circuit Sink
Additional functions 2x ABR incremental encoder (+24 VDC),
2x AB incremental encoder,
2x event counter,
2x period duration measurement/gate measurement,
Switching threshold
Low <5 VDC
High >15 VDC
Quantity 2
Encoder inputs 24 VDC, asymmetrical
Counter size 16-bit
Evaluation 4x
Encoder power supply Module-internal, max. 20 mA per encoder
Counter 1 Inputs 1 to 3
Table 143: X67MM2436 - Technical data

Model number X67MM2436
Sensor supply
Supply voltage 24 VDC
Supply voltage
Min voltage at 20 mA / group 20 VDC
PWM output
Quantity 2
Type H bridge
PWM frequency 15 Hz to 50 kHz
Design H bridge
Configurable dither Amplitude, frequency
Period duration resolution 16-bit, min. 20 μs
Phase shift PWM1 to PWM2 180°
DC bus capacitance 200 µF
Output current
Nominal current 3A
Max. current / output 5 A for 2 s (after a recovery time of at least 10 s at maximal 3 A)
Max. current / module 8A
PWM pulse width
PWM mode 15-bit + sign ≥10 ns
Current mode 15-bit + sign ≥10 ns
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 225 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 143: X67MM2436 - Technical data


Status indicator 1: LED Green (left) Red (right) Description
Left/Right Off Off No supply via X2X Link
On Off X2X Link supplied, communication is functioning
ing
1-2 Yellow On Output 1 or 2 is active
3 Green On Input 1 to 3 (in)
4 Green On Input 4 to 6 (in)
On RUN mode
Left: Green, Right: Red Single flash Warning/Error on an I/O channel. Overflow in analog inputs.
X2X Link X2X Link

PWM outputs 1 to 2 Digital inputs 1 to 6

(ABR counters 1 and 2)

Connector C: Supply Connector D: Pass through
8.12.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

8.12.2.7 I/O power supply 24 to 38.5 VDC
The I/O power supply is connected using circular connectors (M8, 4-pin). The supply is connected via connector
C (male). Connector D (female) is used to route the power supply to other modules.
Information:
The maximum permissible current per supply is 4 A (in summation 8 A)!
Connection Pinout
2 Pin Name
1 1 24 to 38.5 VDC ±25%
2 24 to 38.5 VDC ±25%
4
3 GND
4 GND
3
C → Connector (male) in module, supply
D → Connector (female) in module, routing
2
1
8.12.2.8 Pinout
Shield
1 PWM +
X1 to X2 2 NC
M12 ① 3 NC
4 PWM -
5 Shield
Shield
1 +24 VDC
X3 to X4 2 A
M12 ① 3 GND
4 B
5 R

M12, 5-pin Pinout

Connections 1 and 2 Pin connection 1 connection 2
1 PWM 1 + PWM 2 +
1
2 2 − −
3 − −
5
4 PWM 1 - PWM 2 -
5 Shield Shield
4
3
Warning!
Circular connectors are not permitted to be plugged in or unplugged during operation.
Information:
Shielded motor cables must be used in order to meet the limits according to the EN55011 standard
(emissions).

Information:
The maximum permitted current for the digital inputs is 8 A (4 A per connection pin).
M12, 5-pin Pinout
Connections 3 and 4 Pin Connection 31) Connection 41)
1 Supply for digital inputs (24 V, total current 0.02 A)
3
2 2 Digital input 1, ABR1 - A Digital input 4, ABR2 - A
3 GND GND
4 Digital input 2, ABR1 - B Digital input 5, ABR2 - B
5 Digital input 3, ABR1 - R, Latch_1 Digital input 6, ABR2 - R, Latch_2
4
1
5
1) All digital inputs: 24 V / <4 μs
Warning!
8.12.2.8.2.1 Options for using the digital inputs
Digital input channels 1 to 6 can be used as follows:

Channel Function Special functions
DI 1 Digital input A1, EventCtr1, Period / gate measurement 1
DI 2 Digital input B1
DI 3 Digital input R1, Trigger, ExtClk (for period/gate measurement 1), limit switch 1
DI 4 Digital input A2, EventCtr2, Period / gate measurement 2
DI 5 Digital input B2
DI 6 Digital input R2, Trigger, ExtClk (for period/gate measurement 2), limit switch 2
Every input always retains its function as a digital input. The special functions are additional functions that the
digital input can perform. It is also possible for a channel to perform two functions at once. For example input 3 can
be used simultaneously as both limit switch 1 and a trigger input that starts the trigger counter.
Connection 1 to 2: PWM output
PWM + 1 2
Valve
PWM
5 Connection x
PWM -
4 3
Connection 3 to 4: Digital inputs
+24 VDC
ABR counter
1 2
GND
A 5 Connection x
B
4 3
R

24 - 38.5 V ±25%
HPWM +
PWM 1/2 +
LPWM +
1 2
5 X1/X2
HPWM - 4
3
PWM 1/2 -
LPWM -
Comp PWM
24 V / 20 mA
Sensor supply
X3/X4
E1/E4
E2/E5
1 2
E3/E6
VDR 5
E1 - E6
4 Internal electronics
3 VDR
I/O status E1 - E3 I/O status E4 - E6
8.12.2.12 I/O power supply circuit diagram
24 V / 20 mA 24 V / 20 mA 24 - 38.5 V ±25%
Sensor supply Sensor supply
X3 pin 1 X4 pin 1
PTC PTC Monitoring of the I/O power supply
Power supply
24 V
Transil diode
48 V
VDR
GND
<30 V
8.12.2.13 Installation
Top-hat rail installation can only be recommended if the module is used for low power ratings.
To improve heat dissipation, we recommended mounting the module on a cooler part of the machine or on a base
plate that is at least 1 dm². A minimum distance of 1 cm must be maintained between X67 modules.

8.12.2.14 Monitoring of the I/O power supply
The I/O power supply voltage is monitored. Its status can be read. The error "Module power supply error" occurs
when the voltage falls below 18 V or rises above 50 V.
Overvoltage cutoff
If the supply voltage on the module exceeds 50 V (e.g. through feedback during generator operation), then both
PWM outputs are switched off (PWM output pins are shorted). The outputs are enabled again as soon as the
supply voltage is back in the valid range.
8.12.2.15 Overtemperature cutoff (at 85°C)
If the module temperature reaches or exceeds 85°C...

• ... the application receives notification via the "Overtemperature" error bit
• ... The PWM outputs are disabled.
Once the module temperature sinks to 83°C, the error bit is automatically cleared by the module and the outputs
become operational again.

version.

Configuration
4 ConfigOutput04 (configuring the counter latch) USINT ●
12 PeriodDurationPWM01PWM02 UINT ●
14 PulseWidthCurrentPWM01 INT ●
16 PulseWidthCurrentPWM02 INT ●
18 ConfigOutput01 (dither amplitude) USINT ●
20 ConfigOutput02 (dither frequency) USINT ●
26 Configure the counter latch USINT ●
StartLatch01 Bit 0
StartLatch02 Bit 1
TriggerEdge Bit 4
StartTrigger Bit 5
30 ConfigOutput03 (module configuration) USINT ●
31 DecayConfig1) USINT ●
38 ConfigOutput052) (counter 1) USINT ●
39 ConfigOutput062) (counter 2) USINT ●
Communication
0 Counter01 INT ●
2 Counter02 INT ●
6 CounterLatch01 INT ●
8 CounterLatch02 INT ●
10 Input status USINT ●
StatusInput01 Bit 0
... ...
StatusInput06 Bit 5
24 Counter value USINT
StatusInput07 Bit 0
LatchDone01 Bit 1
StatusInput08 Bit 2
LatchDone02 Bit 3
TriggerInput Bit 4
32 Error status USINT ●
UnderVoltageError Bit 0
OverVoltageError Bit 1
OvertemperaturError Bit 2
OpenLoadError01 Bit 4
OverCurrentError01 Bit 5
OverCurrentError02 Bit 7
34 Error acknowledgment , dither switch-off USINT ●
ClearError01 Bit 0
ClearError02 Bit 1
CounterOverflowDetectEnable012) Bit 2
CounterOverflowDetectEnable022) Bit 3
CounterReset012) Bit 4
CounterReset022) Bit 5
DitherDisable01 Bit 6
DitherDisable02 Bit 7
36 Temperature01 SINT ●
1) Firmware version 6 or higher.


8.12.2.16.3.1 Registers for "Standard PWM/current mode" operating mode
This module provides both "PWM mode" and "current mode".

The following images illustrate how the current curves for the outputs are affected by registers "PWM period dura-
tion" on page 720 and "PWM pulse width" on page 721.
PWM mode
At the beginning of each period, the output is switched on for the percentage of time set in the PWM pulse width.
PWM pulse width
Switched on
Switched off
PWM period duration
Current mode
At the beginning of each period, the current output is switched on. After reaching the value set in PulseWidthCur-
rentPWM, the output is switched off and the voltage drops according to the decay configuration until switched
back on.
Switched off
PWM pulse width

Switched on
PWM period duration
8.12.2.16.3.2 PWM period duration
Name:
This register can be used to set the period duration between 20 μs (50 kHz) and 65535 μs (15 Hz). See also
"Registers for "Standard PWM/current mode" operating mode" on page 720.
UINT 20 to 65535 Time in µs

8.12.2.16.3.3 PWM pulse width
Name:
PulseWidthCurrentPWM01 to PulseWidthCurrentPWM04
The PWM pulse width (PWM mode) or current setting (in current mode) is entered in this register according to
the setting in the module configuration register. (see also "Registers for "Standard PWM/current mode" operating
mode" on page 720.) A negative value changes the output polarity.
PWM mode
Data type Value Output + Output -
INT 32767 High Low
16384 PWM 50/50 Low
0 Low Low
-16384 Low PWM 50/50
-32767 Low High
Current mode
Data type Value Current mode
INT 19661 to 32767 3 to 5 A (max. 2 s)
19660 3A
0 0A
-19660 -3 A
-19661 to -32767 -3 to -5 A (max. 2 s)
Resolution/Derating
As mentioned earlier in the technical data, the PWM resolution is 15-bit (+ sign). This value is derated for a period
duration of less than 328 µs because of the minimal PWM timing resolution (10 ns) (see following diagram). With
the minimum PWM period duration of 20 µs, the PWM has 11-bit resolution (+ sign):
16
15
14
Resolution (bit)
15-bit at 328 µs
13
11-bit at 20 µs
12
11
10
10 100 1000
Period duration (µs)

8.12.2.16.3.4 Counter configuration
Name:
This register can be used to configure the counters.
This function is available beginning with firmware version ≥8.
Data type Value
Counter Name E1 E2 E3
1 ConfigOutput05 DI 1 DI 2 DI 3
2 ConfigOutput06 DI 4 DI 5 DI 6
Bit structure:
0-2 Sets the type of counter. 000 ABR counter with 4x evaluation (A = E1, B = E2, R = E3)
001 Event counter (E1)
010 Period measurement (E1)
011 Gate measurement (E1)
100 ABR counter with 4x evaluation (A = E1, B = E2).
101 to 111 No counter. Counter is disabled and not shown in the I/O map-
ping.
3 Start the counter 0 Start at rising edge on E1)
1 Start at falling edge on E1)
4-5 Set the counter frequency for gate or period measurement 00 4 MHz
01 Externally via E3
10 31.25 kHz
11 Reserved
6-7 Reserved -
8.12.2.16.3.5 Configure the counter latch
Name:
ConfigOutput04
The behavior of the latch and the trigger function is configured in this register.
Bits 0 to 1 and 4 to 5 are used to configure the time for the counters at which the latch event occurs for applying the
counter value to the "Counter latch 1/2" register. This setting is only relevant if the latch function has been enabled
in the configuration register (see "Configure the counter latch" on page 722).
The setting "Counter 1/2 latch unconditional" means that the latch event is triggered by activation of the latch
function.
Data type Values
Bit structure:
0-1 Counter 1 latch 00 Counter 1 latch unconditional
01 Counter 1 latch on rising edge of input 3 (R pulse)
10 Counter 1 latch on falling edge of input 3 (R pulse)
11 Reserved
1 StartLatch02 0 The latch function for counter 2 is deactivated at the falling edge
of this bit
1 The latch function for counter 2 is activated at the rising edge
of this bit
2 Latch mode counter 1 0 Single shot
1 Continuous1)
3 Latch mode counter 2 0 Single shot
1 Continuous1)
4-5 Counter latch 2 00 Counter 2 latch unconditional
01 Counter 2 latch on rising edge of input 6 (R pulse)
10 Counter 2 latch on falling edge of input 6 (R pulse)
11 Reserved
6-7 Trigger input 00 No trigger input
01 Input 3 used as trigger input
10 Input 6 used as trigger input
11 Reserved

8.12.2.16.3.6 Module configuration
Name:
ConfigOutput03
The output control for each motor and the limit switches can be configured in this register.
Data type Values
Bit structure:
0 Output 1 0 PWM control
1 Current control
1 Output 2 0 PWM control
1 Current control
2-3 Limit switch 1 00 Limit switch disabled
01 Trigger edge for limit switch: Rising edge on input 3
10 Trigger edge for limit switch: Falling edge on input 3
11 Reserved (limit switch disabled)
4-5 Limit switch 2 00 Limit switch disabled
01 Trigger edge for limit switch: Rising edge on input 6
10 Trigger edge for limit switch: Falling edge on input 6
11 Reserved (limit switch disabled)
6-7 Reserved -
8.12.2.16.3.7 Decay configuration
Name:
DecayConfig
The decay configuration determines the method and dynamics of current reduction for inductive loads or motors.
"Slow decay" is configured by default. In this mode, the current is automatically reduced relatively slowly with
resistance in the load. No energy is regenerated into the module.
"Mixed decay" mode is recommended for applications that require a dynamic and linear reduction of current. In
this mode, energy is regenerated into the module during part of the PWM cycle (fast decay).
This function is available beginning with firmware version ≥6.
Data type Values
Bit structure:
0-1 PWM 1 00 Slow decay (default setting)
01 Mixed decay
10 to 11 Reserved
2-3 Reserved 0
4-5 PWM 2 00 Slow decay (default setting)
01 Mixed decay
10 to 11 Reserved
6-7 Reserved 0

Mixed decay
As its name suggests, mixed decay mode is a mix of "slow decay" and "fast decay". This occurs as follows:
A check is made at the beginning of each PWM cycle to determine if the actual current for the phases is below the
current setpoint. If this is the case, PWM is enabled (On) until the set current is reached. The system switches to
fast decay mode for the rest of the first half of the PWM cycle. If the current setpoint has already been exceeded at
the beginning of the PWM cycle (generator operation), the system immediately switches to fast decay mode. The
second half of the PWM cycle always takes place in slow decay mode.
This also permits generator operation as long as the valid range for the supply voltage has not been exceeded
due to the regeneration into the DC circuit.
On Fast decay Slow decay
I I I
Off Off Off
Mixed decay - Set / actual current, PWM frequency
Phases - Set current

Phases - Actual current
On Slow decay On
Fast decay
Slow decay
PWM frequency
Mixed decay switched off Mixed decay switched on
Operating DC motors
In PWM mode, the motor current is limited to the maximum current (5 A), independent of the supply voltage.
However, the motor switches to generator operation when braking. Because of the counter EMF, which is depen-
dent on the rotary speed, a current is generated in the module that is only limited by the internal resistance of the
motor. This is not permitted to exceed 7 A (maximum 2 seconds).
The counter EMF closely corresponds to the voltage needed to achieve this speed. Therefore, the maximum brake
current is very easy to calculate with the following formula.
Example:
Module supply 38 V
Pulse width 16364 (equal to 50%)
Internal resistance of motor 3.5 Ω

8.12.2.16.3.8 Dither
When the position setpoint for valves remains constant for a long period of time, especially in fluids, there is a risk
that a valve will stick. This is normally prevented using "dithering". When doing so, the value is permitted to slightly
oscillate around the position setpoint.
By default, the dither is active for both outputs as soon as the dither amplitude and dither frequency are set to a
value >0. If necessary, the dither can be disabled for each output individually or simultaneously (see bit 6 and 7 in
register "Error acknowledgment and dither switch-off" on page 729).
Dither amplitude
Name:
ConfigOutput01
This register can be used to configure the amplitude value or pulse width.
USINT 0 to 255 Current mode: 0 to 25.5% of the module's nominal current1)
PWM mode: 0 to 25.5% of the period duration
1) See the technical data for the module.
Dither frequency
Name:
ConfigOutput02
This register can be used to set the frequency in 2 Hz steps.
USINT 0 to 255 Corresponds to 0 to 510 Hz

Dither example
The values specified in the data sheet for a valve should be used to calculate Dither amplitude and Dither frequency.
Data sheet for the valve

The data sheet for a valve manufacturer recommends the following dithering:
Dither amplitude in percent (ADither): 20 to 35% (peak value) of the valves 2 A nominal current
Dither frequency in Hertz (FDither): 40 to 70 Hz
Selected values
These values correspond to the average values on the value data sheet.
ADither = 27% of the valve's nominal current (peak values)
FDither = 56 Hz
Formulas
Dither amplitude = (ADither / 2) * (Nominal currentValve / Nominal currentModule) * 10
Information: (ADither / 2) = conversion of the peak values to amplitude; " * 10" = scaling of the dither amplitude
to 1/10%
Dither frequency = FDither / 2 Hz
Info: Dither frequency is configured in 2 Hz steps
Calculation
By using the selected values in the formulas.
Dither frequency = 56 Hz / 2 Hz = 28
Dither amplitude
Current
Current setpoint
Dither period = Peak value

1 / dither frequency
Time

8.12.2.16.4.1 Counter
Name:
Counter01 to Counter02
This register indicates the status of counters 1 and 2. The counter configuration is described in section "Counter
configuration" on page 722.
The following counter types or measurements can be configured starting with firmware version 8:
• AB counter
• ABR counter ("single shot" or "continuous")
• Event counter
• Period measurement
• Gate measurement
Data type Values
INT -32768 to 32767
Counter function - Assignment of the digital inputs:

Counter function Counter number A B R Counter input Period duration External
and gate signal measuring frequency
Incremental counter 1 DI 1 DI 2 DI 3
2 DI 3 DI 4 DI 6
Event counter 1 DI 1
2 DI 4
Period duration and gate mea- 1 DI 1 DI 3
surement 2 DI 4 DI 6
8.12.2.16.4.2 Counter latch
Name:
CounterLatch01 to CounterLatch02
The current value for the respective counter is saved in this register when a latch event occurs.
Data type Values
INT -32768 to 32767
8.12.2.16.4.3 Input status
Name:
StatusInput01 to StatusInput06
This register is used to indicate the status of the inputs.
Data type Values
Bit structure:
0 StatusInput01 0 or 1 Logical state of input 1
... ...
5 StatusInput06 0 or 1 Logical state of input 6
6-7 Reserved -

8.12.2.16.4.4 Counter value
Name:
LatchDone01 to LatchDone02
TriggerInput
This register is used to indicate the status of the counter and latch function.
Data type Values
Bit structure:
0 StatusInput07 0 Latch function for counter 1 has been enabled (see "Configure
the counter latch" on page 722). Resister "counter latch 1" on
page 727 does not contain a valid value.
1 Counter 1 has been latched
1 LatchDone01 0 or 1 Bit state changes each time counter 1 is successfully latched
(reset value = 0)
2 StatusInput08 0 Latch function for counter 2 has been enabled (see "Configure
the counter latch" on page 722). Resister "counter latch 1" on
page 727 does not contain a valid value.
1 Counter 2 has been latched
3 LatchDone02 0 or 1 Bit state changes each time counter 2 is successfully latched
(reset value = 0)
4 TriggerInput 0 or 1 Trigger input state (level)
5 Reserved -
61) Counter overflow 1 0 Period duration or gate measurements of counter 1 are within
the valid range (0x0 to 0xFFFF). The bit is only valid if overflow
detection is enabled (bit 2 = 1 in the "Error acknowledgment and
dither switch-off" on page 729 register).
1 Overflow during period duration or gate measurement (reset
with bit 2 = 0 in the "Error acknowledgment and dither switch-
off" on page 729 register).
71) Counter overflow 2 0 Period duration or gate measurements of counter 2 are within
the valid range (0x0 to 0xFFFF). The bit is only valid if overflow
detection is enabled (bit 3 = 1 in the "Error acknowledgment and
dither switch-off" on page 729 register).
1 Overflow during period duration or gate measurement (reset
with bit 3 = 0 in the "Error acknowledgment and dither switch-
off" on page 729 register).
1) Supported starting with firmware version 8.
8.12.2.16.4.5 Error status
Name:
UnderVoltageError
OverVoltageError
OvertemperatureError
OpenLoadError01 to OpenLoadError02
OverCurrentError01 to OverCurrentError02
If an error is detected, the corresponding error bit remains set in this register until the error is acknowledged (see
"Error acknowledgment and dither switch-off" on page 729).
Data type Values
Bit structure:
0 UnderVoltageError 0 No error
1 Lower limit of I/O power supply <18 V
1 OverVoltageError 0 No error
1 Upper limit of I/O power supply >50 V
2 OvertemperatureError 0 No error
1 Overtemperature
3 Reserved -
4 CurrentError01 0 No error
1 Open load error Output 1
5 OverCurrentError01 0 No error
1 Overcurrent error Output 1
6 CurrentError02 0 No error
1 Open load error Output 2
7 OverCurrentError02 0 No error
1 Overcurrent error Output 2

Overcurrent error
An overcurrent error is registered if one of the following conditions is met:
• ≥5 A flow from a PWM output for at least 2 seconds
• ≥8 A flow for 3 consecutive PWM cycles
In both cases, the affected PWM output is deactivated by the firmware (i.e. the pins on the PWM output are short-
circuited). The user must acknowledge the error (see "Error acknowledgment and dither switch-off" on page 729)
before a PWM output disabled in this manner can be made operational again.
Open load error

An open load error is only registered in current control mode (see "Module configuration" on page 723) if the
current setpoint is not reached. In some cases this can be caused by an open circuit, although usually the imped-
ance of the load is too high.
8.12.2.16.4.6 Error acknowledgment and dither switch-off
Name:
ClearError01 to ClearError02
CounterOverflowDetectEnable01 to CounterOverflowDetectEnable02
CounterReset01 to CounterReset02
DitherDisable01 to DitherDisable02
FrequencyPrescale01 to FrequencyPrescale02
This register can be used to acknowledge errors; to enable/disable overflow detection, counters and dither; and
to set a prescaler for the frequency domains.
Data type Values
Bit structure:
0 ClearError01 0 No effect
1 Error acknowledgment on output 1 (overcurrent or open load) or
acknowledgment from limit switch 1
1 Error acknowledgment on output 2 (overcurrent or open load) or
acknowledgment from limit switch 2
21) CounterOverflowDetectEnable01 0 Overflow detection disabled. Bit 6 in the counter status register
is reset (see section "Input status" on page 727)
1 Counter 1: Overflow detection enabled
31) CounterOverflowDetectEnable02 0 Overflow detection disabled. Bit 7 in the counter status register
is reset (see section "Input status" on page 727)
1 Counter 2: Overflow detection enabled
41) CounterReset01 0 Counter 1 is enabled (default).
1 Counter 1 is set to 0 and disabled. If counter 1 is configured as
an ABR counter (see section "Counter configuration" on page
722), then counter latch 1 is also set to 0.
51) CounterReset02 0 Counter 2 is enabled (default).
1 Counter 2 is set to 0 and disabled. If counter 2 is configured as
an ABR counter (see section "Counter configuration" on page
722), then counter latch 2 is also set to 0.
6 DitherDisable01 0 Dither for PWM output 1 is enabled (default). The dither frequen-
cy and dither amplitude must be >0 (see "Dither" on page 725).
1 Dither for PWM output 1 is disabled.
7 DitherDisable02 0 Dither for PWM output 2 is enabled (default). The dither frequen-
cy and dither amplitude must be >0 (see "Dither" on page 725).
1 Dither for PWM output 2 is disabled.
8.12.2.16.4.7 Time since trigger event
Name:
usSinceTrigger
This register indicates the time (in µs) that has passed since the trigger event occurred (see "Configure the counter
latch" on page 722).
Data type Values
UINT 0 to 65,535

8.12.2.16.4.8 Temperature
Name:
Temperature01
The module temperature is displayed in this register.
SINT -40 to 125 Module temperature in °C
mands.
Minimum cycle time
250 µs
250 µs

Data sheets • Motor controllers • X67SM2436
8.12.3 X67SM2436
This stepper motor module is used to control up to 2 stepper motors with a rated voltage of 24 to 38.5 VDC ±25%
at a motor current of up to 3 A (5 A peak).
Additionally, this module has 6 digital inputs that can be used as limit switches or as encoder inputs.
Individually adjusting the coil currents allows the motor to be operated with only the current it actually needs. This
simplifies selection of the available motors and prevents unnecessary heating. Because the latter reduces energy
consumption and thermal load, the effects are positive on the lifespan of the entire system. Complete flexibility
is achieved by using the values for holding current, boost current and nominal current, which are completely inde-
pendent of each other. The current for microsteps is automatically adjusted to the configured current values.
The automatic motor identification system is an enormous help during standstills. The stepper motor modules can
identify the connected motors using their coil characteristics and generate feedback in the form of an analog value.
This makes it possible to detect not only wiring errors, but also incorrect motor types that are being used mistakenly.
A stall detection mechanism is integrated to analyze the motor load. A stall is recognized using a configurable
threshold. This allows an overload or motor standstill to be detected precisely in many different types of applications.
■ 2 stepper motors, 24 to 38.5 VDC ±25%, 3 A (5 A peak)
■ Current value resolution of 1%
■ Boost, nominal and holding current configured independent of each other
■ 38.5 kHz PWM frequency
■ Integrated motor detection
■ 256 microsteps
■ Stall detection
■ Complete integration in Automation Studio and CNC applications
■ 2x 3 inputs 24 VDC, can be configured as ABR
■ Integrated encoder supply with short circuit protection
■ Function model 3 (ramp) is based on the CANopen communication profile DS402
■ Net time timestamp: Position change, trigger time
Net time timestamp of the position and trigger time
It is not just the position value that is important for highly dynamic positioning tasks, but also the exact time the
position is measured. The module is equipped with a net time function for this that supplies a timestamp for the
recorded position and trigger time with microsecond accuracy.
The timestamp function is based on synchronized timers. If a timestamp event occurs, the module immediately
saves the current net time. After the respective data is transferred to the CPU, including this precise time, the CPU
can then evaluate the data using its own net time (or system time), if necessary.
8.12.3.2 Order data

Motor modules
X67SM2436 X67 stepper motor module, I/O power supply 24-38.5 VDC
±25%, max. 8 A, 2 motor connections, 3 A continuous current,
5 A peak current, 2x 3 digital inputs 24 VDC, sink, configurable
as incremental encoder, NetTime function
Table 144: X67SM2436 - Order data

Model number X67SM2436

Short description
I/O module 2 full bridges for controlling stepper motors
General information
B&R ID code 0x1DCB
Diagnostics
Motor status Yes, using status LED and software
Connection type
Power consumption
Internal I/O
At 24 VDC Max. 1.7 W
At 48 VDC Max. 2 W
Channel - Bus Yes
Certifications
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Motor bridge - Power unit
Quantity 2
Type 2-phase bipolar stepper motor (full bridge)
Nominal current 3A
Max. current/motor 5 A for 2 s (after a recovery time of at least 10 s at maximal 3 A)
Max. current/module 8A
Controller frequency 38.5 kHz
Step resolution 256 microsteps per full step
I/O power supply
Power consumption
Sensor power supply Max. 0.96 W
Digital inputs
Quantity 6
Input voltage 24 VDC -15% / +20%
Input current at 24 VDC Approx. 4 mA
Input filter
Hardware <5 µs
Software -
Input circuit Sink
Additional functions 2x ABR incremental encoder
Switching threshold
Low <5 VDC
High >15 VDC
Quantity 2
Table 145: X67SM2436 - Technical data

Counter size 16-bit
Evaluation 4x
Encoder power supply Module-internal, max. 20 mA per encoder
Sensor power supply
Supply voltage 24 VDC
Supply voltage
Min. voltage at 20 mA / group 20 VDC
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

Left/Right Green(left) Red(right) Description
I/O LEDs: Status indicator
Yellow On Motor 1 or 2 is active
3 Color Status Description
Green On Input 1 to 3 (in)
4 Color Status Description
Green On Input 4 to 6 (in)
Green Off No power supplied to the module
On RUN mode
Left: Green, Right: Red On Error or reset status

X2X Link X2X Link

Stepper motor outputs 1 to 2 Counter inputs 1 to 2
I/O power supply 24 to 38 VDC I/O power supply 24 to 38 VDC

8.12.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
8.12.3.7 I/O power supply 24 to 38.5 VDC
Information:
The maximum permissible current per supply is 4 A (in summation 8 A)!
Connection Pinout
2 Pin Name
1 1 24 to 38.5 VDC ±25%
2 24 to 38.5 VDC ±25%
4
3 GND
4 GND
3
C → Connector (male) in module, supply
D → Connector (female) in module, routing
2
1

8.12.3.8 Pinout
Shield
1 A
X1 to X2 2 A\
M12 ① 3 B
4 B
5 Shield
Shield
1 +24 VDC
X3 to X4 2 A
M12 ① 3 GND
4 B
5 R

M12, 5-pin Pinout

X1 / X2 Pin Name
1 Stepper motor A
1
2 2 Stepper motor A\
3 Stepper motor B
5
4 Stepper motor B\
5 Shield
4
3
Warning!
Information:
(emissions).
M12, 5-pin Pinout

X3 / X4 Pin Connection 31) Connection 41)
3
2 2 Digital input 1, ABR1 - A Digital input 4, ABR2 - A
3 GND GND
4 Digital input 2, ABR1 - B Digital input 5, ABR2 - B, Trigger input
5 Digital input 3, ABR1 - R Digital input 6, ABR2 - R
4
1
5
1) All digital inputs: 24 V / <4 μs
Warning!

Connection 1 to 2: Stepper motor

A\
1 2
M A 4
5
3
Connection x
B B\
Connection 3 to 4: Digital inputs
+24 VDC
ABR counter
1 2
GND
A 5 Connection x
B
4 3
R
24 - 38.5 V ±25 %
HA\ HB
X1/X2
A\
LA\ LB
A 1 2
5
HA 4 HB\
3 B
B\
LA LB\
Comp A Comp B
24 V / 20 mA
Sensor supply
X3/X4
E1/E4
E2/E5
1 2
E3/E6
VDR 5
E1 - E6
4 Internal electronics
3 VDR
I/O status E1 - E3 I/O status E4 - E6

24 V / 20 mA 24 V / 20 mA 24 - 38.5 V ±25%
Sensor supply Sensor supply
X3 pin 1 X4 pin 1
PTC PTC Monitoring of the I/O power supply
Power supply
24 V
Transil diode
48 V
VDR
GND
<30 V
8.12.3.14 Monitoring of the I/O power supply
The I/O power supply voltage is monitored. Its status can be read. The error "Module power supply error" occurs
when the voltage falls below 18 V or rises above 50 V.
Overvoltage cutoff
This function is supported starting with the following hardware revision or runtime version:
• From hardware revision: B0
• From firmware version: I2.88
If the supply voltage on the module exceeds 50 V (e.g. due to feedback during generator operation), then the motor
output is switched off. The motor output is reactivated as soon as the supply voltage is back within the valid range.


8.12.3.16 Power supply dimensioning
The motor's current consumption depends on the defined motor currents, the available power and the actual motor
being used.
Example
Motor model number 80MPD5.300S000-01
Defined current in the motor module 3A
Motor module supply voltage 48 VDC
Motor load 1 Nm
Table 146: Power supply dimensioning example - Basic data

3.00 70.00
2.75
60.00
2.50
2.25
50.00
2.00
1.75 40.00
Ieff 1.50 Pout
1.25 30.00
1.00
20.00
0.75
0.50 Legend:
Ieff 10.00
0.25 Pout
0.00 0.00
50 75 100 125 150 175 200 225 250 275 300 325 350 375 400 425 450 475 500 525 550 575 600
Speed [rpm]
Figure 57: Power supply dimensioning example - Power/speed dependency

The example is based on a constant load throughout the entire speed range.
An increase in the motor load causes an increase in the effective current of the I/O power supply.

8.12.3.17 Fuse protection
The power supply line should be protected by a circuit breaker or a fuse. In general, dimensioning the supply line
and overcurrent protection depends on the structure of the power supply (modules can be connected individually
or in groups).
Information:
The effective current for the power supply depends on the load but is always less than the motor
current. Make sure the maximum nominal current of 10 A is not exceeded on the power supply terminals
of the power unit.
When choosing a suitable fuse, the user must also account for characteristics such as aging effects, temperature
derating, overcurrent capacity and the definition of the rated current, which can vary by manufacturer and type. In
addition, the fuse that is selected must also be able to handle application-specific characteristics (e.g. overcurrent
that occurs in acceleration cycles).
The cross section of the power mains and the rated current of the overcurrent protection used are chosen according
to current load so that the maximum current load for the cable cross section selected (depending on wiring, see
table) is greater than or equal to the current load in the power mains. The rated current of the fuse protection must
be less than or equal to the permissible current-carrying capacity of the selected cable cross section (depending
on the how it is installed, see table):
IMains ≤ Ib ≤ IZ
Mains ≤ Fuse ≤ Line/cable
Current load of the cable cross section IZ / rated current of the over current protection Ib [A] according to type
of installation in an ambient air temperature of + 40 °C in accordance to EN 60204-1
Wire cross section [mm²] B1 B2 C E
1.5 13.5 / 13 13.1 / 10 15.2 / 13 16.1 / 16
2.5 18.3 / 16 16.5 / 16 21 / 20 22 / 20
Table 147: Cable cross section of the mains power input depending on the type of wiring
The tripping current of the fuse is not permitted to exceed the rated current of the fuse Ib.
Type of wiring Description
B1 Wires in conduit or cable duct
B2 Cables in conduit or cable duct
C Cables or wires on walls
E Cables or wires on open-ended cable tray
Table 148: Type of wiring used for the mains power input

version.

Configuration
44 Stall threshold UINT ●
46 Module configuration UINT ●
33 Holding current 1 USINT ●
34 Nominal current 1 USINT ●
35 Maximum current 1 USINT ●
32 Counter configuration USINT ●
52 Mixed decay threshold UINT ●
40 Set counter 1 UINT ●
42 Set counter 2 UINT ●
92 Minimum speed for stall detection 1 UINT ●
Reading back the configuration
Communication
16 Motor setting - Motor1Step0 UINT ●
54 Error acknowledgment USINT ●
0 Position sync 1 UINT ●
4 Input counter value USINT ●
6 Position async 1 UINT ●
8 Position async 2 UINT ●
10 Error status UINT ●
80 Temperature SINT ●
74 Measuring motor load USINT ●
81 Motor ID trigger USINT ●
12 Motor identification 1 UINT ●

8.12.3.18.3 Function model 1 - ARNC0

Configuration
46 Module configuration UINT ●
84 Full step threshold 1 UINT ●
Communication
StallError01 Bit 0
OvertemperatureError01 Bit 1
OvercurrentError01 Bit 3
StallError02 Bit 4
InputPowerSupplyError01 Bit 8
DrvOk01 Bit 9
DrvOk02 Bit 13
30 Motor setting - Motor2Step3 USINT ●

76 Stepper latch configuration USINT ●
StartLatch01 Bit 0
StartLatch02 Bit 4
TriggerEdgePos01 Bit 1
TriggerEdgeNeg01 Bit 2
TriggerEdgePos02 Bit 5
TriggerEdgeNeg02 Bit 6
78 Trigger configuration USINT ●
StartTrigger Bit 1
TriggerEdge Bit 0
ClearError01 Bit 0
ClearError02 Bit 1
ModulePowerSupplyError Bit 0
StatusInput01 Bit 2
StatusInput03 Bit 3
StatusInput05 Bit 4
StatusInput02 Bit 5
StatusInput04 Bit 6
StatusInput06 Bit 7
60 Position latched sync 1 SINT ●
62 Position latched sync 2 USINT ●

68 usSinceTrigger UINT ●
72 Stepper latch trigger status USINT ●
LatchInput01 Bit 0
LatchDone01 Bit 1
LatchInput02 Bit 2
LatchDone02 Bit 3
TriggerInput Bit 4
6 Position async 1 INT ●
64 Position latched async 1 UINT ●
66 Position latched async 2 UINT ●
8.12.3.18.4 Function model 1 - ARNC0 with SDC

Configuration
103 Motor settling time 1 USINT ●
104 Motor settling time 2 USINT ●
102 SDC configuration USINT ●
107 Switch-off delay 1 USINT ●
108 Switch-off delay 2 USINT ●
Communication
StallError01 Bit 0
StallError02 Bit 4
DrvOk01 Bit 9
DrvOk02 Bit 13
ClearError01 Bit 0
ClearError02 Bit 1
StatusInput01 Bit 2
StatusInput03 Bit 3
StatusInput05 Bit 4
StatusInput02 Bit 5
StatusInput04 Bit 6

StatusInput06 Bit 7
73 Lifecycle counter SINT ●
16 Motor setting - Motor1Step0 INT ●
200 Home position 1 INT ●
204 Home position 1
212 Reference pulse counter 1 SINT ●
214 Reference pulse counter 1
220 Net time of position value 1 INT ●
24 Motor setting - Motor2Step0 INT ●
100 Motor current USINT ●
DriveEnable01 Bit 0
BoostCurrent01 Bit 1
StandstillCurrent01 Bit 2
DriveEnable02 Bit 4
202 Home position 2 INT ●
206 Home position 2
213 Reference pulse counter 2 SINT ●
215 Reference pulse counter 2
220 Net time of position value 2 INT ●
208 Trigger timestamp INT ●
216 Trigger counter SINT ●
112 SDC life sign monitoring 1 INT ●
114 SDC life sign monitoring 2 INT ●
8.12.3.18.5 Function model 254 - Bus controller and function model 3 - Ramp

Configuration
48 - Holding current 1 USINT ●
49 - Nominal current 1 USINT ●
50 - Maximum current 1 USINT ●
72 - Full step threshold 1 UINT ●
136 - Full step threshold 2 UINT ●
52 - Maximum speed 1 UINT ●
116 - Maximum speed 2 UINT ●
54 - Maximum acceleration 1 UINT ●
56 - Maximum deceleration 1 UINT ●
118 - Maximum acceleration 2 UINT ●
120 - Maximum deceleration 2 UINT ●
58 - Reversing loop 1 INT ●
122 - Reversing loop 2 INT ●
60 - Fixed position A 1 DINT ●
64 - Fixed position B 1 DINT ●
124 - Fixed position A 2 DINT ●
128 - Fixed position B 2 DINT ●
68 - Homing speed 1 UINT ●
132 - Homing speed 2 UINT ●
70 - Homing configuration 1 SINT ●
134 - Homing configuration 2 SINT ●
51 - Mixed decay / Stall detection configuration 1 USINT ●
115 - Mixed decay / Stall detection configuration 2 USINT ●
74 - Stall recognition delay 1 USINT ●
138 - Stall recognition delay 2 USINT ●
75 - Jerk time 1 USINT ●
139 - Jerk time 2 USINT ●
78 - Minimum speed for stall detection 1 UINT ●
142 - Minimum speed for stall detection 2 UINT ●
304 - General configuration USINT ●
306 - Limit switch configuration 1 USINT ●
308 - Limit switch configuration 2 USINT ●
380 - Minimum software limit 1 DINT ●

388 - Minimum software limit 2 DINT ●
384 - Maximum software limit 1 DINT ●
392 - Maximum software limit 2 DINT ●
Communication
0 0 Set position/speed 1 DINT ●
4 4 Control word 1 UINT ●
6 6 Mode 1 SINT ●
0 0 Current position (cyclic) 1 DINT ●
4 4 Status word 1 UINT ●
8 8 Set position/speed 2 DINT ●
12 12 Control word 2 UINT ●
14 14 Mode 2 SINT ●
8 8 Current position (cyclic) 2 DINT ●
12 12 Status word 2 UINT ●
6 6 Input status USINT ●
84 - Motor identification 1 UINT ●
148 - Motor identification 2 UINT ●
46 - Temperature SINT ●
86 - Home position for cyclic counter 1 DINT ●
150 - Home position for acyclic counter 2 DINT ●
90 - Current position (acyclic) 1 DINT ●
154 - Current position (acyclic) 2 DINT ●
80 - Read back control word 1 UINT ●
144 - Read back control word 2 UINT ●
82 - Read back mode 1 SINT ●
146 - Read back mode 2 SINT ●
98 - Error code 1 UINT ●
162 - Error code 2 UINT ●
8.12.3.18.5.1 Operation with bus controller
The following function model can be used when the SM module is used together with a bus controller.
Bus controller Function model
X67BC8513.L12, X67BC8321.L12, X67BC81RT.L12, X67BC8331, All function models
X67BC8321-1
All others Function model 254 - Bus controller (identical to Ramp function model)

8.12.3.18.6 Register description: General register
8.12.3.18.6.1 Configuration registers
Stall threshold
Name:
ConfigOutput01
The SM module features integrated sensorless load measurement for the motor axis. This is especially useful for
detecting a "stall condition" (e.g. if the motor moves to the end point during a homing procedure). It cannot be used
for torque monitoring during dynamic movements.
With the "stall threshold" register, a threshold can be defined according to the motor load, and the module detects
a stall condition started at this threshold (see "Error status" on page 749).
This threshold value must be determined on a case-by-case basis, since the results of load measurement are
influenced by a variety of factors.
• Motor speed: A higher speed results in higher measurement values
• Speeds that cause motor resonances (which interfere with load measurement) are to be avoided
• Motor accelerations that create a dynamic load (and also affect the measurement) should also be avoided
• It is especially important to be aware that mixed decay mode must be disabled or optimized for reliable
stall detection (see "Mixed decay threshold" on page 746)
The higher the load measurement value, the lower the load. That means: A stall condition is detected if the load
measurement value drops below the trigger threshold for stall detection.
Data type Values
Bit structure:
0-2 Trigger threshold stall detection for Motor 1 0 Stall detection is disabled
1 Minimum sensitivity for stall detection
2 to 6 Setting the sensitivity of stall detection
7 Maximum sensitivity for stall detection
3 Reserved 0
7 - 15 Reserved 0

Mixed decay threshold
Name:
ConfigOutput16
The mixed decay threshold is configured in this register. This value must be adjusted according to the motor being
used, current and voltage when using "stall detection" on page 745. Otherwise, the default value 15 will be used.
Data type Values
Bit structure:
0-3 Mixed Decay Threshold Motor 1 0 Mixed decay disabled
1 to 14 Setting for mixed decay threshold
15 Mixed decay always enabled
4-7 Mixed Decay Threshold Motor 2 0 to 15 See motor 1
8 - 15 Reserved -
Mixed decay modules provide a greatly optimized sinusoidal current profile in the individual phases of the stepper
motor, especially for fast current changes and low current values.
Mixed decay interferes with reliable stall detection, however. For this reason, mixed decay mode can be disabled
during stall detection (motor load measurement) using the mixed decay threshold. The smaller the configured mixed
decay threshold, the larger the range in which mixed decay is disabled while motor load measurement takes place.
Mixed decay mode is always enabled if the mixed decay threshold is set to 15.
Relationship between stall detection and mixed decay
Depending on the application and the motor used, satisfactorily smooth operation can be achieved while using
stall detection by setting the mixed decay threshold to a value between 1 and 14. This is a compromise between
smooth operation and stall detection quality and must be fine tuned during commissioning.
Stall detection
Quality
Smooth running
0 2 4 6 8 10 12 14

Minimum speed for stall detection
Name:
StallDetectMinSpeed01 to StallDetectMinSpeed02
If the motor speed exceeds the value set in this register, then stall detection is enabled and the configured "mixed
decay threshold" on page 746 is used. The value 15 is always used for the mixed decay threshold below this
threshold value, and no stall error is reported. This means that mixed decay mode is always enabled at low speeds
where stall detection principally does not work.
UINT 0 to 65535 Minimum speed in steps per second.
Holding current, rated current and maximum current
Name:
ConfigOutput03 (holding current 1)
ConfigOutput06 (holding current 2)
ConfigOutput04 (nominal current 1)
ConfigOutput07 (nominal current 2)
ConfigOutput05 (maximum current 1)
ConfigOutput08 (maximum current 2)
The holding current, nominal current and maximum current registers are used to configure the desired motor
current.
Reasonable values are:
• Holding current < Nominal current < Maximum current
The motor's nominal current is entered in the nominal current register according to the motor's data sheet.
Register Description
Nominal current Current during normal operation
Maximum current Should be selected if a higher motor torque is required briefly during acceleration
phases.
Holding current The holding current should be used in situations when less torque is required
(e.g. at a standstill). This reduces the amount of heat generated by the motor.
Switching between preset current values (holding current, rated current, maximum current):
Function model Switching between preset current values at runtime
Standard and ARNC0 Using bits 14 and 15 in the registers "Motor setting - MotorXStepX" on page 756
ARNC0 with enabled SDC information Using the register "Motor current" on page 762
Data type Value Unit

USINT 0 to 167 Percent of the module's rated current
• 100% corresponds to the rated current of the motor bridge power unit listed in the tech-
nical data
• 167% corresponds to the maximum current of the motor bridge power unit listed in the
technical data

Counter configuration
Name:
ConfigOutput09
Data type Values
Bit structure:
Bit Description
Motor 1 Motor 2
Value Standard function model ARNC0/ARNC0 with SDC function model
0 4 0 ABRx counter value not affected Falling edge: Deactivate ABRx latch function
1 Rising edge: Activate ABRx counter value homing with de- Rising edge: Activate ABRx latch function
fault value (register Set counter)
1-2 5-6 00 Homing counter value ABRx unconditional Latch counter value ABRx unconditional
01 Homing counter value ABRx at rising edge of the ABRx R Latch counter value ABRx at rising edge of the ABRx R input
input
10 Homing counter value ABRx at falling edge of the ABRx R Latch counter value ABRx at falling edge of the ABRx R in-
input put
11 Reserved Reserved
3 7 0 • Position sync: Internal position counter • Position sync: Internal position counter
• Position async: ABRx counter value • Position async: ABRx counter value
• Position latched sync: Internal position counter
• Position latched async: ABRx counter value
1 • Position sync: ABRx counter value • Position sync: ABRx counter value
• Position async: Internal position counter • Position async: Internal position counter
• Position latched sync: ABRx counter value
• Position latched async: Internal position counter
8.12.3.18.6.2 Register for reading back the configuration
Reading back the holding current, nominal current and maximum current
Name:
ConfigOutput03Read (holding current 1)
ConfigOutput04Read (nominal current 1)
ConfigOutput05Read (maximum current 1)
ConfigOutput06Read (holding current 2)
ConfigOutput07Read (nominal current 2)
ConfigOutput08Read (maximum current 2)
These registers are used to read the respective current values in percent.
Nominal current Current during operation at constant speed
Maximum current Current during acceleration phases
Holding current Current when motor is at standstill
Data type Values Unit

USINT 0 to 255 Percentage of module nominal current (100% corresponds to the rated current of the motor bridge
power unit listed in the technical data)

8.12.3.18.6.3 Communication registers
Error status
Name: The bits in this register are distributed between Motor 1 and Motor 2 as follows.
Motor 1 Motor 2
StallError01 StallError02
OvertemperatureError01 OvertemperatureError02
OpenLoadError01 OpenLoadError02
OvercurrentError01 OvercurrentError02
InputPowerSupplyError01 InputPowerSupplyError02
DrvOk01 DrvOk02
The error status of the drive is indicated in this register. Each bit indicates a certain error or status. If an error is
registered in bits 0 to 7, then the corresponding bit remains set until the error has been acknowledged (see "Error
acknowledgment" on page 750).
Data type Values
Bit structure:
Bit Description
Motor 1 Motor 2 Motor 1 Motor 2 Value Information
0 4 StallError01 StallError02 0 No stall
1 Stall
1 5 Overtemperature on Motor 1 Overtemperature on Motor 2 0 No overtemperature
OvertemperatureError01 OvertemperatureError02 1 Overtemperature
2 6 Current error on Motor 1 Current error on Motor 2 0 No current error
OpenLoadError01 OpenLoadError02 1 Current error
3 7 Overcurrent error on Motor 1 Overcurrent error on Motor 2 0 No overcurrent
OvercurrentError01 OvercurrentError02 1 Overcurrent
8 12 Supply error for digital inputs 1 Supply error for digital inputs 4 0 The supply for the digital inputs is OK
to 3 (connector 3) to 6 (connector 4) 1 Supply error for the digital inputs:
InputPowerSupplyError011) InputPowerSupplyError021)
9 13 Status of the drive for Motor 1 Status of the drive for Motor 2 0 An error was triggered for the motor axis
DrvOk012) DrvOk022) 1 The drive is running error-free
10 - 11 14 - 15 Reserved 0
1) Only for function models ARNC0 and ARNC0 with SDC

2) Only for function model ARNC0 with SDC
Overtemperature error
The "Overtemperature" error bit can be set for the following reasons:
• A specific temperature was exceeded near the channel due to overload
• Module temperature exceeds 85°C
Current error
This error bit occurs whenever the required current cannot be supplied to the motor windings. This can be (but
is not necessarily) caused by an open line. At higher speeds (depending on the motor), this error can also occur
without an open line. In this case it is simply no longer possible to supply the desired current to the motor windings.
Because of the Back-EMF on the motor, this bit is set at slightly lower speeds if the motor is operated with no load
compared with full or partial loads.
Overcurrent error
Overcurrent occurs if the motor current measured in the motor windings is twice as high as it should be (e.g. short
circuit).
Supply error for the digital inputs

This error occurs when there is undervoltage or overvoltage on the module supply.
The two bits 8 and 12 do not exist in this form in the standard function model. If the module detects undervoltage
or overvoltage of the module supply, then all bits of the error status register will be set to 1.

Status of the drive

The status of the drive is only shown in function model ARNC0 when SDC information is enabled. The drive bit
is 1 when the following conditions are met:
• Motor turned on (see "Motor current" on page 762)
• Ground fault detection is complete and ok
• MotorID measurement is complete
• Motor is supplied with current
• Motor settling time has passed
• Supply voltage is in the valid range
• No overtemperature fault
• Preset position value is valid (see "SDC life sign monitoring" on page 763)
Error acknowledgment
Name:
ClearError01 to ClearError02
This register can be used to acknowledge errors that have occurred on the motor.
For more info, see "Error status" on page 749.
Data type Values
Bit structure:
1 Error acknowledgment for Motor 1
2-7 Reserved 0

Position sync/async
Name:
Position1Sync to Position2Sync
Position1async to Position2async
Depending on the "Counter configuration" on page 748, these registers can be used to read either the internal
position counter or the counter value on the ABR input.
Data type Values
INT -32768 to 32767
Register Counter configuration

Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position sync Internal position counter ABR counter
Position async ABR counter Internal position counter
Internal position counter

The internal position counter is the position calculated by the module (position setpoint). This is a cyclic 16-bit
counter.
The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits
5 and 6 of the "Module configuration" on page 755).
Example of the internal position counter format (7-bit microsteps, i.e. set bit 5 and 6 of the module configuration
to binary 10):
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Full steps Microsteps
8 7 6 5 4 3 2 1 0 6 5 4 3 2 1 0
Information:
The following limitation only applies to "Normal mode".
The smallest physical step division that is possible is 1/64 of a full-step. Therefore, bits with a rating
of 1/128 or 1/256 of a full-step remain 0. This must be taken into consideration if this position register
is used for controller feedback.
ABR counter
This counter is a cyclic 16-bit counter for each channel. The relationship between this counter and the internal
position counter depends on the resolution of the ABR encoder and the defined microsteps of the internal position
counter.
Temperature
Name:
Temperature
This register outputs the internal module temperature in °C.
Data type Values
SINT -128 to 127

Measuring motor load
Name:
MotorLoad
This register contains the current measured load value for stall detection. This can be used to tune stall detection.
Data type Values
Bit structure:
0-2 Motor 1 0 to 7 Motor load value
3 Reserved -
7-8 Reserved -
Motor ID trigger
Name:
MotorIdentTrigger
This register can be used to trigger acyclic motor identification (see "Module configuration" on page 755). The
application must ensure that the conditions for measurement are fulfilled.
Data type Values
Bit structure:
0 0 No effect
1 Rising edge triggers motor ID measurements for Motor 1
1 0 No effect
1 Rising edge triggers motor ID measurements for Motor 2
2-7 Reserved 0
Motor identification
Name:
Motoridentification01 to Motoridentification02
This register is used to identify the connected motor type for service purposes and to differentiate between motors in
the application. The function of this register depends on the defined operating mode (see bit 11 in register "Module
configuration" on page 755).
Normal operating mode (Module configuration: Bit 11 = 0)

The value of this register is an indicator of how long the current has been applied in the motor windings.
This depends on:
• Level of current being applied
• Amplitude of operating voltage
• The inductance and resistance of the motor winding
These two influences characterize a motor type.
Notes
1) To achieve reproducible results, the measurement must be made under the following defined conditions:
a) Operation with holding current (see "Holding current, rated current and maximum current" on page 747)
b) At standstill
c) Motors must be in a half-step position (phase A with full current, phase B with no current).
2) Conditions 1b and 1c are present after a reset/power-up of the SM module. Immediately afterwards, when the holding current is applied to the motors for
the first time (at a standstill), the duration for applying the current is measured. This is therefore a suitable time to read the motor identification register
in the application.
3) The optimal operating point for motor identification (depending on the current used) must be determined by users based on experience.

Enhanced operating mode (Module configuration: Bit 11 = 1)

Following measurement, this register contains the time [µs] needed to apply a current increase of ΔI = 1 A to a
motor winding.
This depends on:
• Operating voltage
Notes
a) Motor is at standstill
b) The motor must be in a half-step position (phase A fully powered, phase B not powered). This means the internal position counter on the SM
module must have a value that fulfills the following conditions:
• Full steps are divisible by 4
• Microsteps = 0
2) Condition 1b) is fulfilled after a the SM module is reset or powered on. Immediately afterwards, when the holding current is applied to the motor for the
first time (at standstill), the duration for applying the current is measured. This is therefore a suitable time to read the motor identification register in the
application.
3) The current range from approximately 1/3 of the rated current up to the rated current is used as operating range for determining the motor identifier.
Data type Motor ID values Function

UINT 0 No motor identifier available (after turning on for as long as the measurement conditions are not
met)
1 to 32767 Valid range of values for the motor ID register (in µs)
65504 to 65519 Ground fault: Motor identification not possible
65528 Motor ID trigger not possible
• Motor has no power applied
• Motor in movement
• Rated current is set to 0A
• Ground fault present
65529 Invalid value: Underflow
65530 Overtemperature: Measurement not possible
65532 Open line: Measurement not possible
65533 Motor position incorrect: Measurement not possible
65534 Invalid value: Overrun
65535 Measurement in progress
Ground fault detection

When the motor is powered on, a ground fault check is performed before motor identification. Error numbers have
been added in the motor identification register for the event of a ground fault error (values 65504 to 65519 in the
table above).

8.12.3.18.7 Register description: Function model 0 - Standard
Set counter
Name:
SetCounter01 to SetCounter02
This register can be used to determine which value the position counter should be set to during homing.
Data type Values
UINT 0 to 65,535
Input counter value
Name:
StatusInput
This register is used to indicate the status of the digital inputs and counters.
Data type Values
Bit structure:
0 0 OK
1 Error on Motor 1 (connector 1) or supply voltage for inputs 1-3
(connector 3)
1 0 OK
1 Error on Motor 2 (connector 2) or supply voltage for inputs 4-0
(connector 4)
2 When bit 0 in the module configuration = 0
0 or 1 Input state - Digital input 1
When bit 0 in the module configuration = 1
x Ref toggle bit for ABR encoder counter 1:
The state of this bit is changed after the homing procedure is
complete.
0 Homing of ABR counter 1 active
1 Homing of ABR counter 1 complete
4 0 or 1 Input state - Digital input 3
0 or 1 Ref toggle bit for ABR encoder counter 2:
complete.
7 0 or 1 Input state - Digital input 6

8.12.3.18.8 Register description: Function model 0 - Standard and function model 1 - ARNC0 without
SDC
Module configuration
Name:
ConfigOutput02
The number of transfer values and the resolution of microsteps for the drive can be configured in this register.
Data type Values
Bit structure:
0-1 The setting for these two bits determines the meaning of bits 2 x
and 3 in the "Input counter value" on page 758 register.
2 Reserved 0
3-4 Number of transfer values per X2X Link cycle 00 1 x Δs / Δt (transfer values: MotorXStep0)
(See "Motor setting - MotorXStepX" on page 756) 01 2 x Δs / Δt (transfer values: MotorXStep0 - MotorXStep1
10 4 x Δs / Δt (transfer values: MotorXStep0 - MotorXStep3
11 Reserved
5-6 Resolution of microsteps for the following registers: 00 Resolution: 5 bits (bit 0 - 4) microsteps; 8 bits (bit 5 - 13) full steps
• "Motor setting - MotorXStepX" on page 756 01 Resolution: 6 bits (bit 0 - 5) microsteps; 7 bits (bit 6 - 13) full steps
• "Position sync/async" on page 751 10 Resolution: 7 bits (bit 0 - 6) microsteps; 6 bits (bit 7 - 13) full steps
11 Resolution: 8 bits (bit 0 - 7) microsteps; 5 bits (bit 8 - 13) full steps
7 - 10 Reserved 0
11 Operating mode 0 Normal mode (default)
1 Enhanced mode
12 - 15 Reserved

Motor setting - MotorXStepX
Name:
Motor1Step0 to Motor1Step3 and
Motor2Step0 to Motor2Step3
These registers are used to specify the number and direction of steps that must be carried out by the module during
the next X2X Link cycle, and to select the motor current (see also "Holding current, rated current and maximum
current" on page 747).
Data type Values
Bit structure:
0 - 12 Number of steps for the module to move during the next X2X x
cycle
13 Direction of movement 0 Positive
1 Negative
14 - 15 Selection of motor current 00 Motor not powered
01 Holding current
10 Rated current
11 Maximum current
Depending on the required resolution and maximum configurable speed, the module configuration can be used to
specify which bit position is used as the 1s position for full steps (see bits 5 and 6 of the "Module configuration"
on page 755).
Example for 5-bit microsteps (set bits 5 and 6 of the module configuration to binary 00):
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
7 6 5 4 3 2 1 0 4 3 2 1 0
The number of transfer values per X2X Link cycle is specified by bits 3 and 4 in the module configuration (see
"Module configuration" on page 755). If only one transfer value (bits 3 and 4 = 00) is specified, then the motor is
advanced by MotorXStep0 until the next X2X Link cycle. If 2 or 4 transfer values are specified, then the X2X Link
cycle is divided accordingly.
Example: X2X Link cycle = 1 ms (1000 μs)
Time Number of transfer values (see "Module configuration" on page 755)
1 (bits 3 - 4 = 00) 2 (bits 3 - 4 = 01) 4 (bits 3 - 4 = 10)
0 - 250 μs) MotorXStep0 MotorXStep0 MotorXStep0
250 - 500 μs) MotorXStep1
500 - 750 μs) MotorXStep1 MotorXStep2
750 - 1000 μs) MotorXStep3

8.12.3.18.9 Register description: Function model 1 - ARNC0 without SDC
Full step threshold
Name:
FullStepThreshold01 to FullStepThreshold02
This register is used to configure a rotational speed. When this defined speed has been reached, the drive will
automatically change from microsteps to full step mode. This makes it possible to optimize the torque at higher
speeds, while microstep mode ensures optimum concentricity at lower speeds.
It does not make sense to change to full step mode when at a standstill because fine positioning would then
no longer be possible. This is why the value "0" does not make sense in the full step threshold register and is
interpreted as disabling full step mode (i.e. the motor will always be operated in microstep mode).
UINT 0 Full step mode disabled
1 to 65,535 Steps/second
Example
Microstep mode should change to full step mode at 500 steps/second. On a motor with 200 steps per revolution,
this would be equal to a speed of:
Stepper latch configuration
Motor 1 Motor 2
StartLatch01 StartLatch02
TriggerEdgePos01 TriggerEdgePos02
TriggerEdgeNeg01 TriggerEdgeNeg02
This register is used to configure the latch mode and the latch function for the stepper motor position.
Data type Values
Bit structure:
Bit Description
0 4 Latch function for stepper motor position:
StartLatch01 StartLatch02 0 The latch function for the current motor position is deac-
tivated at the falling edge of this bit.
1 The latch function for the current motor position is acti-
vated at the rising edge of this bit. After a latch event
has completed, the latch function can be started again
with a new rising edge.
1-2 5-6 Latch mode for stepper motor position:
Bit 1: TriggerEdgePos01 Bit 5: TriggerEdgePos02 00 Latch position of stepper motor, unconditional
Bit 2: TriggerEdgeNeg01 Bit 6: TriggerEdgeNeg02 01 Latch position of stepper motor at a rising edge on the
respective digital input1)
10 Latch position of stepper motor at a falling edge on the
respective digital input
11 Reserved
3 7 Reserved 0
1) For Motor 1: Digital input DI3 (connector 3, pin 5)

For Motor 2: Digital input DI6 (connector 4, pin 5)

Trigger configuration
Name:
StartTrigger
TriggerEdge
The trigger functions for the stepper motor can be configured with this register.
Data type Values
Bit structure:
0 TriggerEdge 0 Trigger edge (input DI5) = positive
1 Trigger edge (input DI5) = negative
1 Enable trigger (when changes occur) x
StartTrigger
2-7 Reserved 0
Trigger function procedure:

• Select the desired trigger edge using bit 0
• Enable the trigger function by changing the state of bit 1. When this bit changes, usSince Trigger (µs
counter) will be cleared.
• When the trigger event occurs, the µs counter usSince Trigger is started
• The counter usSinceTrigger cannot overrun, i.e. the counter is stopped at 216 -1 and retains this value until
the next time the trigger function is activated.
The trigger function can be re-activated at any time by changing the state of bit 1, regardless of whether a trigger
event has occurred or if usSinceTrigger has reached the maximum value.
Input counter value
Name:
ModulePowerSupplyError
This register is used to indicate the status of the digital inputs and counters.
Data type Values
Bit structure:
0 ModulePowerSupplyError 0 OK
1 Module supply error
1 Reserved 0
2 StatusInput01 When bit 0 in the module configuration = 0
x Ref toggle bit for ABR encoder counter 1:
complete.
4 StatusInput03 0 or 1 Input state - Digital input 3
0 or 1 Ref toggle bit for ABR encoder counter 2:
complete.
7 StatusInput06 0 or 1 Input state - Digital input 6

Position latched sync/async
Name:
Position1LatchedSync to Position2LatchedSync
Position1LatchedAsync to Position2LatchedAsync
The position counter (internal position counter or ABR counter) is applied at the latch event (see "Stepper latch
configuration" on page 757). Bits 3 and 7 of the counter configuration register are used to determine which counter
state (internal position counter or ABR encoder) should be saved in the registers "Position latched sync" and
"Position latched async".
Data type Values
INT -32768 to 32767
Counter configuration
Register Bit 3 (channel 1) / Bit 7 (channel 2) = 0 Bit 3 (channel 1) / Bit 7 (channel 2) = 1
Position latched sync Internal position counter ABR counter
Position latched async ABR counter Internal position counter
Description of the two counters (internal position counter and ABR counter), see "Position sync/async" on page 751.
usSinceTrigger
Name:
usSinceTrigger
This register indicates the time (in µs) that has passed since the trigger event occurred (see "Trigger configuration"
on page 758).
Data type Values
UINT 0 to 65,535
Stepper latch trigger status
Motor 1 Motor 2
LatchInput01 LatchInput02
LatchDone01 LatchDone02
Motor 1 and 2
TriggerInput
Data type Values
Bit structure:
Bit Description
0 2 LatchInput01 LatchInput02 x Digital input for the latch event (level)
1 3 LatchDone01 LatchDone02 x State changes each time the counter state is success-
fully latched (reset value = 0)
4 TriggerInput x Trigger input (level)
5-7 Reserved 0
1) For Motor 1: Digital input DI3 (connector 3, pin 5)

For Motor 2: Digital input DI6 (connector 4, pin 5)

8.12.3.18.10 Register description: Function model 1 - ARNC0 with SDC
Motor settling time
Name:
MotorSettlingTime01 to MotorSettlingTime02
The motor settling time determines the minimum time from energizing the motor up to setting the drive bit (DrvOk)
(see "Error status" on page 749). The setting is made in steps of 10 ms.
USINT 1 to 255 10 ms to 2.55 s, default: 10 ms
SDC configuration
Name:
SDCConfig01
This register can be used to enable/disable additional SDC information.
The additional cyclic registers are hidden or shown depending on whether SDC information is disabled or enabled.
It is comparable to the two variants of the ARNC0 function model with and without SDC information.
Data type Values
Bit structure:
0 Trigger edge 0 Rising trigger edge
1 Falling trigger edge
1-5 Reserved 0
6 SDC life sign monitoring 0 Disabled
1 Enabled
7 SDC information1) 0 Disabled
1 Enabled
1) When the "SDC information" bit is enabled, the "EncOK01" bit is shown in the Automation Studio I/O mapping. This bit is linked to the ModulOK bit and
always indicates its value.
Note:
Neither SDC information nor SDC life sign monitoring is permitted to be changed at runtime.
Turn-off delay
Name:
DelayedCurrentSwitchOff01 to DelayedCurrentSwitchOff02
If the "SDC life sign monitoring" on page 763 is triggered (i.e. the net time timestamp is in the past) the motor
is decelerated at nominal current with speed setpoint = 0.
Then the motor is switched off after the delay configured with this register.
USINT 0 to 255 0 to 25.5 ms in steps of 100 ms (default: 100 ms)

Input counter value
Name:
This register is used to indicate the status of the digital inputs and the counter.
Data type Values
Bit structure:
0 ModulePowerSupplyError 0 OK
1 I/O power supply error
1 Reserved 0
2 StatusInput01 x Input status of digital input 1
... ...
7 StatusInput06 x Input status of digital input 6
Lifecycle counter
Name:
LifeCnt
This register is incremented by one with each X2X Link cycle.
Data type Values
SINT -128 to 127
Motor setting - MotorXStep0
Name:
This registers is used to specify the number and direction of steps that should be carried out by the module during
the next X2X cycle.
The value is specified with a resolution of 1/256 of a full step (corresponds to 8-bit microsteps).
The direction of movement is derived from the value's sign:
INT >0 Movement in positive direction in 1/256 full steps
<0 Movement in negative direction in 1/256 full steps
Unlike the ARNC0 function model without enabled SDC information, the motor current is selected using a separate
register (see "Motor current" on page 762).
Home position
Name:
RefPulsePos01 to RefPulsePos02
These 4 registers contain the following:
Home position of the internal position counter This register indicates the home position of the internal position counter.
Home position for the ABR counter This register indicates the home position of the ABR counter.
Data type Values

INT -32768 to 32767
The "Latch Sync" setting in the Automation Studio I/O configuration can be used to select which of the 4 registers
will be addressed by the variables RefPulsePos0x.
Variables in Automation Studio I/O configuration, counter 0x, option "Latch Sync"
Stepper counter 0x shown at ActPos0x ABR counter 0x shown at ActPos0x
RefPulsePos0x Home position of internal position counter Home position of ABR counter
The bits 3/7 in register "Counter configuration" on page 748 are also set for counter 1/2 with the option "Latch Sync":
Bit 3 (counter 1) 0 1

Reference pulse counter
Name:
RefPulseCnt01 to RefPulseCnt02
These 4 registers contain the following:
Reference pulse counter for the internal position counter The reference pulses of the internal position counter are counted in this register.
Reference pulse counter for the ABR counter The reference pulses of the ABR counter are counted in this register.
Data type Values

SINT -128 to 127
The "Latch Sync" setting in the Automation Studio I/O configuration can be used to select which of the 4 registers
will be addressed by the variable RefPulseCnt0x.
Variables in Automation Studio I/O configuration, counter 0x, option "Latch Sync"
Stepper counter 0x shown at ActPos0x ABR counter 0x shown at ActPos0x
RefPulseCnt0x Reference pulse counter Reference pulse counter of ABR counter
for internal position counter
The bits 3/7 in the "Counter configuration" on page 748 register are also set for counter 1/2 with the option "Latch Sync":
Net time of the position value
Name:
ActTime01 to ActTime02
This register contains the net time of the most recent valid position value.
Data type Values
INT -32768 to 32767
Motor current
Motor 1 Motor 2
DriveEnable01 DriveEnable02
BoostCurrent01 BoostCurrent02
StandstillCurrent01 StandstillCurrent02
Bits 0 to 6 of this register can be used to control the motors' current supply.
Data type Values
Bit structure:
Bit Description
0 4 DriveEnable01 DriveEnable02 x Motor powered
1 5 BoostCurrent01 BoostCurrent02 x Maximum current
2 6 StandstillCurrent01 StandstillCurrent02 x Holding current
3 7 Reserved 0
The possible status of bits 0 to 6

StandstillCurrent0x BoostCurrent0x DriveEnable0x Description
x x 0 Motor not supplied with current
0 0 1 Rated current supplied to motor
0 1 1 Maximum current supplied to motor
1 0 1 Holding current supplied to motor

SDC life sign monitoring
Name:
SetTime01 to SetTime02
The module uses SDC life sign monitoring to check whether valid values have been received for the speed setpoint.
SDC life sign monitoring is activated in register "SDC configuration" on page 760 by setting bit 6 (SDCSetTime
= on).
If the specified net time timestamp is in the past, then an error is triggered for the motor axis (only when the motor
is switched on). The module performs the following steps:
1) The CPU is informed of the error using the Drive bit (DrvOk) = 0
2) Braking at configured nominal current with speed setpoint = 0
3) Wait for configured turn-off delay to expire
4) Power off motor
When the timestamp is back within the valid range, the motor can be operated again by a rising edge on the
DriveEnable bit (see section "Motor current" on page 762).
Data type Values
INT -32768 to 32767
Trigger timestamp
Name:
TriggerTime01
This register contains the point in time (net time) of the most recent trigger event. The trigger edge must be con-
figured in register "SDC configuration" on page 760.
Data type Values
INT -32768 to 32767
Trigger counter
Name:
TriggerCnt01
This register contains a cyclic counter that is incremented with each trigger event.
Data type Values
SINT -128 to 127

8.12.3.18.11 Register description: Function model 254 - Bus controller and function model 3 - Ramp
Name:
ConfigOutput03a (holding current 1)
ConfigOutput04a (nominal current 1)
ConfigOutput05a (maximum current 1)
ConfigOutput06a (holding current 2)
ConfigOutput07a (nominal current 2)
ConfigOutput08a (maximum current 2)
current.
Maximum current Current during acceleration phases. In the mode "Referencing during stall" on
page 777, the rated current is always used instead of the maximum current,
even in acceleration phases.
When the current changes to a weaker value (e.g. when transitioning from the acceleration phase to the constant
speed mode), the stronger current is maintained for an additional 100 ms. This is done according to the following
priority regardless of the actual defined values: maximum current before rated current before holding current.
nical data
technical data
Full step threshold

Name:
FullStepThreshold01 to FullStepThreshold02
This register defines the threshold speed, above which the motor is operated in full step mode, and below which
it is operated in microstep mode.
UINT 1 to 65534 Speed in microsteps/cycle.
65535 Motor is always operated in microstep mode
Maximum speed
Name:
MaxSpeed01pos to MaxSpeed02pos
This register defines the maximum speed for the absolute positioning modes (1, -123, -124, -125, -126).
Information:
The setting does not apply to the speed and homing modes (2, -127, -128).
UNIT 0 to 65,535 Speed in microsteps/cycle.

Maximum acceleration
Name:
MaxAcc01 to MaxAcc02
This register defines the maximum acceleration (also applies for homing modes).
UINT 0 to 65,535 Acceleration in microsteps/cycle².
Maximum deceleration
Name:
MaxDec01 to MaxDec02
This register defines the maximum deceleration (also applies for homing modes).
UINT 0 to 65,535 Brake deceleration in microsteps/cycle².
Reversing loop
Name:
RevLoop01 to RevLoop02
This parameter is only used in modes 1, -123, -124, -125, -126 (absolute positioning modes).
If the value for the reversing loop is not equal to 0, the position setpoint is approached directly when coming from
one direction; when coming from the other direction, the position setpoint is initially exceeded by the configured
number of steps before finally moving to the position setpoint. This ensures that the target position is always
approached from the same direction (to avoid mechanical backlash).
The sign of the defined value determines the direction in which the reversing loop runs.
Sign Effective direction
Positive Reversing loop in positive direction of movement
Negative Reversing loop in negative direction of movement

INT -32768 to 32767 Bus controller default setting: 0
Fixed position A
Name:
FixedPos01a to FixedPos02a
This register defines the position to move to in modes -124 (when the digital input is set to 1) and -125.
DINT -2,147,483,648 Bus controller default setting: 0
to 2,147,483,647
Fixed position B
Name:
FixedPos01b to FixedPos02b
This register defines the position to move to in modes -124 (when the digital input is set to 0) and -126.
to 2,147,483,647

Referencing speed
Name:
RefSpeed01 to RefSpeed02
This register sets the speed for homing modes -127 and -128.
UINT 0 to 65,535 Speed in microsteps/cycle.
Referencing configuration
Name:
RefConfig01 to RefConfig02
The homing mode can be set with this register.
SINT -120 Set home position
-121 Homing at rising edge on input DI 4
-122 Homing at falling edge on input DI 4
-125 Homing on rising edge of input DI 3/6 (R pulse).
Bus controller default setting
-126 Homing at falling edge on input DI 3/6 (R pulse)
-127 Homing during stall detection
-128 Immediate homing
Everything else No effect
Stall detection configuration / Mixed decay
Name:
StallDetectConfig01 to StallDetectConfig02
The mixed decay threshold and stall detection sensitivity can be configured in this register.
Bit structure:
0-3 Mixed decay threshold 0 Mixed decay disabled (bus controller default setting)
4-6 Stall threshold 0 Stall detection is disabled (bus controller default setting).
1 to 6 Steps involved in setting stall detection sensitivity
7 Motor load 0 The motor load value is not shown (bus controller default set-
ting).
1 Show value in register "Status word" on page 7781)
1) If this bit is 1, then the motor load value is indicated in bits 13 to 15 of the status word register (otherwise these bits are 0). This value can help when testing
stall detection and "Home during stall" on page 777 mode.
Stall threshold
The "stall threshold" (bits 4 to 6 of this register) can be used to define a threshold value for each axis individually
according to the motor load, beyond which the motor will detect a stall condition.
• It is especially important to be aware that mixed decay mode must be optimized for reliable stall detection.
The higher the load measurement value, the lower the load. This means that a stall condition is detected if the load


Stall detection
Quality
Smooth running
0 2 4 6 8 10 12 14

Stall recognition delay
Name:
StallRecognitionDelay01 to StallRecognitionDelay02
The value in this register is only relevant for "Referencing during stall" on page 777.
A stall is only detected after the time specified here has expired and after the homing procedure has started.
For example, a setting of 4 (and a cycle time of 25 ms) means that a stall will not be detected until 100 ms after
the motor starts moving (start of the homing procedure).
Set to 0 to eliminate delay.
USINT 0 to 255 In cycles, see "General configuration" on page 769.
Name:
UINT 0 to 65535 Minimum speed in microsteps per cycle.
Jolt time
Name:
JoltTime01 to JoltTime02
If a value other than 0 is assigned to this register, then jolt limitation is performed. This is done by averaging the
values for the steps to be carried out (speed setpoint) in each cycle using FIFO memory. The jolt time corresponds
to the number of FIFO elements (0 to 80). If a value greater than 80 is entered, then it will be limited internally to 80.
Changes made while a motor is running will be applied as soon as ...
• the motor has reached the position setpoint (positioning modes only)
• the motor has stopped (all modes)
USINT 0 No jerk time limitation.
Bus controller default setting
1 to 801) Number of FIFO elements
1) Starting with upgrade 1.3.1.1 (firmware version 100); For older versions: 16

General configuration
Name:
GeneralConfig01
Bit 0 of this register can be used to switch the positioning mode. This register can also be used to configure the
cycle time of the motion profile generator.
• 0: "Mode 1: Position mode without extended control word" on page 772
• 1: "Mode 1: Position mode with extended control word" on page 772
Bit structure:
0 Position mode 0 Without extended control word (bus controller default setting)
1 With extended control word
1-2 Cycle time of the motion profile generator1) 00 25 ms (bus controller default setting)
01 10 ms
10 5 ms
11 Reserved
3-7 Reserved 0
1) This parameter is supported starting with upgrade 1.3.1.1 (firmware version 100).
The cycle time for the motion profile generator is configured with this cycle. This cycle time affects the unit for specifying the speed and acceleration:
• Unit for speed: Microsteps/Cycle

• Unit for acceleration: Microsteps/Cycle2
Limit switch configuration
Name:
LimitSwitchConfig01 to LimitSwitchConfig02
This register configures the behavior of the limit switches.
Bit structure:
0-1 Negative limit switch 00 Switched off (bus controller default setting)
01 Active if low
10 Reserved
11 Active if high
2-3 Positive limit switch 00 Switched off (bus controller default setting)
01 Active if low
10 Reserved
11 Active if high
4-6 Reserved 0
7 Direction monitoring 0 Off (bus controller default setting)
1 On
Negative/Positive limit switch:

When one of the limit switches is reached, a warning is triggered and the speed is decelerated to 0. The "Device
Control State Machine" state is not changed. This keeps current flowing to the motor.
The error that occurred can be read from the Error code register. Normal operation can be resumed by acknowl-
edging the warning. This will not restrict motor movement to a specific direction and the limit switch will not be
triggered until the next active edge.
Exceeding the limit switch while braking
The limit switches are not linked with the corresponding direction of movement. If the limit switch is exceeded,
another error will be triggered when reversing after acknowledging the initial error.

Direction monitoring
If this function is enabled, then the two limit switches will be linked with the respective direction of movement. This
means that the negative limit switch is only triggered in the negative direction and the positive limit switch only in
the positive direction of movement (specified direction).
This prevents specifying a movement in the wrong direction when direction monitoring is enabled and limit switches
are active.
Warning!
If the motor is wired incorrectly with this configuration (wrong direction of movement), then the limit
switch will not be triggered and the actual correct direction of movement will be denied. This will also
be the case when the limit switch connections are reversed.
Software limit
Name:
PositionLimitMin01 to PositionLimitMin02
PositionLimitMax01 to PositionLimitMax02
This register configures software limits. The function is active if at least one of the two registers is not equal to zero.
These limits are effective in all positioning modes. Position overrun is not possible when this function is enabled.
Movement is always contained within the two limits.
If a position is specified that violates the minimum/maximum software limit, the "Internal limit active" bit will be
set in the "Status word" on page 778 register. The motor movement will be stopped until a position is specified
within the limits.
The "Internal limit active" bit will also be set in the "Status word" register if there is a configuration error (minimum
> maximum).
to 2,147,483,647
Information:
The software limits will only be monitored when using the following CANopen bus controllers:
• X20BC0043-10
• X20BC0143-10
• X67BC4321-10
• X67BC4321.L08-10
• X67BC4321.L12-10
8.12.3.18.11.2 Reading back the configuration
Reading back the holding current, nominal current and maximum current
Name:
ConfigOutput03aRead (holding current 1)
ConfigOutput04aRead (nominal current 1)
ConfigOutput05aRead (maximum current 1)
ConfigOutput06aRead (holding current 2)
ConfigOutput07aRead (nominal current 2)
ConfigOutput08aRead (maximum current 2)
These registers are used to read the respective current values in percent.
Maximum current Current during acceleration phases
Data type Values Unit

USINT 0 to 255 Percentage of module nominal current (100% corresponds to the rated current of the motor bridge
power unit listed in the technical data)

Set position/speed
Name:
AbsPos01 to AbsPos02
This register is used to set position or speed, depending on the operating mode.
• Position mode (see "Mode" on page 772): Cyclic setting of the position setpoint in microsteps. In this
mode, one micro-step is always 1/256 full-step.
• Speed mode (see "Mode" on page 772): In this mode, this register is considered a signed speed setpoint.
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Control word
Name:
MpGenControl01 to MpGenControl02
This register can be used to issue commands based on the module's state.
Data type Values
Bit structure:
0 Switch on x
1 Enable voltage x
2 Quick stop x
3 Enable operation x
4-6 Mode-specific x
7 Fault reset x
8 Stop1) x
9 - 10 Reserved 0
11 Motor ID trigger 0 No effect
1 Rising edge: Motor ID trigger2)
12 Warning reset 0 No effect
1 Rising edge: Reset warnings
13 Undercurrent detection 0 Disable current error detection (default)
1 Enable current error detection
14 ABR counter sync/async 0 Default:
• Internal position counter, cyclic
• ABR counter, acyclic
1 • Internal position counter, acyclic
• ABR counter, cyclic
15 Stall detection 0 Disable stall detection (default)
1 Enable stall detection
1) The "Halt" bit is only evaluated when the extended control word is enabled (see "General configuration" on page 769).
2) This bit can be used to trigger a measurement of the motor ID. Keep in mind that the application must ensure that the conditions for measurement are fulfilled
(see table in the "Motor identification" on page 779 register).

Mode
Name:
MpGenMode01 to MpGenMode02
SINT 0 No mode selected
1 Depending on bit 0 in the "General configuration" on page 769 register, the position mode will
behave as follows:
• Position mode without extended control word: Move to target position as soon as the
target position changes
• Position mode with extended control word: Move to position setpoint as described in
"Mode 1: Position mode with extended control word" on page 772
2 Speed mode: Constant speed
-120 Set reference position
-121 Remaining distance mode
-122 Set actual position
-123 Move to target position when external input set
-124 Two-position module
-125 Move to fixed position A (position set acyclically)
-126 Move to fixed position B (position set acyclically)
-127 Positive homing (see also "Referencing configuration" on page 766)
-128 Negative homing (see also "Mode -127/-128: Positive / Negative referencing" on page 777)
Information:
For all modes: The "Target reached" bit is set in the "Status word" on page 778 register when the
current action is finished (i.e. when the position or speed is reached, depending on the mode).
A new position or speed can be specified even before the current action is finished.
Mode 1: Position mode
The position setpoint is specified in the "Set position/speed" on page 771 register. The motor is then moved to this
new position. This is done with a ramp function that accounts for the defined maximum speed and acceleration
values.
The position setpoint can also be changed during an active positioning procedure.
The position setpoint is specified in microsteps (1/256 of a full step).
If bit 0 in the "General configuration" on page 769 register is 0 (no extended control word), then the position setpoint
will be applied as soon as it is different from the current position. Then the new position is used for the movement.
However, if bit 0 in the "General configuration" on page 769 register is set to 1 (extended control word), then the
position setpoint will be applied as described under "Mode 1: Position mode with extended control word" on page
772.
Mode 1: Position mode with extended control word
Position mode with extended control word behaves like "Position mode 1" on page 772 as described previously
(without the extended control word), but the new position setpoint ("Position/Speed" on page 771 register) is applied
according to the "extended control word" on page 773.

Extended control word
This register can be used to issue commands based on the module's state (see "Ramp function model operation"
on page 782).
Data type Values
Bit structure:
0-3 Corresponds to the standard Control word x
4 New setpoint 0 Do not apply target position
1 Apply target position
5 Change set immediately 0 Complete current positioning movement and then start next po-
sitioning movement
1 Interrupt current positioning movement and then start next posi-
tioning movement
6 abs / rel 0 Position setpoint is an absolute value
1 Position setpoint is a relative value
7 Corresponds to the standard Control word x
8 Stop1) 0 Execute positioning
1 Stop axis with deceleration
9 - 15 Corresponds to the standard Control word x
1) This bit applies to all modes.
Extended status word
The bits in the status word reflect the status of the state machine (for a detailed description, see "Status word" on
page 783 and "State machine" on page 784).
Data type Values
Bit structure:
0-9 Corresponds to the standard Status word x
10 Target reached, depending on bit 8 (Halt) in the Control word If Halt = 0
register 0 Position setpoint not reached
1 End position reached
If Halt = 1
0 Axis decelerating
1 Axis speed = 0
11 Corresponds to the standard Status word x
12 Setpoint acknowledge 0 Ramp generator did not apply the position value
1 Ramp generator applied the position value
13 - 15 Corresponds to the standard Status word x

Position setting
The position setpoint can be defined in 2 different ways:

Type of setpoint definition Description
Single setpoint Once the position setpoint is reached, the Target reached bit in the Status word register is set. Then a new position setpoint is
defined. The drive stops at each position setpoint before starting the movement to the next position setpoint.
Set of setpoints Once a setpoint has been reached, the movement to the next setpoint is started immediately without stopping the drive. It is
therefore not possible to initiate a new positioning movement by transferring a new position setpoint during an active positioning
movement.
The two modes "Single setpoint" and "Set of setpoints" are controlled by the timing of bits New setpoint and Change
set immediately in the "extended control word" on page 773 and Setpoint acknowledge in register "Extended control
word" on page 773.
These bits can be used to create a Request-Response mechanism. This makes it possible to specify a position
setpoint while previous setpoint is still being processed.
Transferring the position setpoint
Data (position setpoint)

②
New setpoint
③ ⑤
Ⓑ
Change set immediately
Ⓐ
Setpoint acknowledge
① ④ ⑥
Figure 58: Principle for applying the setpoint

Transferring a new setpoint:
1 When the Setpoint acknowledge bit in the "Extended status word" on page 773 register is 0, the module
will accept a new position setpoint.
2 The new target position is specified in register "Set position/speed" on page 771.
3 A rising edge on bit New setpoint in the extended control word indicates that the new target position in
register "Set position/speed" on page 771 is valid and can be used for the next positioning movement.
4 Once the module has received and saved the new position setpoint, the Setpoint acknowledge bit in the
Status word register is set to 1.
5 Now the controller can reset the New setpoint bit to 0.
6 Then the module resets the Setpoint acknowledge bit to 0 to signal when a new position setpoint is ac-
cepted.
"Single setpoint" mode

When the Change set immediately bit is set to 0 (Ⓐ in figure "Principle for applying the setpoint"), then the module
is operating in Single setpoint mode. This mechanism results in a speed of 0 when the motor reaches position
setpoint x1 at time t1. After the controller has been notified that the setpoint has been reached, the next setpoint
x2 will be processed at time t2 and reached at t3.
v2
v1
t0 t1 t2 t3
Figure 59: Ramp in Single setpoint

"Set of setpoints" preset position value

When the Change set immediately bit is set to 1 (Ⓑ in figure "Principle for applying the setpoint"), then the module
is operating in Single setpoint mode. This means that the module receives the first position setpoint at t0. A second
position setpoint is received at the time t1. The drive immediately adapts the current movement to the new setpoint.
v2
v1
t0 t1 t2
Figure 60: Ramp in Set of setpoints
Relative position setting
When the abs / rel bit in the Extended control word register is set, then the position setpoint is interpreted as a
relative value. At each New setpoint trigger, the position setpoint will be increased by this value (or decreased if
the value is negative).
If the mode changes between the position settings, relative movement will then proceed starting at the last specified
position. The position setpoint mode is initialized with 0 when the module is started.
Mode 2: Speed mode - Constant speed (pos./neg.)
The value in the "Position/Speed" on page 771 register is now interpreted as the speed setpoint (microsteps/ cycle).
Observing the maximum permissible acceleration, the motor moves with a ramp to the desired speed setpoint and
maintains this speed until a new speed setpoint is specified.
Values are allowed within the range -65535 to 65535. When a value is entered outside of this range, it is readjusted
to these limits.

Mode -120: Set home position
This mode is supported starting with upgrade 1.3.1.1 (firmware version 100).
The current value for the actual position is modified so that the position specified by the "Position/Speed" on page
771 register is the home position. If you subsequently move to this position, the motor is at the home position.
The home position in the "Home position" on page 780 register is also set to this value.
Before this mode is called, the motor must be at a standstill and the home position must have been determined
using "Positive / negative homing" on page 777 mode. In order to set the position, the "State machine" on page
784 must be in state "Operation enable".
Mode -121: Remaining distance mode (like mode 1)
The number of steps defined in the "Fixed position A" on page 765 register are added to the current position and
the resulting position is approached at a rising/falling edge on digital input 3.
Note:
Steps are not added to the target position, but rather to the current position at the moment the trigger
occurs.
Negative values are also allowed for the offset defined in "Fixed position A" on page 765.
New position setpoints are no longer accepted in the "Position/speed" on page 771 register after the trigger event.
There must first be a switch made to mode 0 and then back to mode -121.
The "Target reached" bit in the "Status word" on page 766 register is not set to 1 until the end position (after the
trigger event) has been reached.
The "homing configuration" on page 766 determines whether a rising or falling edge of the digital input is used
as a trigger.
The Reversing loop is not enabled in this mode (i.e. any configured values not equal to 0 are ignored).
Mode -122: Set the actual position
The position setpoint set in the "Position/Speed" on page 771 register is accepted as the current actual position in
the internal position counter when the state machine is in the "Operation Enable" state.
Before this mode is started, the motor must be at a standstill and physically located at the point for which the
position being set should be applied.
Mode -123: Move to the target position when the external input is set
The position setpoint defined in the "Position/speed" on page 771 register is moved to when a rising edge occurs
on the corresponding digital input.
A new position setpoint is not accepted until another rising edge occurs on the corresponding digital input. This
can also occur during the active positioning procedure and will be applied immediately.
Note:
Corresponding digital input
• For Motor 1: DI 3 (connector 3, pin 5)

Mode -124: Two position mode
The positions "Fixed position A" and "Fixed position B" are defined in the acyclic registers.
Value 1 on the respective digital input starts a movement to fixed position A. Value 0 starts a movement to fixed
position B. It is also possible to switch between the two during an active positioning movement.
Note:
Corresponding digital input
Mode -125/-126: Move to fixed position X
The purpose of these modes is to enable a virtual switch from speed mode to position mode, which otherwise is
not possible because of the shared use of the register for position and speed setpoints.
• Mode -125: "Fixed position A" on page 765
• Mode -126: "Fixed position B" on page 765
Mode -127/-128: Positive / Negative referencing
Mode -127 and -128 are used to select which direction to move.
The motor must be at a standstill before switching from another mode to one of the homing modes.
If the referencing condition occurs, then the motor stops and the values of the position counter and ABR counter
valid at the moment when the referencing condition occurs are written to the "Referenced zero position" on page
780 register.
In the "referencing configuration" on page 766 you must specify whether referencing should occur at low/high level
on the digital input, during stall or unconditionally.
Referencing via digital input

Case 1: Active referencing level not yet reached → Motor not yet at end position:
Movement continues at the referencing speed in the referencing direction until the active level for "Stop referencing"
is at the input again.
Case 2: Active referencing level already reached → Motor at end position:
Movement continues at the referencing speed against the referencing direction until the active level for "Stop
referencing" is no longer at the digital input. Movement continues at homing speed in the homing direction until the
active level for "homing-stop" is on the digital input again.
Referencing during stall

Movement continues in the referencing direction until a stall is detected. When a stall is detected, the value of the
position counter is entered in the "Referenced zero position" on page 780 register within one millisecond. The
motor is then stopped abruptly (not using the deceleration ramp). However, it can take up to 25 ms to stop the
motor because the ramp generator runs with a configurable internal cycle of up to 25 ms.
In this mode, the rated current is always used instead of the maximum current, even in acceleration phases.
To test the response behavior of this homing mode, the motor load value used for identifying a stall can be made
visible in the status word (see "Stall detection configuration / Mixed decay" on page 766).
Unconditional referencing (immediate)

Immediate referencing: The current values of the position counter and of the ABR counter are immediately entered
in register "Homed zero position" on page 780, no motor movement.)

Current position (cyclic)
Name:
AbsPos01ActVal to AbsPos02ActVal
This cyclic register contains the current position.
Default: Value of the internal position counter, can be changed to ABR counter
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Status word
Name:
MpGenStatus01 to MpGenStatus02
The bits in this register reflect the state of the state machine. For a more detailed description, see "Status word"
on page 783 and "State machine" on page 784.
Bit structure:
0 Ready to switch on x
1 Switched on x
2 Operation enabled x
3 Fault (error bit) x
4 Voltage enabled x
5 Quick stop x
6 Switch on disabled x
7 Warning x
8 Reserved 0
9 Remote 1 Always 1 because there is no local mode for the SM module
10 Target reached x
11 Internal limit active 0 No limit violation
1 Internal limit is active (upper or lower software limit violated)
12 Mode-specific x
13 - 15 Reserved / Motor load value 0 Always 0 when bit 7 in the "Stall detection configuration / Mixed
decay" on page 766 register is set to 0.
x Returned motor load value
Input status
Name:
InputStatus
This register indicates the logical states of digital inputs.
Data type Values
Bit structure:
0 Digital input 1 0 or 1 Input state - Digital input 1
... ...
5 Digital input 6 0 or 1 Input state - Digital input 6
6-7 Reserved 0

Motor identification
Name:
Motoridentification01 to Motoridentification02
This register is used to identify the connected motor type for service purposes and to differentiate between motors
in the application. Following measurement, this register contains the time [µs] needed to apply a current increase
of ΔI = 1 A to a motor winding.
This depends on:
• Operating voltage
Notes
a) Motor is at standstill
b) The motor must be in a half-step position (phase A fully powered, phase B not powered). This means the internal position counter on the SM
module must have a value that fulfills the following conditions:
• Full steps are divisible by 4
• Microsteps = 0
2) Condition 1b) is fulfilled after a the SM module is reset or powered on. Immediately afterwards, when the holding current is applied to the motor for the
first time (at standstill), the duration for applying the current is measured. This is therefore a suitable time to read the motor identification register in the
application.
3) The current range from approximately 1/3 of the rated current up to the rated current is used as operating range for determining the motor identifier.
Data type Motor ID values Function

UINT 0 No motor identifier available (after turning on for as long as the measurement conditions are not
met)
1 to 32767 Valid range of values for the motor ID register (in µs)
65504 to 65519 Ground fault: Motor identification not possible
65528 Motor ID trigger not possible
• Motor has no power applied
• Motor in movement
• Rated current is set to 0A
• Ground fault present
65529 Invalid value: Underflow
65530 Overtemperature: Measurement not possible
65532 Open line: Measurement not possible
65533 Motor position incorrect: Measurement not possible
65534 Invalid value: Overrun
65535 Measurement in progress
Ground fault detection

When the motor is powered on, a ground fault check is performed before motor identification. Error numbers have
been added in the motor identification register for the event of a ground fault error (values 65504 to 65519 in the
table above).
Temperature
Name:
Temperature
This register outputs the internal module temperature in °C.
Data type Values
SINT -128 to 127

Homing zero position
Name:
RefPos01CyclicCounter to RefPos02CyclicCounter
RefPos01AcyclicCounter to RefPos02AcyclicCounter
After a homing procedure, the homing point for the cyclic or acyclic position counter can be read back with these
registers (either the internal position counter or ABR counter depending on bit 14 of register "Control word" on
page 771).
The following two registers are provided for each motor:
• Referenced zero position for cyclic counter
• Referenced zero position for acyclic counter
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Current position (acyclic)
Name:
AbsPos01ActValAcyclic to AbsPos02ActValAcyclic
This acyclic register contains the current position.
Defa: Value of the ABR counter, can be changed to internal position counter
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Read back control word
Name:
ControlReadback01 to ControlReadback02
This register can be used to read the content of the "Control word" on page 771 register.
Data type Values
UINT 0 to 65,535
Read back mode
Name:
ModeReadback01 to ModeReadback02
This register can be used to read the content of the "Mode" on page 772 register.
Data type Values
SINT -128 to 127

Error code
Name:
ErrorCode01 to ErrorCode02
The cause of an error or warning can be read in this register.
Data type Error code Error type Priority Description
UINT 0x0000 - - No error
0x3000 Error High Voltage
0x4200 Error : Overtemperature
0xFF20 Warning : Negative limit switch
:
0xFF21 Warning Positive limit switch
:
0x2300 Warning : Overcurrent
0xFF00 Warning : Current error1)
0xFF01 Warning Low Stall 2)
1) A current error is only detected if bit 13 = 1 in the control word (current error detection enabled).
2) Stall is only detected if bit 15 = 1 in the control word (stall detection enabled).
Information regarding the handling of errors and warnings:

• Bit 3 (Fault) and bit 7 (Warning) in the "status word" on page 778 can be used to query whether an error
or a warning was reported in the Error code register.
• Bit 7 (Fault Reset) and bit 12 (Warning Reset) in the "control word" on page 782 are used to acknowledge
pending errors and warnings.
• If two or more errors/warnings are pending, the one with the highest priority (the order in the table above)
will be displayed in the Error code register.

8.12.3.18.11.4 Ramp function model operation
Control for this model has been based on the CANopen communication profile DS402.
Commands for controlling the modules are written to the "Control word" on page 782. The current module state
is returned to the "Status word" on page 783 register. The function mode (absolute position, constant speed,
homing, etc.) is set in the "Mode" on page 772 register.
Control word
Control word bits and their state for the commands of the state machine:
ABR counter sync/async
Current error detection

Stall detection warning
Enable operation
Motor ID trigger
Mode-specific
Mode-specific
Mode-specific
Enable voltage
Warning reset
Quick stop
Fault reset
Switch on
Reserved
Reserved
Stop 2)
Com-
mand
Bit1) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Shut- x x x x x 0 0 x 0 x x x x 1 1 0
down
Switch x x x x x 0 0 x 0 x x x 0 1 1 1
on
Disable x x x x x 0 0 x 0 x x x x x 0 x
voltage
Quick x x x x x 0 0 x 0 x x x x 0 1 x
stop
Disable x x x x x 0 0 x 0 x x x 0 1 1 1
opera-
tion
Enable x x x x x 0 0 x 0 x x x 1 1 1 1
opera-
tion
Fault x x x x x 0 0 x ↑ x x x x x x x
reset
1) x ... Any; ↑ ... Rising edge

2) Bit 8 (stop) is only evaluated if the extended control word is enabled in register "General configuration" on page 769.
Bits 0, 1, 2, 3 and 7 These bits control the state of the "State machine" on page 784 according to the commands in the table above.
(light gray in the previous table)
Stop 0 ... Perform motor movement
1 ... Stop axis with deceleration
This bit is only evaluated when the extended control word is activated in the "General configuration" on page
769 register.
Motor ID trigger A rising edge enables the motor ID measurement.
Warning reset A rising edge resets warnings (no effect on errors, which are reset using "Fault Reset"; the state machine is not
affected by this bit)
Fault reset A rising edge resets errors and warnings (see "State machine" on page 784)
Current error detection 0 ... Current error detection disabled
1 ... Current error detection enabled
ABR counter sync/async 0 ... Value of the ABR counter on the "Current position (acyclic)" on page 780 register.
Internal position counter of the ramp generator on the "Current position (cyclic)" register.
1 ... Value of the ABR counter on the "Current position (cyclic)" on page 778 register.
Internal position counter of the ramp generator on the "Current position (acyclic)" register.
Stall detection 0 ... Stall detection disabled
1 ... Stall detection enabled

Status word
The individual bits of this register and its states depend on the current state of the state machine:
1)
1)
1)
Reserviert / MotorLoadBit 2
Ready to switch on
Switch on disabled
Operation enabled
Voltage enabled
Target reached
Mode-specific
Int. limit active
Switched on
Quick stop
Reserved
Warning
Remote
Fault
Status
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Not ready to switch on x x x x x x 1 0 x 0 x 0 0 0 0 0
Switch on disabled x x x x x x 1 0 x 1 x 0 0 0 0 0
Ready to switch on x x x x x x 1 0 x 0 1 0 0 0 0 1
Switched on x x x x x x 1 0 x 0 1 1 0 0 1 1
Operation enable x x x x x x 1 0 x 0 1 1 0 1 1 1
Quick stop active x x x x x x 1 0 x 0 0 1 0 1 1 1
Fault reaction active x x x x x x 1 0 x 0 x 0 1 1 1 1
Fault x x x x x x 1 0 x 0 x 0 1 0 0 0
1) If bit 7 is set to 1 in the "Mixed Decay / Stall Detection" on page 766 register, then the motor load value is returned in bits 13-15 of the status word. Otherwise
these bits are always 0.
Information about the status word:

Bits 0,1,2,3,5 and 6 These bits are set according to the current state of the "State machine" on page 784.
Voltage enabled Becomes 1 as soon as the motor is powered
Warning Becomes 1 if a warning is detected ("Overcurrent", "Undercurrent"). The type of warning is indicated in the "Error
code" on page 781 register. The highest priority error / warning is shown in each case, with the priority corre-
sponding to the order in the respective table. Warnings can be reset with a rising edge on the "Warning reset"
bit in the control word.
Remote Always 1 since there is no local mode on the SM module
Target reached1), depending on bit 8 (Halt) in If Halt = 0 If Halt = 1
the register Control word In modes 1, -123, -124, -125 and -126 In all modes:
(absolute positioning): 0...Axis decelerating
0...Positioning begins 1...Axis speed = 0
1...Target has been reached
In mode 2 (constant speed):
0...Motor accelerates/brakes
1...Speed setpoint reached
In modes -127 and -128 (homing):
0...Homing started
1...Homing ended
In mode -122 (set actual position):
The bit briefly becomes 0 and immediately becomes 1
again as soon as the position is set.
Internal limit active 0 ... No limit violation
1 ... Internal limit is active (upper/lower software limit violated)
1) If Halt has not been activated in the "General configuration" on page 769 register, then "Target Reached" behaves the same as when Halt = 0.

State machine
The motor is controlled according to the state machine illustrated below. After the module is started, the state
machine automatically changes to the state "Not ready to switch on". The application then operates the state
machine by writing commands to the "Control word" on page 782.
The state machine successively reaches the states "Ready to switch on", "Switched on" and "Operation enable"
by writing the consecutive commands "Shutdown", "Switch on" and "Enable operation".
Information:
Motor movements are not performed according to the setting in the "Mode" on page 772 register (see
section ) until the "Operation enable" state.
Module start Fault condition

(e.g. Temperature too high)
Not ready to switch on Fault reaction active
(Internal reset)
Switch on disabled Fault reset Fault
Disable Voltage
Disable Voltage Shutdown Quick stop Quick stop executed
Ready to switch on
Disable Voltage
Quick stop Switch on Shutdown
Switched on Quick stop active
Shutdown Enable operation Disable operation Enable operation
Operation enable
Quick stop
State change Description

Not ready to switch on This state change occurs automatically after starting the module and internal initialization has taken place.
→ Switch on disabled
Switch on disabled This state change is brought on by the Shutdown command.
→ Ready to switch on No others actions are performed.
Ready to switch on This state change is brought on by the command Disable voltage or Quick stop.
→ Switch on disabled No others actions are performed.
Switched on This state change is brought on by the command Disable voltage or Quick stop.
→ Switch on disabled The motor voltage is switched off immediately.
Ready to switch on This state change is brought on by the Switch on command.
→ Switched on The motor voltage is switched on.
When this state change occurs for the first time since the module is started, the motor ID measurement is per-
formed before the Switched on state is achieved. This can take approximately 1 second.
Switched on This state change is brought on by the Shutdown command.
→ Ready to switch on The motor voltage is switched off immediately.
Switched on This state change is brought on by the Enable operation command.
→ Operation enable Motor movements are now performed depending on the defined mode.
Operation enable This state change is brought on by the Disable operation command.
→ Switched on If in motion, the motor is decelerated with the configured deceleration.
Motor voltage remains on in the Switched on state.
Operation enable This state change is brought on by the Shutdown command.

Operation enable This state change is brought on by the Disable voltage command.
→ Switch on disabled Motor voltage switched off.
It is strongly recommended to only make this state change on a stopped motor since regeneration on a motor
running at no load can cause an overvoltage error on the DC bus (0x3210).
Operation enable This state change is brought on by the Quick stop command.
→ Quick stop active If in motion, the motor is decelerated with the configured deceleration. During the deceleration, the state machine
remains in the Quick stop active state. Once the motor is at standstill, the state automatically changes to the
Switch on disabled state.
While the state machine is in the Quick stop active state, the Enable operation command can be used to switch
it back to the Operation enable state.
→ Fault reaction active This state change is brought on when an error occurs and cannot be triggered by a command from the user. It
can be triggered by error types classified as an "Error" (see "Error code" on page 781). (Other error types listed
as "Warning" only cause the "Warning" bit to be set in the status word and do not cause a state change in the
state machine.)
Motor voltage is switched off and the state machine then changes immediately to the Fault state.
The type of error is listed in the Error code register (see the table under "Error code" on page 781). The highest
priority error is shown. The priority corresponds to the order in the error code table.
Fault This state change is brought on by the Fault reset command. However, the state only changes if no more errors
→ Switch on disabled are present when the command is written. All errors and warnings are reset. The error code register contains 0
or the warning code if a warning is still present.
mands.
Minimum cycle time
Standard function model 250 μs
ARNC0 function model 250 μs
Ramp function model 250 μs
Function model ARNC0 250 μs
Ramp function model
Inputs 250 μs
Outputs1) 25 ms
1) Depends on the configuration of the "motion profile generator" on page 769.

8.12.4 X67SM4320
This stepper motor module is used to control up to 4 stepper motors with a rated voltage of 24 VDC ±25% at a
motor current up to 1 A (1.5 A peak).
By individually adjusting the coil currents, the motor is only operated with the current it actually needs. This sim-
plifies selection of the available motors and prevents unnecessary heating. Because the latter reduces energy
consumption and thermal load, the effects are positive on the lifespan of the complete system. Complete flexibility
is achieved by using the values for holding current, boost current and continuous current, which are completely
independent of each other. The current for microsteps is automatically adjusted to the configured current values.
A stall detection mechanism is integrated to analyze the motor load. The stall is recognized using a configurable
threshold. This allows an overload or motor standstill to be detected precisely in many different types of applications.
■ 4 stepper motors, 24 VDC ±25%, 1.0 A (1.5 A peak)
■ Current value resolution of 1%
■ Boost, nominal and holding current configured independent of each other
■ 38.5 kHz PWM frequency
■ 256 microsteps
■ Stall detection
■ Complete integration in Automation Studio and CNC applications
■ Function model 3 (ramp) is based on the CANopen communication profile DS402
8.12.4.2 Order data

Motor modules
X67SM4320 X67 stepper motor module, I/O power supply 24 VDC ±25%, 4
motor connections, 1 A continuous current, 1.5 A peak current
Table 149: X67SM4320 - Order data



Short description
I/O module 4 full bridges for controlling stepper motors
General information
B&R ID code 0x1DCC
Status indicators "Motor active" per channel, bus function
Diagnostics
Motor status Yes, using status LED and software
Connection type
Power consumption
Internal I/O 2W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Motor bridge - Power unit
Quantity 4
Type 2-phase bipolar stepper motor
Nominal voltage 24 VDC ±25%
Nominal current 1A
Max. current / motor 1.5 A for 2 s (after a recovery time of at least 10 s at maximal 1 A)
Max. current / module 6A
Controller frequency 38.5 kHz
Step resolution 256 microsteps per full step
I/O power supply
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 195 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm


Status indicator 1:
On Off X2X Link supplied, communication is functioning
Off On X2X Link supplied, but X2X Link communication is not functioning
On On Preoperational: X2X Link supplied, module not initialized
I/O LEDs: Status display
Yellow On Motors 1 to 4 are active
Left arrow Color Status Description
On RUN mode
Right arrow Color Status Description
Status indicator 2:
Left: Green, Right: Red On Error or reset status
X2X Link X2X Link

Stepper motor outputs 1 to 2 Stepper motor outputs 3 to 4
I/O power supply 24 to 38 VDC I/O power supply 24 to 38 VDC

8.12.4.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
The maximum current per supply is 4 A (in summation 8 A)!
Connection Pinout
2 Pin Name
1 1 24 VDC ±25%
2 24 VDC ±25%
4
3 GND
4 GND
3
C → Connector (male) in module supply
D → Connector (female) in module routing
2
1
8.12.4.8 Pinout
Shield
1 A
X1 to X4 2 A\
M12 ① 3 B
4 B\
5 Shield


M12, 5-pin Pinout

Connection X1/X2 Pin Name
1 Stepper motor A
1
2 2 Stepper motor A\
3 Stepper motor B
5
4 Stepper motor B\
5 Shield
3
3
2
4
1
5
Connection X3/X4
Warning!
Information:
(emissions).
A\
1 2
M A 4
5
3
Connection x
B B\
24 V ±25%
HA\ HB
X1 to X4
A\
LA\ LB
A 1 2
5
HA 4 HB\
3 B
B\
LA LB\
Comp A Comp B

24 V ±25% Monitoring of the I/O power supply
C D
2 2
1 4 4 1
Transil diode
48 V 3 3
VDR
GND
<30 V
8.12.4.12 Monitoring the module supply
The module supply voltage is continually monitored. Its status can be read. The error "Module power supply error"
occurs when the voltage falls below 18 V or rises above 30 V.
Overvoltage cutoff
If the supply voltage on the module exceeds 30 V (e.g. due to feedback during generator operation), then the motor
output is switched off. The motor output is reactivated as soon as the supply voltage is back within the valid range.

8.12.4.15 Power supply dimensioning
The motor's current consumption depends on the defined motor currents, the available power and the actual motor
being used. An increase in the motor load causes an increase in the current consumption.
An increase in the motor load causes an increase in the effective current of the module supply.

8.12.4.16 Protection
The power supply line should be protected by a circuit breaker or a fuse. In general, dimensioning the supply line
and overcurrent protection depends on the structure of the power supply (modules can be connected individually
or in groups).
Information:
The effective current for the power supply depends on the load but is always less than the motor
current. Make sure that the maximum nominal current of 8 A (4 A per pin) is not exceeded on the power
supply terminals of the power unit.
When choosing a suitable fuse, the user must also account for characteristics such as aging effects, temperature
derating, overcurrent capacity and the definition of the rated current, which can vary by manufacturer and type. In
addition, the fuse that is selected must also be able to handle application-specific characteristics (e.g. overcurrent
that occurs in acceleration cycles).
The cross section of the power mains and the rated current of the overcurrent protection used are chosen according
to the current load so that the maximum current load for the cable cross section selected (based on the type of
wiring, see table) is greater than or equal to the current load in the power mains. The rated current of the overcurrent
protection must be less than or equal to the maximum current load for the cable cross section selected (based
on the type of wiring, see table):
IMains ≤ Ib ≤ IZ
Mains ≤ Fuse ≤ Line/cable
Current load of the cable cross section IZ / rated current of the over current protection Ib [A] according to type of installation in an
Wire cross-section ambient air temperature of + 40°C in accordance to EN 60204-1
[mm²] B1 B2 C E
1.5 13.5 / 13 13.1 / 10 15.2 / 13 16.1 / 16
2.5 18.3 / 16 16.5 / 16 21 / 20 22 / 20
Table 151: Cable cross section of the mains power input depending on the type of wiring
The tripping current of the fuse cannot exceed the rated current of the fuse Ib.
Type of wiring Description
B1 Wires in conduit or cable duct
B2 Cables in conduit or cable duct
C Cables or wires on walls
E Cables or wires on open-ended cable tray
Table 152: Type of wiring used for the mains power input

version.
8.12.4.17.2 Function model 0 - default

Configuration
64 ConfigOutput01 UINT ●
(stall threshold)
(module configuration)
(holding current for channel 1)
(nominal current for channel 1)
(maximum current for channel 1)
(mixed decay threshold)
92 StallDetectMinSpeed01 UINT ●
102 SdcConfig01 USINT ●
103 MotorSettlingTime01 USINT ●
107 DelayedCurrentSwitchOff01 USINT ●
Communication
20 Motor1Step1 UINT ●
ErrorReset01 Bit 0
... ...
ErrorReset04 Bit 3
74 MotorLoad UINT ●
0 Position1Sync INT ●
8 Motor error UINT ●

StallError01 Bit 0
OvertemperaturError01 Bit 1
... ...
StallError04 Bit 12
OvertemperaturError04 Bit 13
10 Module status USINT ●
8.12.4.17.3 Function model 0 - Standard with SDC

Configuration
(stall threshold)
(module configuration)
(mixed decay threshold)
102 SdcConfig01 USINT ●
Communication
73 LifeCnt SINT ●
112 SetTime01 INT ●
74 MotorLoad UINT ●
0 ActPos01 INT ●
2 ActPos02 INT ●
4 ActPos03 INT ●
6 ActPos04 INT ●

220 ActTime01 INT ●
100 Motor current UINT ●
DriveEnable01 Bit 0
... ...
DriveEnable04 Bit 12
ClearError01 Bit 0
... ...
ClearError04 Bit 3
10 Module status USINT ●
DrvOk01 Bit 0
... ...
DrvOk04 Bit 3
8 Motor error UINT ●
StallError01 Bit 0
... ...
StallError04 Bit 12

8.12.4.17.4 Function model 254 - Bus controller and function model 3 - Ramp

Configuration
48 - ConfigOutput03a USINT ●
52 - MaxSpeed01 UINT ●
54 - MaxAcc01 UINT ●
56 - MaxDec01 UINT ●
248 - MaxiDec04 UINT ●
58 - RevLoop01 INT ●
60 - FixedPos01a DINT ●
64 - FixedPos01b DINT ●
68 - RefSpeed01 UINT ●
70 - RefConfig01 SINT ●
51 - StallDetectConfig01 USINT ●
74 - StallRecognitionDelay01 USINT ●
78 - StallDetectMinSpeed01 UINT ●
75 - JoltTime01 USINT ●

308 - GeneralConfig01 USINT ●
448 - PositionLimitMin01 DINT ●
452 - PositionLimitMax01 DINT ●
Communication
0 0 AbsPos01 DINT ●
6 6 MpGenMode01 SINT ●
4 4 MpGenControl01 UINT ●
0 0 AbsPos01ActVal DINT ●
8 8 AbsPos02ActVal DINT ●
16 16 AbsPos03Val DINT ●
24 24 AbsPos04Val DINT ●
4 4 MpGenStatus01 UINT ●
86 - RefPos01CyclicCounter DINT ●
80 - ControlReadback01 UINT ●
82 - ModeReadback01 SINT ●
98 - ErrorCode01 UINT ●
8.12.4.17.4.1 Operation with bus controller
The following function model can be used when the SM module is used together with a bus controller.
Bus controller Function model
X67BC8513.L12, X67BC8321.L12, X67BC81RT.L12, X67BC8331, All function models
X67BC8321-1
All others Function model 254 - Bus controller (identical to Ramp function model)

8.12.4.17.5 Register description: Standard functional model, shared registers
Stall threshold
Name:
ConfigOutput01
detecting a "stall condition" (e.g. if the motor moves to the endpoint during a homing procedure). It cannot be used
With the "stall threshold" register, a threshold can be defined according to the motor load, and the module detects
a stall condition started at this threshold (see "Motor error" on page 803).
• Motor speed: A higher speed results in higher measured values.
• Speeds that cause motor resonances (which interfere with load measurement) are to be avoided.
• It is especially important to be aware that mixed decay mode must be optimized for reliable stall detection
(see "Mixed decay threshold" on page 799).
The higher the load measured value, the lower the load. This means that a stall condition is detected if the load
measured value drops below the trigger threshold for stall detection.
Data type Values
Bit structure:
3 Reserved 0
7 Reserved 0
8 - 10 Trigger threshold stall detection for Motor 3 0 Stall detection is disabled
11 Reserved 0
12 - 14 Trigger threshold stall detection for Motor 4 0 Stall detection is disabled
15 Reserved 0

Measuring motor load
Name:
MotorLoad
This register contains the current measured load value for stall detection. This can be used to tune stall detection.
Data type Values
Bit structure:
3 Reserved -
7 Reserved -
8 - 10 Motor 3 0 to 7 Motor load value
11 Reserved -
12 - 14 Motor 4 0 to 7 Motor load value
15 Reserved -
Name:
ConfigOutput16
The mixed decay threshold is configured in this register. This value must be adjusted according to the motor being
used, current and voltage when using "stall detection" on page 798. Otherwise, the default value 15 will be used.
Data type Values
Bit structure:
0-3 Mixed Decay Threshold Motor 1 0 Mixed decay disabled
4-7 Mixed Decay Threshold Motor 2 0 to 15 See motor 1
8 - 11 Mixed Decay Threshold Motor 3 0 to 15 See motor 1
12 - 15 Mixed Decay Threshold Motor 4 0 to 15 See motor 1


Stall detection
Quality
Smooth running
0 2 4 6 8 10 12 14
Name:
UINT 0 to 65535 Minimum speed in steps per second.

Name:
current.
Nominal current Current during normal operation
Maximum current Should be selected if a higher motor torque is required briefly during acceleration
phases.
Holding current The holding current should be used in situations when less torque is required
(e.g. at a standstill). This reduces the amount of heat generated by the motor.
Switching between preset current values (holding current, rated current, maximum current):
Function model Switching between preset current values at runtime
Standard Using bits 14 and 15 in the registers "Number of steps and direction" on page
806
Standard with enabled SDC information Using the register "Motor current" on page 809

nical data
technical data

Module status
Name:
DrvOk01 to DrvOk04 (only for standard function model with SDC)
The status of the drive is indicated in this register.
Data type Values
Bit structure:
Bit
Motor 1 Motor 2 Motor 3 Motor 4 Description Value Information
0 1 2 3 DrvOk01-041) 0 An error was triggered for the motor axis
1 The drive is running error-free
4-6 Reserved 0
7 ModulePowerSupplyError 0 I/O power supply voltage within the valid range
1 I/O power supply voltage outside the valid range
1) Only for standard function model with SDC
Status of the drive

The status of the drive is only shown in the standard function model when SDC information is enabled. Bit DrvOk
is 1 if the following conditions are met:
• Motor turned on (see "Motor current" on page 809)
• Motor is supplied with current
• Motor settling time has passed
• Supply voltage is in the valid range
• No overtemperature fault
• Preset position value is valid (see "SDC life sign monitoring" on page 808)

Motor error
Name:
StallError01 to StallError04
OvertemperatureError01 to OvertemperatureError04
OpenLoadError01 to OpenLoadError04
OvercurrentError01 to OvercurrentError04
The error status of the drive is indicated in this register. Each bit indicates a certain error. If an error is registered
in bits 0 to 15, then the corresponding bit remains set until the error has been acknowledged (see "Error acknowl-
edgment" on page 804).
Data type Values
Bit structure:
Bit
0 4 8 12 StallError01-04 0 No stall
1 Stall
1 5 9 13 OvertemperatureError01-04 0 No overtemperature
1 Overtemperature
2 6 10 14 OpenLoadError01-04 0 No current error
1 Current error
3 7 11 15 OvercurrentError01-04 0 No overcurrent
1 Overcurrent
Stall error
The stall error bit is set if the load measurement value is below the stall threshold.
Overtemperature error
The "Overtemperature" error bit can be set for the following reasons:
• A specific temperature was exceeded near the channel due to overload
• Module temperature exceeds 85°C
Current error
This error bit occurs whenever the required current cannot be supplied to the motor windings. This can be (but
is not necessarily) caused by an open line. At higher speeds (depending on the motor), this error can also occur
without an open line. In this case it is simply no longer possible to supply the desired current to the motor windings.
Because of the Back-EMF on the motor, this bit is set at slightly lower speeds if the motor is operated with no load
compared with full or partial loads.
Overcurrent error
Overcurrent occurs if the motor current measured in the motor windings is twice as high as it should be (e.g. short
circuit).

Error acknowledgment
Name:
Standard functional model without SDC Standard functional model with SDC
ErrorReset01 ClearError01
This register can be used to acknowledge errors that have occurred on the motor.
For more info, see "Motor error" on page 803.
Data type Values
Bit structure:
0 ClearError01 or ErrorReset01 0 No effect
1 Error acknowledgment for motor 1
4-7 Reserved 0
Current position
Name:
Standard functional model without SDC Standard functional model with SDC
Position1Sync ActPos01
This register represents the motor position calculated by the module (position setpoint). Each of these is a cyclic
16-bit counter for each channel.
The lowest 5 to 8 bits represent microsteps, while the highest 8 to 11 bits represent full steps (depending on bits
5 and 6 of the "Module configuration" on page 805).
Data type Values
INT -32768 to 32767
Example of the "current position" format (7-bit microsteps, i.e. setting bits 5 and 6 of the module configuration
register to binary 10):
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
8 7 6 5 4 3 2 1 0 6 5 4 3 2 1 0
Information:
The smallest physical full-step division of the modules that is possible is 1/64 of a full-step. Therefore,
bits with a rating of 1/128 or 1/256 of a full-step remain 0. This must be taken into consideration if this
position register is used for controller feedback.

8.12.4.17.6 Register description: Standard functional model without SDC information
Module configuration
Name:
ConfigOutput02
The number of transfer values and the resolution of microsteps for the drive can be configured in this register.
Data type Values
Bit structure:
0-2 Reserved 0
3-4 Number of transfer values per X2X Link cycle This setting applies to all 4 channels.
(See "Number of steps and direction" on page 806) 00 1x Δs / Δt (transfer values: MotorXStep1)
01 2x Δs / Δt (transfer values: MotorXStep1 - MotorXStep2)
10 Reserved
11 Reserved
5-6 Resolution of microsteps for the following registers: 00 Resolution: 5 bits (bit 0 - 4) microsteps; 8 bits (bit 5 - 12) full steps
• "Number of steps and direction" on page 806 01 Resolution: 6 bits (bit 0 - 5) microsteps; 7 bits (bit 6 - 12) full steps
• "Current position" on page 804 10 Resolution: 7 bits (bit 0 - 6) microsteps; 6 bits (bit 7 - 12) full steps
11 Resolution: 8 bits (bit 0 - 7) microsteps; 5 bits (bit 8 - 12) full steps
7 - 10 Reserved 0
11 Operating mode 0 Normal mode (default)
1 Enhanced mode
12 - 15 Reserved 0

Number of steps and direction
Name:
These registers are used to specify the number and direction of steps that must be carried out by the module during
the next X2X Link cycle, and to select the motor current (see also "Holding current, rated current and maximum
current" on page 801).
Data type Values
Bit structure:
0 - 12 Number of steps for the module to move during the next X2X x
Link cycle
13 Direction of movement 0 Positive
1 Negative
14 - 15 Selection of motor current 00 Motor not powered
01 Holding current
10 Nominal current
11 Maximum current
Depending on the required resolution and maximum configurable speed, the module configuration can be used
to specify which bit position is used as the 1's position for full steps (see bits 5 and 6 of "Module configuration"
on page 805).
Example for 5-bit microsteps (set bits 5 and 6 of the module configuration to binary 00):
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
7 6 5 4 3 2 1 0 4 3 2 1 0
The number of transfer values per X2X Link cycle is specified by bits 3 and 4 in the module configuration (see
"Module configuration" on page 805). If only one transfer value (bits 3 and 4 = 00) is specified, then the motor
is advanced by MotorXStepX until the next X2X Link cycle. If 2 or 4 transfer values are specified, then the X2X
Link is subdivided accordingly.
Example: X2X Link cycle = 1 ms (1000 μs)
Number of transfer values (see "Module configuration" on page 805)
Time 1 (bits 3 - 4 = 00) 2 (bits 3 - 4 = 01)
0 - 500 µs MotorXStep1 MotorXStep1
500 - 1000 µs MotorXStep2

8.12.4.17.7 Register description: Standard functional model with SDC information
SDC configuration
Name:
SdcConfig01
This register can be used to enable/disable additional SDC information.
Enabling/disabling the SDC information shows or hides additional cyclic registers. It is possible here to compare
the two variants of the standard function model, i.e. with and without enabled SDC information.
Data type Values
Bit structure:
0-5 Reserved 0
6 SDC life sign monitoring 0 Disabled
1 Enabled
7 SDC information 0 Disabled
1 Enabled
Note:
Neither SDC information nor SDC life sign monitoring is permitted to be changed at runtime.
Motor settling time

Name:
MotorSettlingTime01 to MotorSettlingTime04
The motor settling time determines the minimum time from powering on the motor up to setting the drive bit (DrvOk)
(see section "Motor error" on page 803). The setting is made in steps of 10 ms.
USINT 1 to 255 10 ms to 2.55 s, default: 10 ms
Turn-off delay
Name:
DelayedCurrentSwitchOff01 to DelayedCurrentSwitchOff04
When the "SDC life sign monitoring" on page 808 is triggered (i.e. the net time timestamp is in the past) the motor
is decelerated at nominal current with speed setpoint = 0.
Then the motor is switched off after the delay configured with this register.
USINT 0 to 255 0 to 25.5 ms in steps of 100 ms (default: 100 ms)

Lifecycle counter
Name:
LifeCnt
This register is incremented by one with each X2X Link cycle.
Data type Values
SINT -128 to 127
SDC life sign monitoring
Name:
SetTime01 to SetTime04
The module uses SDC life sign monitoring to check whether valid values have been received for the speed setpoint.
SDC life sign monitoring is activated in register "SDC configuration" on page 807 by setting bit 6 (SDCSetTime
= on).
If the specified net time timestamp is in the past, then an error is triggered for the motor axis (only when the motor
is switched on). The module performs the following steps:
1) The CPU is informed of the error using the Drive bit (DrvOk) = 0
2) Braking at configured nominal current with speed setpoint = 0
3) Wait for configured turn-off delay to expire
4) Power off motor
When the timestamp is back within the valid range, the motor can be operated again by a rising edge on the
DriveEnable bit (see section "Motor current" on page 809).
Data type Values
INT -32768 to 32767
Number of steps and direction
Name:
This registers is used to specify the number and direction of steps that should be carried out by the module during
the next X2X cycle.
The value is specified with a resolution of 1/256 of a full step (corresponds to 8-bit microsteps).
The direction of movement is derived from the value's sign:
INT >0 Movement in positive direction in 1/256 full steps
<0 Movement in negative direction in 1/256 full steps
Unlike the standard function model without enabled SDC information, the motor current is selected using a separate
register (see register "Motor current" on page 809).

Motor current
Name:
DriveEnable01 to DriveEnable04
BoostCurrent01 to BoostCurrent04
StandstillCurrent01 to StandstillCurrent04
Bits 0 to 14 of this register can be used to control the motors' current supply.
Data type Values
Bit structure:
Bit
0 4 8 12 DriveEnable01-04 x Motor powered
1 5 9 13 BoostCurrent01-04 x Maximum current
2 6 10 14 StandstillCurrent01-04 x Holding current
3 7 11 15 Reserved 0
The possible status of bits 0 to 14

StandstillCurrent0x BoostCurrent0x DriveEnable0x Description
x x 0 Motor not supplied with current
0 0 1 Rated current supplied to motor
0 1 1 Maximum current supplied to motor
Net time of the position value
Name:
ActTime01 to ActTime04
This register contains the net time of the most recent valid position value.
Data type Values
INT -32768 to 32767

8.12.4.17.8 Register description: Function model 254 - Bus controller and function model 3 - Ramp
General configuration
Name:
GeneralConfig01
Bit 0 of this register can be used to switch the positioning mode. This register can also be used to configure the
cycle time of the motion profile generator.
• 0: "Mode 1: Position mode without extended control word" on page 817
• 1: "Mode 1: Position mode with extended control word" on page 817
Data type Values
Bit structure:
0 Position mode 0 Without extended control word
1 With extended control word
1-2 Cycle time of the motion profile generator1) 00 25 ms
01 10 ms
10 5 ms
11 Reserved
3-7 Reserved 0
1) This parameter is supported starting with upgrade 1.3.1.1 (firmware version 100).
The cycle time for the motion profile generator is configured with this cycle. This cycle time affects the unit for specifying the speed and acceleration:
• Unit for speed: Microsteps/Cycle

• Unit for acceleration: Microsteps/Cycle2

Name:
ConfigOutput03a to ConfigOutput14a
current.
Maximum current Current during acceleration phases. In the mode "Referencing during stall" on
page 820, the rated current is always used instead of the maximum current,
even in acceleration phases.
When the current changes to a weaker value (e.g. when transitioning from the acceleration phase to the constant
speed mode), the stronger current is maintained for an additional 100 ms. This is done according to the following
priority regardless of the actual defined values: maximum current before rated current before holding current.
nical data
technical data

Maximum speed
Name:
MaxSpeed01 to MaxSpeed04
This register defines the maximum speed for the absolute positioning modes (1, -125, -126).
Information:
The setting does not apply to the speed and homing modes (2, -127, -128).
UNIT 0 to 65,535 Speed in microsteps / cycle
Maximum acceleration
Name:
MaxAcc01 to MaxAcc04
This register defines the maximum acceleration (also applies to homing modes).
UINT 0 to 65,535 Acceleration in microsteps / cycle²
Maximum deceleration
Name:
MaxDec01 to MaxDec04
This register defines the maximum deceleration (also applies to homing modes).
UINT 0 to 65,535 Deceleration in microsteps / cycle²
Reversing loop
Name:
RevLoop01 to RevLoop04
This parameter is only used in modes 1, -125, -126 (absolute positioning modes).
If the value for the reversing loop is not equal to 0, the position setpoint is approached directly when coming from
one direction; when coming from the other direction, the position setpoint is initially exceeded by the configured
number of steps before finally moving to the position setpoint. This ensures that the position setpoint is always
approached from the same direction (to avoid mechanical backlash).
The sign of the defined value determines the direction in which the reversing loop runs.
Sign Effective direction
Positive Reversing loop in positive direction of movement
Negative Reversing loop in negative direction of movement
Data type Values

INT -32768 to 32767
Fixed position A
Name:
FixedPos01a to FixedPos04a
This register defines the position to move to in mode -125.
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Fixed position B
Name:
FixedPos01b to FixedPos04b
This register defines the position to move to in mode -126.
Data type Values
DINT -2,147,483,648 to 2,147,483,647

Homing speed
Name:
RefSpeed01 to RefSpeed04
This register sets the speed for homing modes -127 and -128.
UINT 0 to 65,535 Speed in microsteps / cycle
Homing configuration
Name:
RefConfig01 to RefConfig04
The homing mode can be set with this register.
SINT -120 Set home position
-127 Homing during stall detection1)
-128 Immediate homing
Everything else No effect
1) Stall detection is enabled automatically when this mode is selected.
Stall detection configuration / Mixed decay
Name:
StallDetectConfig01 to StallDetectConfig04
The mixed decay threshold and stall detection sensitivity can be configured in this register.
Data type Values
Bit structure:
0-3 Mixed decay threshold 0 Mixed decay disabled
4-6 Stall threshold 0 Stall detection is disabled
1 to 6 Steps involved in setting stall detection sensitivity
7 Motor load 0 Motor load value not shown
1 Show value in register "Status word" on page 8161)
1) If this bit is 1, then the motor load value is indicated in bits 13 to 15 of the status word register (otherwise these bits are 0). This value can help when testing
stall detection and "Home during stall" on page 820 mode.
Stall threshold
The "stall threshold" (bits 4 to 6 of this register) can be used to define a threshold value for each axis individually
according to the motor load, beyond which the motor will detect a stall condition.
• It is especially important to be aware that mixed decay mode must be optimized for reliable stall detection.
The higher the load measurement value, the lower the load. This means that a stall condition is detected if the load


Stall detection
Quality
Smooth running
0 2 4 6 8 10 12 14
Name:
UINT 0 to 65535 Minimum speed in microsteps per cycle.

Stall recognition delay
Name:
StallRecognitionDelay01 to StallRecognitionDelay04
The value in this register is only relevant for "Referencing during stall" on page 820.
A stall is only detected after the time specified here has expired and after the homing procedure has started.
For example, a setting of 4 (and a cycle time of 25 ms) means that a stall will not be detected until 100 ms after
the motor starts moving (start of the homing procedure).
Set to 0 to eliminate delay.
USINT 0 to 255 in cycles, see "General configuration" on page 810
Jolt time
Name:
JoltTime01 to JoltTime04
If a value other than 0 is assigned to this register, then jolt limitation is performed. This is done by averaging the
values for the steps to be carried out (speed setpoint) in each cycle using FIFO memory. The jolt time corresponds
to the number of FIFO elements (0 to 80). If a value greater than 80 is entered, then it will be limited internally to 80.
Changes made while a motor is running will be applied as soon as ...
• the motor has reached the position setpoint (positioning modes only)
• the motor has stopped (all modes)
USINT 0 No jolt time limitation
1 to 801) Number of FIFO elements
1) Starting with upgrade 1.3.1.1 (firmware version 100); For older versions: 16
Software limit
Name:
PositionLimitMin01 to PositionLimitMin04
PositionLimitMax01 to PositionLimitMax04
This register configures software limits. The function is enabled if at least one of the registers is not equal to zero.
These limits are effective in all positioning modes. Position overrun is not possible when this function is enabled.
Movement is always contained within the two limits.
If a position is specified that violates the minimum/maximum software limit, the "Internal limit active" bit will be
set in the "Status word" on page 816 register. The motor movement will be stopped until a position is specified
within the limits.
The "Internal limit active" bit will also be set in the "Status word" register if there is a configuration error (minimum
> maximum).
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Information:
The software limits will only be monitored when using the following CANopen bus controllers:
• X20BC0043-10
• X20BC0143-10
• X67BC4321-10
• X67BC4321.L08-10
• X67BC4321.L12-10

Setting target position/speed
Name:
AbsPos01 to AbsPos04
This register is used to set position or speed, depending on the operating mode.
• Position mode (see "Mode" on page 816): Cyclic setting of the position setpoint in microsteps. In this
mode, one micro-step is always 1/256 full-step.
• Speed mode (see "Mode" on page 816): In this mode, this register is considered a signed speed setpoint.
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Control word
Name:
MpGenControl01 to MpGenControl04
This register can be used to issue commands based on the module's state.
Data type Values
Bit structure:
0 Switch on x
1 Enable voltage x
2 Quick stop x
3 Enable operation x
4-6 Mode-specific x
7 Fault reset x
8 Stop1) x
9 - 11 Reserved 0
12 Warning reset 0 No effect
1 Rising edge: Reset warnings
13 Undercurrent detection 0 Disable current error detection (default)
1 Enable current error detection
14 Reserved 0
15 Stall detection warning 0 Disable stall detection warning (default)
1 Enable stall detection warning
1) The "Halt" bit is only evaluated when the extended control word is enabled (see "General configuration" on page 810).

Status word
Name:
MpGenStatus01 to MpGenStatus04
The bits in this register reflect the state of the state machine. For a more detailed description, see "Status word"
on page 823 and "State machine" on page 824.
Bit structure:
0 Ready to switch on x
1 Switched on x
2 Operation enabled x
3 Fault (error bit) x
4 Voltage enabled x
5 Quick stop x
6 Switch on disabled x
7 Warning x
8 Reserved 0
9 Remote 1 Always 1 because there is no local mode for the SM module
10 Target reached x
11 Internal limit active 0 No limit violation
1 Internal limit is active (upper or lower software limit violated)
12 Mode-specific x
13 - 15 Reserved / Motor load value 0 Always 0 when bit 7 in the "Stall detection configuration / Mixed
decay" on page 812 register is set to 0.
x Returned motor load value
Mode
Name:
MpGenMode01 to MpGenMode04
SINT 0 No mode selected
1 Depending on bit 0 in the "General configuration" on page 810 register, the position mode will
behave as follows:
• Position mode without extended control word: Move to target position as soon as the
target position changes
• Position mode with extended control word: Move to position setpoint as described in
"Mode 1: Position mode with extended control word" on page 817
2 Speed mode: Constant speed
-120 Set reference position
-122 Set actual position
-125 Move to fixed position A (position set acyclically)
-126 Move to fixed position B (position set acyclically)
-127 Positive homing (see also "Homing configuration" on page 812)
-128 Negative homing (see also "Homing configuration" on page 812)
Information:
For all modes: The "Target reached" bit is set in the "Status word" on page 816 register when the
current action is finished (i.e. when the position or speed is reached, depending on the mode).
A new position or speed can be specified even before the current action is finished.

Mode 1: Position mode
The position setpoint is specified in the "Setting target position/speed" on page 815 register. The motor is then
moved to this new position. This is done with a ramp function that accounts for the defined maximum speed and
acceleration values.
The position setpoint can also be changed during an active positioning procedure.
The position setpoint is specified in microsteps (1/256 of a full step).
If bit 0 in the "General configuration" on page 810 register is 0 (no extended control word), then the position setpoint
will be applied as soon as it is different from the current position. Then the new position is used for the movement.
However, if bit 0 in the "General configuration" on page 810 register is set to 1 (extended control word), then the
position setpoint will be applied as described under "Mode 1: Position mode with extended control word" on page
817.
Mode 1: Position mode with extended control word
Position mode with extended control word behaves like "Position mode 1" on page 817 as described previously
(without the extended control word), but the new position setpoint ("Position/Speed" on page 815 register) is applied
according to the "extended control word" on page 817.
Extended control word
This register can be used to issue commands based on the module's state (see "Ramp function model operation"
on page 822).
Data type Values
Bit structure:
0-3 Corresponds to the standard Control word x
4 New setpoint 0 Do not apply target position
1 Apply target position
5 Change set immediately 0 Complete current positioning movement and then start next po-
sitioning movement
1 Interrupt current positioning movement and then start next posi-
tioning movement
6 abs / rel 0 Position setpoint is an absolute value
1 Position setpoint is a relative value
7 Corresponds to the standard Control word x
8 Stop1) 0 Execute positioning
1 Stop axis with deceleration
9 - 15 Corresponds to the standard Control word x
1) This bit applies to all modes.
Extended status word
The bits in the status word reflect the status of the state machine (for a detailed description, see "Status word" on
page 823 and "State machine" on page 824).
Data type Values
Bit structure:
0-9 Corresponds to the standard Status word x
10 Target reached, depending on bit 8 (Halt) in the Control word If Halt = 0
register 0 Position setpoint not reached
1 End position reached
If Halt = 1
0 Axis decelerating
1 Axis speed = 0
11 Corresponds to the standard Status word x
12 Setpoint acknowledge 0 Ramp generator did not apply the position value
1 Ramp generator applied the position value
13 - 15 Corresponds to the standard Status word x

Position setting
The position setpoint can be defined in 2 different ways:

Type of setpoint definition Description
Single setpoint Once the position setpoint is reached, the Target reached bit in the "Status word" on page 816 register is set. Then a new position
setpoint is defined. The drive stops at each position setpoint before starting the movement to the next position setpoint.
Set of setpoints Once a setpoint has been reached, the movement to the next setpoint is started immediately without stopping the drive. It is
therefore not possible to initiate a new positioning movement by transferring a new position setpoint during an active positioning
movement.
The two modes "Single setpoint" and "Set of setpoints" are controlled by the timing of the bits New setpoint and
Change set immediately in the "extended control word" on page 817 and Setpoint acknowledge in the "Extended
control word" on page 817 register.
These bits can be used to create a Request-Response mechanism. This makes it possible to specify a position
setpoint while previous setpoint is still being processed.
Transferring the position setpoint
Data (position setpoint)

②
New setpoint
③ ⑤
Ⓑ
Change set immediately
Ⓐ
Setpoint acknowledge
① ④ ⑥
Figure 61: Principle for applying the setpoint

Transferring a new setpoint:
1 When the Setpoint acknowledge bit in the "Extended status word" on page 817 register is 0, the module
will accept a new position setpoint.
2 The new position setpoint is specified in the "Setting target position/speed" on page 815.
3 A rising edge of the New setpoint bit in the Extended control word register signals that the new position
setpoint in the "Setting target position/speed" on page 815 register is valid and can be used for the next
positioning movement.
4 Once the module has received and saved the new position setpoint, the Setpoint acknowledge bit in the
Status word register is set to 1.
5 Now the controller can reset the New setpoint bit to 0.
6 Then the module resets the Setpoint acknowledge bit to 0 to signal when a new position setpoint is ac-
cepted.
"Single setpoint" mode

When the Change set immediately bit is set to 0 (Ⓐ in figure "Principle for applying the setpoint"), then the module
is operating in Single setpoint mode. This mechanism results in a speed of 0 when the motor reaches position
setpoint x1 at time t1. After the controller has been notified that the setpoint has been reached, the next setpoint
x2 will be processed at time t2 and reached at t3.
v2
v1
t0 t1 t2 t3
Figure 62: Ramp in Single setpoint

"Set of setpoints" preset position value

When the Change set immediately bit is set to 1 (Ⓑ in figure "Principle for applying the setpoint"), then the module
is operating in Single setpoint mode. This means that the module receives the first position setpoint at t0. A second
position setpoint is received at the time t1. The drive immediately adapts the current movement to the new setpoint.
v2
v1
t0 t1 t2
Figure 63: Ramp in Set of setpoints
Relative position setting
When the abs / rel bit in the Extended control word register is set, then the position setpoint is interpreted as a
relative value. At each New setpoint trigger, the position setpoint will be increased by this value (or decreased if
the value is negative).
If the mode changes between the position settings, relative movement will then proceed starting at the last specified
position. The position setpoint mode is initialized with 0 when the module is started.
Mode 2: Speed mode - Constant speed (pos./neg.)
The value in the "Position/Speed" on page 815 register is now interpreted as the speed setpoint (microsteps/ cycle).
Observing the maximum permissible acceleration, the motor moves with a ramp to the desired speed setpoint and
maintains this speed until a new speed setpoint is specified.
Values are allowed within the range -65535 to 65535. When a value is entered outside of this range, it is readjusted
to these limits.

Mode -120: Set home position
This mode is supported starting with upgrade 1.3.1.1 (firmware version 100).
The current value for the actual position is modified so that the position specified by the "Position/Speed" on page
815 register is the home position. If you subsequently move to this position, the motor is at the home position.
The home position in the "Home position" on page 821 register is also set to this value.
Before this mode is called, the motor must be at a standstill and the home position must have been determined
using "Positive / negative homing" on page 820 mode. In order to set the position, the "State machine" on page
824 must be in the "Operation Enable" state.
Mode -122: Set the actual position
The position setpoint set in the "Position/Speed" on page 815 register is accepted as the current actual position in
the internal position counter when the state machine is in the "Operation Enable" state.
Before this mode is started, the motor must be at a standstill and physically located at the point for which the
position being set should be applied.
Mode -125/-126: Move to fixed position X
The purpose of these modes is to enable a virtual switch from the speed mode to the position mode, which otherwise
is not possible because of the double use of the register for position – and speed specification.
• Mode -125: "Fixed position A" on page 811
• Mode -126: "Fixed position B" on page 811
Mode -127/-128: Homing (positive/negative)
Mode -127 and -128 are used to select which direction to move.
The motor must be at a standstill before switching from another mode to one of the homing modes.
If the referencing condition occurs, then the motor stops and the values of the position counter valid at the moment
when the referencing condition occurs are written to the "Referenced zero position" on page 821 register.
Whether homing should occur during a stall or unconditionally must be set in the "homing configuration" on page
812.
Referencing during stall

Movement continues in the referencing direction until a stall is detected. When a stall is detected, the value of the
position counter is entered in the "Referenced zero position" on page 821 register within one millisecond. The
motor is then stopped abruptly (not using the deceleration ramp). However, it can take up to 25 ms to stop the motor
because the ramp generator runs with a configurable internal cycle of up to 25 ms (see "General configuration"
on page 810).
In this mode, the rated current is always used instead of the maximum current, even in acceleration phases.
To test the response behavior of this homing mode, the motor load value used for identifying a stall can be made
visible in the status word (see "Stall detection configuration / Mixed decay" on page 812).
Unconditional referencing (immediate)

Immediate referencing: The current values of the position counter are immediately entered in register "homed zero
position" on page 821, no motor movement.

Current position (cyclic)
Name:
AbsPos01ActVal to AbsPos04ActVal
This cyclic register contains the current position.
Default: Value of the internal step counter
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Homing the zero position for cyclic counter
Name:
RefPos01CyclicCounter to RefPos04CyclicCounter
After a referencing procedure, the reference position of the position counter can be read with these registers.
Data type Values
DINT -2,147,483,648 to 2,147,483,647
Read back control word
Name:
ControlReadback01 to ControlReadback04
This register can be used to read the content of the "Control word" on page 815 register.
Data type Values
UINT 0 to 65,535
Read back mode
Name:
ModeReadback01 to ModeReadback04
This register can be used to read the content of the "Mode" on page 816 register.
Data type Values
SINT -128 to 127
Error code
Name:
ErrorCode01 to ErrorCode04
The cause of an error or warning can be read in this register.
Data type Error code Error type Priority Description
UINT 0x0000 - - No error
0x3000 Errors Portrait Voltage
0x4200 Errors : Overtemperature
0x2300 Warning : Overcurrent
:
0xFF00 Warning Current error1)
:
0xFF01 Warning : Stall 2)
:
Low
1) A current error is only detected if bit 13 = 1 in the control word (current error detection enabled).
2) Stall is only detected if bit 15 = 1 in the control word (stall detection warning enabled).
Information regarding the handling of errors and warnings:

• Bit 3 (Fault) and bit 7 (Warning) in the "status word" on page 816 can be used to query whether an error
or a warning was reported in the Error code register.
• Bit 7 (Fault Reset) and bit 12 (Warning Reset) in the "control word" on page 815 are used to acknowledge
pending errors and warnings.
• If two or more errors/warnings are pending, the one with the highest priority (the order in the table above)
will be displayed in the Error code register.

8.12.4.17.8.3 Ramp function model operation
Control for this model has been based on the CANopen communication profile DS402.
Commands for controlling the modules are written to the "Control word" on page 822. The current module state
is returned to the "Status word" on page 823 register. The function mode (absolute position, constant speed,
homing, etc.) is set in the "Mode" on page 816 register.
Control word
Control word bits and their state for the commands of the state machine:
Current error detection
Stall detection warning
Enable operation
Mode-specific
Mode-specific
Mode-specific
Enable voltage
Warning reset
Quick stop
Fault reset
Switch on
Reserved
Reserved
Reserved
Reserved
Stop 2)
Com-
mand
Bit1) 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Shut- x 0 x x x 0 0 x 0 x x x x 1 1 0
down
Switch x 0 x x x 0 0 x 0 x x x 0 1 1 1
on
Disable x 0 x x x 0 0 x 0 x x x x x 0 x
voltage
Quick x 0 x x x 0 0 x 0 x x x x 0 1 x
stop
Disable x 0 x x x 0 0 x 0 x x x 0 1 1 1
opera-
tion
Enable x 0 x x x 0 0 x 0 x x x 1 1 1 1
opera-
tion
Fault x 0 x x x 0 0 x ↑ x x x x x x x
reset
1) x ... Any; ↑ ... Rising edge

2) Bit 8 (stop) is only evaluated if the extended control word is enabled in register "General configuration" on page 810.
Bits 0, 1, 2, 3 and 7 These bits control the state of the "State machine" on page 824 according to the commands in the table above.
Halt 0 ... Perform motor movement
1 ... Stop axis with deceleration
This bit is only evaluated when the extended control word is activated in the "General configuration" on page
810 register.
Warning reset A rising edge resets warnings (no effect on errors, which are reset using "Fault Reset"; the state machine is not
affected by this bit)
Fault reset A rising edge resets errors and warnings (see "State machine" on page 824)
Current error detection 0 ... Current error detection disabled
1 ... Current error detection enabled
Stall detection warning 0 ... Stall detection warning disabled
1 ... Stall detection warning enabled

Status word
The individual bits of this register and its states depend on the current state of the state machine:
1)
1)
1)
Ready to switch on
Switch on disabled
Operation enabled
Voltage enabled
Target reached
Mode-specific
Int. limit active
Switched on
Quick stop
Reserved
Warning
Remote
Fault
Status
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Not ready to switch on x x x x x x 1 0 x 0 x 0 0 0 0 0
Switch on disabled x x x x x x 1 0 x 1 x 0 0 0 0 0
Ready to switch on x x x x x x 1 0 x 0 1 0 0 0 0 1
Switched on x x x x x x 1 0 x 0 1 1 0 0 1 1
Operation enable x x x x x x 1 0 x 0 1 1 0 1 1 1
Quick stop active x x x x x x 1 0 x 0 0 1 0 1 1 1
Fault reaction active x x x x x x 1 0 x 0 x 0 1 1 1 1
Fault x x x x x x 1 0 x 0 x 0 1 0 0 0
1) If bit 7 is set to 1 in the "Mixed Decay / Stall Detection" on page 812 register, then the motor load value is returned in bits 13-15 of the status word. Otherwise
these bits are always 0.
Information about the status word:

Bits 0, 1, 2, 3, 5 and 6 These bits are set according to the current state of the "State machine" on page 824.
Voltage enabled Becomes 1 as soon as the motor is powered
Warning Becomes 1 if a warning is detected ("Overcurrent", "Undercurrent"). The type of warning is indicated in the "Error
code" on page 821 register. The highest priority error / warning is shown in each case, with the priority corre-
sponding to the order in the respective table. Warnings can be reset with a rising edge on the "Warning reset"
bit in the control word.
Remote Always 1 since there is no local mode on the SM module
Target reached1), depending on bit 8 (Halt) in If Halt = 0 If Halt = 1
the register Control word In modes 1, -125, -126 (absolute positioning): In all modes:
0...Positioning begins 0...Axis decelerating
1...Target has been reached 1...Axis speed = 0
In mode 2 (constant speed):
0...Motor accelerates/brakes
1...Speed setpoint reached
In modes -127 and -128 (homing):
0...Homing started
1...Homing ended
In mode -122 (set actual position):
The bit briefly becomes 0 and immediately becomes 1
again as soon as the position is set.
Internal limit active 0 ... No limit violation
1 ... Internal limit is active (upper/lower software limit violated)
1) If Halt has not been activated in the "General configuration" on page 810 register, then "Target Reached" behaves the same as when Halt = 0.

State machine
The motor is controlled according to the state machine illustrated below. After the module is started, the state
machine automatically changes to the state "Not ready to switch on". The application then operates the state
machine by writing commands to the "Control word" on page 822.
The state machine successively reaches the states "Ready to switch on", "Switched on" and "Operation enable"
by writing the consecutive commands "Shutdown", "Switch on" and "Enable operation".
Information:
Motor movements are not performed according to the setting in the "Mode" on page 816 register (see
section ) until the "Operation enable" state.
Module start Fault condition

(e.g. Temperature too high)
Not ready to switch on Fault reaction active
(Internal reset)
Switch on disabled Fault reset Fault
Disable Voltage
Disable Voltage Shutdown Quick stop Quick stop executed
Ready to switch on
Disable Voltage
Quick stop Switch on Shutdown
Switched on Quick stop active
Shutdown Enable operation Disable operation Enable operation
Operation enable
Quick stop

Not ready to switch on This state change occurs automatically after starting the module and internal initialization has taken place.
→ Switch on disabled
Switch on disabled This state change is brought on by the Shutdown command.
→ Ready to switch on No others actions are performed.
Ready to switch on This state change is brought on by the command Disable voltage or Quick stop.
→ Switch on disabled No others actions are performed.
Switched on This state change is brought on by the command Disable voltage or Quick stop.
→ Switch on disabled The motor voltage is switched off immediately.
Ready to switch on This state change is brought on by the Switch on command.
→ Switched on The motor voltage is switched on.
When this state change occurs for the first time since the module is started, the motor ID measurement is per-
formed before the Switched on state is achieved. This can take approximately 1 second.
Switched on This state change is brought on by the Shutdown command.
Switched on This state change is brought on by the Enable operation command.
→ Operation enable Motor movements are now performed depending on the defined mode.
Operation enable This state change is brought on by the Disable operation command.
→ Switched on If in motion, the motor is decelerated with the configured deceleration.
Motor voltage remains on in the Switched on state.
Operation enable This state change is brought on by the Shutdown command.

Operation enable This state change is brought on by the Disable voltage command.
→ Switch on disabled Motor voltage switched off.
It is strongly recommended to only make this state change on a stopped motor since regeneration on a motor
running at no load can cause an overvoltage error on the DC bus (0x3210).
Operation enable This state change is brought on by the Quick stop command.
→ Quick stop active If in motion, the motor is decelerated with the configured deceleration. During the deceleration, the state machine
remains in the Quick stop active state. Once the motor is at standstill, the state automatically changes to the
Switch on disabled state.
While the state machine is in the Quick stop active state, the Enable operation command can be used to switch
it back to the Operation enable state.
→ Fault reaction active This state change is brought on when an error occurs and cannot be triggered by a command from the user. It
can be triggered by error types classified as an "Error" (see "Error code" on page 821). (Other error types listed
as "Warning" only cause the "Warning" bit to be set in the status word and do not cause a state change in the
state machine.)
Motor voltage is switched off and the state machine then changes immediately to the Fault state.
The type of error is listed in the Error code register (see the table under "Error code" on page 821). The highest
priority error is shown. The priority corresponds to the order in the error code table.
Fault This state change is brought on by the Fault reset command. However, the state only changes if no more errors
→ Switch on disabled are present when the command is written. All errors and warnings are reset. The error code register contains 0
or the warning code if a warning is still present.
mands.
Minimum cycle time
Ramp function model 400 μs
Ramp function model
Inputs 400 μs
Outputs1) 25 ms
1) Depends on the configuration of the "motion profile generator" on page .

Data sheets • reACTION I/O modules • Summary
8.13 reACTION I/O modules

ReACTION-I/O modules are available featuring ultrafast reACTION technology. This allows the I/O channels in-
tegrated in the reACTION module to be controlled with response times down to 1 μs. This new approach allows
extremely time-critical subprocesses to be managed using standard hardware – which lowers hardware costs by
reducing the load on the controller and allowing it to be scaled down.
All of the commands that can be used for reACTION programs are provided as function blocks in special libraries
(e.g. AsIORTI). Programming using the standard Function Block Diagram (FBD) editor in Automation Studio is
compliant with IEC 61131-3.
Documentation for reACTION technology is included in the Automation Studio help system.
8.13.1 Summary
X67BC81RT.L12 X67 bus controller, 2 POWERLINK interfaces, X2X Link power supply 15 W, reACTION Technology module, 827
2 digital inputs, 24 VDC, <1 µs, 3 digital channels, 5 VDC, <1 µs, configurable as inputs or outputs, 2 digital
channels, 24 VDC, 0.4 A, <1 µs, configurable as inputs or outputs, 2 analog inputs ±10 V, 5 µs 200 kHz sampling
frequency, 13-bit converter resolution (including sign), configurable input filter, 1 analog output ±10 V, 2.5 µs,
13-bit converter resolution (including sign), M12 connectors, high-density module

Data sheets • reACTION I/O modules • X67BC81RT.L12
8.13.2 X67BC81RT.L12
Ultrafast reACTION Technology makes it possible to control I/O channels with response times down to 1 μs. All
of the commands that can be used for reACTION programs are provided as function blocks in special libraries
(e.g. AsIORTI). Programming using the standard Function Block Diagram (FBD) editor in Automation Studio is
compliant with IEC 61131-3.
• POWERLINK
• reACTION Technology module
• Integrated hub for efficient cabling
• 4 digital inputs
• 2 analog inputs ±10 V
• 1 analog input ±10 V
• 1 ABR incremental encoder input 5 V
• 5 V and 24 V encoder power supply integrated in the encoder connector
• I/O configuration and firmware update via the fieldbus
• Integrated connection to local expansions via X2X Link for 250 additional modules
• Cycle time configurable starting at 200 µs for local expansions
8.13.2.2 Order data

X67BC81RT.L12 X67 bus controller, 2 POWERLINK interfaces, X2X Link power
supply 15 W, reACTION Technology module, 2 digital inputs, 24
VDC, <1 µs, 3 digital channels, 5 VDC, <1 µs, configurable as
inputs or outputs, 2 digital channels, 24 VDC, 0.4 A, <1 µs, con-
figurable as inputs or outputs, 2 analog inputs ±10 V, 5 µs 200
kHz sampling frequency, 13-bit converter resolution (including
sign), configurable input filter, 1 analog output ±10 V, 2.5 µs, 13-
bit converter resolution (including sign), M12 connectors, high-
density module
Table 153: X67BC81RT.L12 - Order data

See "Required cables and connectors" on page 834 and "Pinout" on page 837.

Model number X67BC81RT.L12

Short description
General information
Inputs/Outputs 4 digital inputs,
2 digital channels, configurable as inputs or outputs using software,
2 analog inputs,
1 analog output,
1 ABR input, also usable as 5 V differential inputs/outputs,
Inputs with special functions
B&R ID code
Bus controller 0xE2DC
Internal I/O module 0xE2DF
Diagnostics
reACTION-capable I/O channels Yes
Connection type
Inputs/Outputs M12, 5-pin, A-keyed
Encoder M12, 12-pin, A-keyed
Power consumption
Fieldbus 4.6 W
Internal I/O 6W
Channel - Bus Yes
Program memory
Type 16 Mbit flash memory
Data retention 20 years at 55°C
Guaranteed clear/write cycles 100,000
Certification
CE Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
Interfaces
Design 2x M12 circular connector (hub), 2x female connector on module
Transmission
Half-duplex Yes
Full-duplex No
Autonegotiation Yes
Auto-MDI / MDIX Yes
Min. cycle time 1)
Fieldbus 200 μs
X2X Link 200 μs
Encoder power supply connector 8
I/O power supply
Table 154: X67BC81RT.L12 - Technical data

Power consumption
Input circuit Differential
Isolation voltage between encoder and bus 500 VEff
Input filter
Hardware No input filter
Software Default 200 ns, configurable between 200 ns and 5 ms in 20 ns intervals
Input characteristics in accordance with EN Type 1 3)
61131-2
Input circuit Sink
Input voltage 24 VDC -15/+20%
Input current at 24 VDC
Channel 1 and 2 Typ. 9 mA
Input resistance
Channel 1 and 2 Typ. 3 kΩ
Input filter
Hardware ≤50 ns
Software Default 200 ns, configurable between 200 ns and 5 ms in 20 ns intervals
Switching threshold
Low <5 VDC
High <15 VDC
Analog inputs
Input ±10 V
Input type Single-ended
Output format INT
Open circuit detection Yes, using software
Reverse polarity protection Yes
Permitted input signal ±30 V
Max. error at 25°C
Gain 0.1% 4)
Offset 0.05% 5)
Max. drift at 25°C
Gain 0.01 %/°C 4)
Offset 0.0075% / °C 5)
Crosstalk between channels -70 dB
Isolation voltage between channel and bus 500 VEff, 1 min
Design Differential
Output current Max. 65 mA 6)
Switching frequency Max. 500 kHz
Design Push/Pull
Output protection Thermal cutoff for overcurrent and short circuit

Diagnostic status Overload monitoring
Switching on after overload or short circuit cutoff Approx. 25 ms
Switching voltage 24 VDC (-15/+20%)
Switching frequency
Resistive load Max. 100 kHz
Inductive load Max. 100 kHz
Switching delay
0 -> 1 <1 µs
1 -> 0 <1 µs
Analog outputs
Output ±10 V
Conversion time 2 µs
Settling time for output changes over entire range 2.5 µs
Power on/off behavior Internal enable relay for booting
Max. error at 25°C
Gain 0.15% 4)
Offset 0.05% 5)
Output format Example: INT 0x8001 - 0x7FFF / 1 LSB = 0x0010 = 4.882 mV
Load per channel Max. ±10 mA, load ≥1 kΩ
Max. offset drift 0.001 %/°C 5)
Error caused by load change Max. 0.01%, from 10 MΩ -> 1 kΩ, resistive
Isolation voltage between channel and bus 500 VEff, 1 min
on/off
To actuator or I/O power supply Yes
To GND Yes
Gain 0.15%
Offset 0.05%
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 155 mm
Depth 42 mm
Weight 320 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

3) Only channels 1 to 4
5) Based on the total output value.
6) For differential output voltage depending on the output current, see section "Differential output"


L/A IF Green On A link to the peer station has been established.
S/E Green/Red - Status/Error LED:
The statuses of this LED are described in section "Status/Error LED "S/
Status indicator 1: E"" on page 831.
Left: L/A IF, right: S/E I/O LEDs
1-1/2 Green - Input status of the corresponding channel
2-1/2 and 3-1/2 Status indicator for the corresponding analog output
Green On Analog-to-digital converter running
Off Open circuit or sensor is disconnected.
1-1 5-1 5-1/2 and 8-1/2 Status indicator for input/output
Orange On Output status of channel x
1-2 5-2 Green On Input status of channel x
2-1
Orange/Green - One I/O channel is configured as an input and one as an output. Both
2-2
channels are active.
3-1 4-1 Status indicator for the corresponding analog output
Orange On Lit as soon as the enable relay is activated (i.e. a value ≠ 0 is output)
3-2
Off The enable relay has not yet been activated (no value ≠ 0 has been
4-1 8-1
output yet).
Right Red Off No power to the module or everything is OK.
On Error or reset state (reACTION program using functions or channels that
are not permitted on this hardware)
Single flash Level monitoring of digital outputs activated or cycle time violation (re-
ACTION program cannot be executed within the configured cycle time)
Double flash Supply voltage not in valid range or no reACTION program loaded
Status/Error LED "S/E"

Status
Green
t
Error
Red
t
LED "S/E"
t
Note:

Triple flash
200 200 200 200 200 1000
Double flash
200 200 200 1000
Single flash
200 1000
Blinking
200 200
Flickering
All times in ms
Ethernet interface 1 Ethernet interface 2
X2X Link
2x digital inputs 2x digital inputs/outputs

Connection 1 Connection 5
Connection 2
2x analog inputs
(or 2x 1 analog input)
Connection 3
2x digital inputs (24 VDC) and
1x analog output 3x digital inputs/outputs (5 VDC)
Connection 4 Connection 8

C: Supply D: Routing

8.13.2.6 POWERLINK interface
connectors.
Connection Pinout
2 A Pin Name
2 RXD Receive data
3
4
B1 1
Information:
be used for wiring.

Information:
High Low

Manager
Hub
Hub Hub
the bus controller.
Manager
Hub
Controller
Hub
X2X Link X2X Link

Controller
X67PS1300
Information:

Connection cable or Field-assembled connector Attachment cables
Connection cables
X67CA0E61.xxxx
X2X Link X2X Link

I/O I/O

Open-ended cables
I/O

8.13.2.7 X2X Link
Connection Pinout
Pin Name
B2 3
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
1
Information:
Connection Pinout
C
4
3 GND GND
4 GND GND
D 2
1

8.13.2.9 Local I/O channels
The following table provides an overview of the connections to the I/O channels and their properties.
Digital inputs/outputs
Connection Pin Channel Description
X1 2 DI 1 24 VDC, sink, ≤50 ns, configurable software filter
4 DI 2 24 VDC, sink, ≤50 ns, configurable software filter
X5 2 DI 3 / DO 3 DI: 24 VDC, sink, ≤50 ns, configurable software filter
DO: 24 VDC, 0.4 A, push-pull, <1 μs
4 DI 4 / DO 4 DI: 24 VDC, sink, ≤50 ns, configurable software filter
DO: 24 VDC, 0.4 A, push-pull, <1 μs
X8 5, 6 DI 5 / DO 5 DI: 5 VDC module, differential: Type RS485
DO: 5 VDC, 100 mA, differential: Type RS485 (tri-state, if inactive)
8, 1 DI 6 / DO 6 DI: 5 VDC module, differential: Type RS485
3, 4 DI 7 / DO 7 DI: 5 VDC module, differential: Type RS485
Analog inputs
X21) 2 AI 1 ±10 V, 12-bit, 5 µs
4 AI 2 ±10 V, 12-bit, 5 µs
X31) 2 AI 2 ±10 V, 12-bit, 5 µs
4 AI 1 ±10 V, 12-bit, 5 µs
1) The connections 2 and 3 are cross-connected with each other (see "Analog inputs - Connection examples" on page 839).
Analog output
X4 1, 3 AO 1 ±10 V, 12-bit, 2 µs
The following sections describe assigning I/O channels in a reACTION program:

I/O channels Assignment
Digital I/O channels Assignment of digital inputs/outputs
Analog input channels Assignment of analog inputs
Analog output channel Assignment of analog output

8.13.2.10 Pinout
Shield
1 +24 VDC
X1 2 DI 1
M12 ① 3 GND
4 DI 2
5 NC
Shield
1 +24 VDC
X2 2 AI 1
M12 ① 3 GND
4 AI 2
5 Shield
Shield
1 +24 VDC
X3 2 AI 2
M12 ① 3 GND
4 AI 1
5 Shield
X1 X5
Shield
X2 1 AO + 1
X4 2 +24 VDC
M12 ① 3 AO - 1 (GND)
X3 4 GND
5 Shield
X4 X8
Shield
1 +24 VDC
X5 2 DI 3 / DO 3
M12 ① 3 GND
4 DI 4 / DO 4
5 NC
Shield
1 DI 6\ / DO 6\
2 DI 8
3 DI 7 / DO 7
4 DI 7\ / DO 7\
5 DI 5 / DO 5
X8
6 DI 5\ / DO 5\
M12 ②
7 DI 9
8 DI 6 / DO 6
9 NC
10 +5 VDC
11 +24 VDC
12 GND
① X67CA0A41.xxxx: M12 straight sensor cable

② X67CA0I41.xxxx: Straight multi-function cable

M12, 5-pin Pinout

1
2 DI 1
2
3 GND
5
4 DI 2
5 NC
8.13.2.10.2 Connection X2/X3
M12, 5-pin Pinout

Connection 2/3 Pin (X2) Pin (X3) Name
1
2 2 4 AI 1
3 3 GND
5
4 2 AI 2
5 5 Shield2)
M12, 5-pin Pinout

Pin Name
Connection 4
1 AO + 1
1 2 24 VDC actuator power supply1)
2 3 AO - 1 (GND)
5 4 GND
5 Shield2)
4 1) Actuators are not permitted to be supplied externally.
M12, 5-pin Pinout

3
2 2 DI 3 / DO 3
3 GND
4 DI 4 / DO 4
5 NC
1
M12, 12-pin Pinout

Pin Name
1 DI 6\ / DO 6\
2 DI 8
Connection 8 3 DI 7 / DO 7
4 DI 7\ / DO 7\
11 5 DI 5 / DO 5
2 6 DI 5\ / DO 5\
7 DI 9
10 8 DI 6 / DO 6
12 9 NC
1 10 5 VDC encoder power supply1)
9
11 24 VDC encoder power supply1)
12 GND
1) Encoder power supply is not permitted to be supplied externally.

8.13.2.11 Analog inputs - Connection examples
Connections X2 and X3 make 2 analog inputs available. The connections are directly connected with each other
(see input circuit diagram "Analog inputs (X2/X3)" on page 841) with the result that they have to be considered
together. Depending on the pinout of the sensors, either the two signals can be processed by the module on the
same connection or one signal per connection.
Connection example 1
Channel 1 1 2
Sensor 1 +24 VDC

5 Connection 2
GND
4 3
Channel 2 1 2
Sensor 2
+24 VDC
5 Connection 3
GND
4 3
Channel 1
Sensors 1 & 2
1 2
+24 VDC
Channel 2
5 Connection 2
GND 4 3
Channel 2
Sensors 1 & 2
1 2
+24 VDC
Channel 1
5 Connection 3
GND 4 3

8.13.2.12.1 Digital inputs (X1)
Input status 1
I/O status +24 VDC

LED (green)
Short circuit and
overload protection 2
1 5
3
Input status 2
4
I/O status
LED (green)
8.13.2.12.2 Digital inputs (X8)
Input x
VDR
Input status
I/O status
GND
GND
LED (green)
PTC
24 V
24 V
8.13.2.12.3 Digital inputs/outputs (X5)
+24 VDC
Output status 1
Logic,
Out 1
temperature
and overload
Input status 1 cutoff
In 1 +24 VDC
I/O status 1 Short circuit and

overload protection
LED
+24 VDC
Output status 2
Logic,
Out 2
temperature
and overload
Input status 2 cutoff
In 2
I/O status 2
LED

8.13.2.12.4 Digital inputs/outputs (X8)
Input x
RS485
driver Input status
Recipient I/O status

Input x
LED (green)
GND
GND
PTC
24 V
24 V
5V
24 V
Output x
RS485
Output status driver
Transmitter
Output x
Information:
The digital inputs and outputs of the X8 connection were designed for signal levels of 5 VDC.
8.13.2.12.5 Analog inputs (X2/X3)
- +24 VDC
Input value
D/A converter
Short circuit and
overload protection 2
1 5
+ 3
I/O status 1
4
+ 2
LED (green)
-
1 5
I/O status 2 3
4
LED (green)

8.13.2.12.6 Analog output (X4)
Enable relay
Short circuit
Short circuit
protection
Output value +24 VDC
D/A converter
2 3
5
Reset
1 4
I/O status
LED (orange)
8.13.2.13 Differential output
The following diagram shows that the differential output voltage sinks when the output current rises.
5
4.5
4
Differential output voltage [V]
3.5
2.5
1.5
0.5
0
0 10 20 30 40 50 60 70 80
Output current [mA]

8.13.2.14.1 Function model 0 - "reACTION"
When using the "reACTION" function model, an individual reACTION program must be created for the module.
This program will be executed by the reACTION module later on, not by the CPU. This allows individual machine
tasks to be managed decentrally and with a very short response time.
The inputs and outputs of a reACTION module can only be operated by an enabled reACTION program. Interaction
registers allow information to be exchanged between the CPU and the reACTION program in the module.
In addition to communication with the CPU, the cyclic interaction registers can also be used for "cross-mapping". In
this way, inputs/outputs can also be read/controlled by external modules across the entire X2X Link or POWERLINK
network.
Read Write
Register Name Data type
131 CfO_LedEnable_AI USINT ●
Module communication
158 ModuleStatus UINT ●
162 DigitalStatus UINT ●
reACTION - Configuration
772 ReActionCycleTimeValue UDINT ●
780 ReActionCycleTimeMultiplier UDINT ●
Index*8 CfO_PARType01
UDINT ●
+ 508 CfO_PARType[02…04]
reACTION - Communication
129 reACTION - Control byte USINT ●
RTEnable Bit 0
RTHardwareWarningQuit Bit 2
145 reACTION - Status byte USINT ●
RTEngineRun Bit 0
RTCycleTimeOverrun Bit 1
RTHardwareWarning Bit 2
RTFileInvalid Bit 4
RTFunctionInvalid Bit 5
RTInstanceInvalid Bit 6
RTFileNotLoaded Bit 7
154 RTCycleCounter UINT ●
150 RTCycleTime UINT ●
reACTION - Interaction
Index*8 PAR01 ●
(U)SINT
+ 4095 PAR[02...32]
PAR01_Bit1
Bit 0
PAR[02...32]_Bit1
PAR01_Bit2
Bit 1
PAR[02...32]_Bit2
PAR01_Bit3
Bit 2
PAR[02...32]_Bit3
PAR01_Bit4
Bit 3
PAR[02...32]_Bit4
PAR01_Bit5
Bit 4
PAR[02...32]_Bit5
PAR01_Bit6
Bit 5
PAR[02...32]_Bit6
PAR01_Bit7
Bit 6
PAR[02...32]_Bit7
PAR01_Bit8
Bit 7
PAR[02...32]_Bit8
Index*8 PAR01
(U)INT ●
+ 4094 PAR[02...32]
Index*8 PAR01
(U)DINT ●
+ 4092 PAR[02...32]
Index*8 RES01 ●
(U)SINT
+ 5119 RES[02…32]
RES01_Bit1
Bit 0
RES[02…32]_Bit1
RES01_Bit2
Bit 1
RES[02…32]_Bit2
RES01_Bit3
Bit 2
RES[02…32]_Bit3
RES01_Bit4
Bit 3
RES[02…32]_Bit4
RES01_Bit5
Bit 4
RES[02…32]_Bit5
RES01_Bit6
Bit 5
RES[02…32]_Bit6

Read Write
RES01_Bit7
Bit 6
RES[02…32]_Bit7
RES01_Bit8
Bit 7
RES[02…32]_Bit8
Index*8 RES01
(U)INT ●
+ 5118 RES[02…32]
Index*8 RES01
(U)DINT ●
+ 5116 RES[02…32]
Index*8 PVAR1
DINT ●
+ 6140 PVAR[2...256]
Index*8 RVAR1
DINT ●
+ 6140 RVAR[2...256]
reACTION - Function block configuration
1028 CfO_Config_ABR1 UDINT ●
1036 CfO_ScalingIncrements_ABR1 UDINT ●
1044 CfO_ScalingUnits_ABR1 UDINT ●
1052 CfO_ChannelMapping1_ABR1 UDINT ●
1060 CfO_ChannelMapping2_ABR1 UDINT ●

8.13.2.14.2 Function model 254 - "Direct I/O"
In the "Direct I/O" function model, a special reACTION program is executed in the module in order to manage the
I/O. In addition, cyclic registers are used to exchange information with the CPU. This reproduces the behavior of
a standard module.
131 CfO_LedEnable_AI USINT ●
Module communication
129 Status acknowledgment USINT ●
RTHardwareWarningQuit Bit 2
145 Status - Composite message USINT ●
RTHardwareWarning Bit 2
158 ModuleStatus UINT ●
SensorSupplyX5Ok Bit 2
SupplyIoOk Bit 6
SupplyBusOk Bit 7
162 DigitalStatus UINT ●
DigitalOutput3Overload Bit 2
DigitalOutput4Overload Bit 3
Direct I/O configuration
556 CfO_DigitalDirection UDINT ●
548 CfO_DigitalFilter UDINT ●
564 CfO_AnalogFilter01 UDINT ●
588 CfO_AnalogFilter02
572 CfO_LowerLimit01 UDINT ●
596 CfO_LowerLimit02
580 CfO_UpperLimit01 UDINT ●
604 CfO_UpperLimit02
Direct I/O communication
18 AnalogInput02
11 StatusInput02
5 Digital outputs USINT ●
... ...
1 Digital inputs I/II USINT ●
... ...
3 Digital inputs II/II USINT ●

8.13.2.14.3 Module - Configuration
This module is equipped with 2 analog inputs. They can be connected individually or together via the same con-
nection on the module.
8.13.2.14.3.1 Selecting the slots for the analog inputs
Name:
CfO_LedEnable_AI
The LedEnable register makes it possible to manually switch the LEDs on/off using connections 2 and 3.
Data type Value
Bit structure:
0 Connection 2 - LED 1 0 LED inactive
1 LED active
1-2 Reserved -
1 LED active
1 LED active
5-6 Reserved -
1 LED active

8.13.2.14.4 Module communication
8.13.2.14.4.1 Module status messages
Name:
ModuleStatus
This register is used to transfer general status messages for the module.
Data type Values
Bit structure:
0-1 Reserved -
2 SensorSupplyX5Ok 0 Encoder power supply failure
1 Encoder power supply on connection 5 OK
1 Encoder power supply on connection 1 OK
1 Encoder power supply on connections 2 and 3 OK
1 Encoder power supply on connections 4 and 8 OK
6 SupplyIoOk 0 I/O power supply outside the valid range
1 I/O power supply is OK
7 SupplyBusOk 0 Bus supply is outside the valid range
1 Bus supply is OK
8.13.2.14.4.2 Status messages for the digital channels
Name:
DigitalStatus
This register is used to transfer general status messages for the digital channels.
Data type Values
Bit structure:
0-1 Reserved -
2 DigitalOutput3Overload 0 Channel OK
1 Channel overloaded
3 DigitalOutput4Overload 0 Channel OK
1 Channel overloaded
4-7 Reserved -

8.13.2.14.5 reACTION - Configuration
8.13.2.14.5.1 reACTION - Cycle time
Name:
ReActionCycleTimeValue
ReActionCycleTimeMultiplier
The "TimeValue" and "Multiplier" registers are used to predefine the desired cycle time for the reACTION program.
The "TimeValue" register specifies the actual value, while the "Multiplier" register contains the associated unit of
measure.
The "Multiplier" register is currently permanently set to 1000 in order to predefine the cycle time exactly in the µs
range.
Data type Value
UDINT 1 to 10000
8.13.2.14.5.2 Configuring the PAR data points
Name:
CfO_PARType01
CfO_PARType[02…04]
PAR data points can be defined for the reACTION program. To enable them, the desired data type must be made
known according to the configuration in Automation Studio.
Data type Value
UDINT See bit structure
Bit structure:
0-3 Type01 - PAR 1 0000 Inactive
Type02 - PAR 9
Type03 - PAR 17 0001 USINT, BOOL
Type04 - PAR 25
4-7 Type01 - PAR 2 0010 UINT
Type02 - PAR 10
Type03 - PAR 18 0011 UDINT
Type04 - PAR 26
8 - 11 Type01 - PAR 3 0100 Reserved
Type02 - PAR 11
Type03 - PAR 19 0101 SINT
Type04 - PAR 27
0110 INT
12 - 15 Type01 - PAR 4
Type02 - PAR 12
0111 DINT
Type03 - PAR 20
Type04 - PAR 28
1000
16 - 19 Type01 - PAR 5 … Reserved
Type02 - PAR 13 1111
Type03 - PAR 21
Type04 - PAR 29
20 - 23 Type01 - PAR 6
Type02 - PAR 14
Type03 - PAR 22
Type04 - PAR 30
24 - 27 Type01 - PAR 7
Type02 - PAR 15
Type03 - PAR 23
Type04 - PAR 31
28 - 31 Type01 - PAR 8
Type02 - PAR 16
Type03 - PAR 24
Type04 - PAR 32

8.13.2.14.6 reACTION - Communication
The reACTION module program is controlled during runtime via the program sequence in the CPU. In the active
state, the reACTION program is then executed independently of the program sequence in the CPU.
8.13.2.14.6.1 Controlling the reACTION module
Name:
RTEnable
RTHardwareWarningQuit
This register is used to control the reACTION program.
Data type Value
Bit structure:
0 RTEnable 0 Stops the reACTION program
1 Starts the reACTION program
1 Reserved -
2 RTHardwareWarningQuit 0 No effect
1 Acknowledges warning messages for the inputs and outputs
3-7 Reserved -
8.13.2.14.6.2 reACTION module status messages
Name:
RTEngineRun
RTCycleTimeOverrun
RTHardwareWarning
RTFileInvalid
RTFunctionInvalid
RTInstanceInvalid
RTFileNotLoaded
This register is used to output various status messages.
Data type Value
Bit structure:
0 RTEngineRun 0 reACTION program inactive
1 reACTION program active
1 RTCycleTimeOverrun 0 Configured RT cycle time observed
1 RT cycle time configuration too short
2 RTHardwareWarning 0 No status messages
(group bit for acyclic status data points) 1 Warning messages for the inputs and outputs
3 Reserved -
4 RTFileInvalid 0 RT program in RAM is OK
(invalid RT program preloaded) 1 RT program invalid in RAM
5 RTFunctionInvalid 0 RT program is OK
(invalid software function) 1 RT program requesting invalid function block
6 RTInstanceInvalid 0 RT program is OK
(invalid hardware instance) 1 RT program requesting invalid I/O
7 RTFileNotLoaded 0 Valid RT program in RT engine
1 No RT program loaded
8.13.2.14.6.3 Cycle counter for the active reACTION program
Name:
RTCycleCounter
The "CycleCounter" register can be used to determine how often the reACTION program has cycled.
Data type Value
UINT 0 to 65535

8.13.2.14.6.4 Minimum cycle time of the active reACTION program
Name:
RTCycleTime
The "RTCycleTime" register can be used to determine how much time the reACTION module needs to cycle
through the loaded program once.
Data type Value
UINT 0 to 65535: Unit 10 ns

8.13.2.14.7 reACTION - Interaction
Once started, the reACTION program in the module runs independently. It reads the mappings of the required
inputs and manages the assigned outputs throughout the entire network. In addition, the reACTION program can
interact with the CPU. There are 3 different data point types available for this.
8.13.2.14.7.1 PAR data points
Name:
PAR[01...32]
PAR[01...32]_Bit1
PAR[01...32]_Bit2
PAR[01...32]_Bit3
PAR[01...32]_Bit4
PAR[01...32]_Bit5
PAR[01...32]_Bit6
PAR[01...32]_Bit7
PAR[01...32]_Bit8
Once enabled, the PAR data points are transported cyclically via X2X Link. They are used to transfer information
from the CPU to the reACTION program. They can be used to intervene in the execution of the reACTION program.
Information:
PAR data points DO NOT control the module's outputs directly!
Data type Value

(U)SINT, BOOL
(U)INT Corresponding range of values
(U)DINT
Register Read Write

Name Data type
4095 + PAR01 ●
(U)SINT
Index*8 PAR[02...32]
PAR01_Bit1
Bit 0
PAR[02...32]_Bit1
PAR01_Bit2
Bit 1
PAR[02...32]_Bit2
PAR01_Bit3
Bit 2
PAR[02...32]_Bit3
PAR01_Bit4
Bit 3
PAR[02...32]_Bit4
PAR01_Bit5
Bit 4
PAR[02...32]_Bit5
PAR01_Bit6
Bit 5
PAR[02...32]_Bit6
PAR01_Bit7
Bit 6
PAR[02...32]_Bit7
PAR01_Bit8
Bit 7
PAR[02...32]_Bit8
4094 + PAR01
(U)INT ●
4092 + PAR01
(U)DINT ●

8.13.2.14.7.2 RES data points
Name:
RES[01...32]
RES[01...32]_Bit1
RES[01...32]_Bit2
RES[01...32]_Bit3
RES[01…32]_Bit4
RES[01...32]_Bit5
RES[01...32]_Bit6
RES[01...32]_Bit7
RES[01...32]_Bit8
Once enabled, the RES data points are transported cyclically via X2X Link. They are used to transfer information
from the reACTION program to the CPU.
Information:
RES data points DO NOT map the module's input directly!
Data type Value

(U)SINT, BOOL
(U)INT Corresponding range of values
(U)DINT
Register Name Read Write

Data type
5119 + RES01 ●
(U)SINT
Index*8 RES[02…32]
RES01_Bit1
Bit 0
RES[02…32]_Bit1
RES01_Bit2
Bit 1
RES[02…32]_Bit2
RES01_Bit3
Bit 2
RES[02…32]_Bit3
RES01_Bit4
Bit 3
RES[02…32]_Bit4
RES01_Bit5
Bit 4
RES[02…32]_Bit5
RES01_Bit6
Bit 5
RES[02…32]_Bit6
RES01_Bit7
Bit 6
RES[02…32]_Bit7
RES01_Bit8
Bit 7
RES[02…32]_Bit8
5118 + RES01
(U)INT ●
5116 + RES01
(U)DINT ●

8.13.2.14.7.3 PVAR and RVAR data points
Name:
PVAR[1...256]
RVAR[1...256]
In addition to PAR and RES data points, VAR data points can also be defined in the reACTION program. They are
a direct component of the reACTION program and can be accessed acyclically by the CPU. Like the PAR and RES
data points, the PVAR data points are used to transfer information from the CPU to the reACTION program. The
RVAR data points are used to transfer feedback from the reACTION program to the CPU.
Data type Value
DINT -2,147,483,648 to 2,147,483,647
Read Write
6140 + PVAR1
DINT ●
Index*8 PVAR[2...256]
6140 + RVAR1
DINT ●
Index*8 RVAR[2...256]

8.13.2.14.8 reACTION function blocks - General
The following tables provide an overview of I/O channel assignments to reACTION function blocks.
Digital inputs/outputs
Channel Function block
Mapping1) rtiDin rtiDout, rtiDoutTime
X1: DI 1 0x00 Channel 1
X5: DI 3 / DO 3 0x02 Channel 3 Channel 3
1) The "Mapping" specification is needed in the event that multiple physical inputs/outputs must be grouped together in order to be processed by a reACTION
function block (e.g. rtiABRPos) (see "reACTION function blocks - Configuration" on page 855).
Analog inputs
Mapping1) rtiAin rtiAout
X2/X3: AI 1 0x00 Channel 1
X2/X3: AI 2 0x01 Channel 2
Analog output
Mapping1) rtiAin rtiAout
X4: AO 1 0x00 Channel 1

8.13.2.14.9 reACTION function blocks - Configuration
Some function blocks in library AsIoRti must be configured before they can be used.
Function block Information
rtiABRPos The module offers the option of using function block rtiABRPos once in the reACTION program. To do so, 3 digital inputs that are
no longer available for rtiDin must be assigned to the function block.
rtiABCnt The module offers the option of using function block rtiABCnt up to 3 times in the reACTION program. To do so, 2 digital inputs
that are no longer available for rtiDin must be assigned to the function blocks as A or B track.
In addition, an external event can be defined for each rtiABCnt function block. The input used for this is also no longer available
for rtiDin.
Table 157: List of function blocks requiring prior configuration
8.13.2.14.9.1 Function blocks rtiABRPos and rtiABCnt
Function blocks rtiABRPos and rtiABCnt can be used to process the position value of an ABR incremental encoder
in a reACTION task. These function blocks can be used separately or in combination.
Using function block rtiABRPos

The following points are important to keep in mind when using function block rtiABRPos in a reACTION program:
• The function block can only be used once in a reACTION program.
• 3 digital inputs must be defined on the module for input signals A, B and R.
• In addition, a digital input on the module can be defined as an event input.
Example diagram of input signals:
rtiABRPos
A A DI 1 Channel 1
B B DI 2
R R DI 3
E1 E1 DI 4
Figure 64: Schematic diagram of input signals for rtiABRPos

Using function block rtiABCnt

The following points are important to keep in mind when using function block rtiABCnt in a reACTION program.
• This function block can be used up to 3 times in a reACTION program.
• 2 digital inputs must be defined on the module for input signals A and B.
• In addition, up to 3 digital inputs on the module can be defined as event inputs E1, E2 and E3.
rtiABCnt
A A DI 1 Channel 1
B B DI 2
E1 E1 DI 4
rtiABCnt
A DI 1 Channel 2
B DI 2
E2 E2 DI 5
rtiABCnt
A DI 1 Channel 3
B DI 2
E3 E3 DI 6
Figure 65: Schematic diagram of input signals for rtiABCnt

Using function blocks rtiABRPos and rtiABCnt in combination

The following points are important to keep in mind when using function blocks rtiABRPos and rtiABCnt together
in a reACTION program:
• Function block rtiABRPos can only be used once in a reACTION program.
• Function block rtiABCnt can be used up to 2 times in a reACTION program.
• 3 digital inputs must be defined for input signals A, B and R (rtiABRPos).
• The same digital inputs are used for input signals A and B (rtiABCnt).
• In addition, up to 3 event inputs E1, E2 and E3 can be defined (rtiABCnt).
• E1 is used for the event input (rtiABRPos).
rtiABRPos
A A DI 1 Channel 1
B B DI 2
R R DI 3
E1 E1 DI 4
rtiABCnt
A DI 1 Channel 2
B DI 2
E2 E2 DI 5
rtiABCnt
A DI 1 Channel 3
B DI 2
E3 E3 DI 6
Figure 66: Schematic diagram of input signals when using rtiABRPos and rtiABCnt at the same time

Registering the position encoder (rtiABRPos/rtiABCnt)
Name:
CfO_Config_ABR1
This register specifies the technical characteristics of the connected ABR incremental encoder.
Data type Value
Bit structure:
0 - 15 Increments per revolution 0 to 65535 Reference pulse monitoring:
If the reference pulse is different than defined here, this is indi-
cated on the status output of function block rtiABRPos.
16 Inversion of the counting direction set by signals A and B 0 Positive counting direction
1 Negative counting direction
17 - 31 Reserved 0
Wiring the position encoder (rtiABRPos/rtiABCnt)
Name:
CfO_ChannelMapping1_ABR1
CfO_ChannelMapping2_ABR1
Before function blocks rtiABRPos/rtiABCnt can be processed by the reACTION engine, the hardware inputs to be
used by the ABR incremental encoder must be defined on the module. The "ChannelMapping" registers specify
which inputs are interpreted as the A, B, R, E1, E2 and E3 signals.
Data type Value
Bit structure of CfO_ChannelMapping1_ABR1:

0-7 Input E1 0 Mapped to digital input 1
1 Mapped to digital input 2
... ...
8 to 255 Reserved
8 - 15 Input R 0 to 255 For possible values, see bits 0 to 7.
16 - 23 Input B 0 to 255 For possible values, see bits 0 to 7.
24 - 31 Input A 0 to 255 For possible values, see bits 0 to 7.
Bit structure of CfO_ChannelMapping2_ABR1:

0 - 15 Reserved 0
16 - 23 Input E3 0 Mapped to digital input 1
... ...
8 to 255 Reserved
24 - 31 Input E2 0 to 255 For possible values, see bits 16 to 23.
Information:
For information about the relationship between the input on the module and the channel name, see
section "reACTION function blocks - General".

Scaling the position encoder (rtiABRPos)
Name:
CfO_ScalingUnits_ABR1
CfO_ScalingIncrements_ABR1
An optional gear ratio can be configured using registers "Units" and "Increments". To do so, the dividend for scaling
is defined in register "Units"; the divisor is defined in register "Increments".
UDINT 0 to 4,294,967,295 CfO_ScalingUnits_ABR1: Units per interval
CfO_ScalingIncrements_ABR1: Increments per interval
Formula for calculation

Gear ratio = ScalingUnits / ScalingIncrements
Example 1
ScalingUnits = 1
ScalingIncrements = 1
Position value (Pos) = ABR increments * ScalingUnits / ScalingIncrements
Position value (Pos) = ABR increments * 1/1
In this example, the ABR position value is output unchanged on output "Pos".
Example 2
ScalingUnits = 10
ScalingIncrements = 4
Position value (Pos) = ABR increments * ScalingUnits / ScalingIncrements
Position value (Pos) = ABR increments * 10/4
In this example, the ABR position value is multiplied by 2.5 and output on output "Pos".
Information:
The encoder values are calculated internally as INT64 values in 32.32 format. On output "Pos" of func-
tion block "rtiABRPos", only the whole number value (INT32) is output for the user. The fixed point
decimal places are used internally to calculate a higher resolution.

8.13.2.14.10 Direct I/O configuration
This module is equipped with 3 analog and 9 digital channels. When using the "Direct I/O" function model, these
channels can be adapted to the requirements of the specific application.
8.13.2.14.10.1 Direction of digital channels
Name:
CfO_DigitalDirection
This register determines the signal direction of digital channels 3 to 7.
Data type Value
Bit structure:
0-1 Reserved 0
2 Direction - Digital channel 3 0 Input
1 Output
... ... ...
6 Direction - Digital channel 7 0 Input
1 Output
7 Reserved 0
8.13.2.14.10.2 Filtering digital channels
Name:
CfO_DigitalFilter
This register defines the filter time of the digital channels. The filter value affects both the switching delay as well
as the immunity of the channels.
Data type Value
UDINT 0 to 500000: Unit 10 ns
8.13.2.14.10.3 Filtering analog inputs
Name:
CfO_AnalogFilter01 to CfO_AnalogFilter02
This register is used to define the filter level of the associated analog channel. The filter value affects both the ADC
conversion rate as well as the precision of the analog value being read.
Data type Value
UDINT 0 to 15
8.13.2.14.10.4 Upper and lower limits of analog inputs
Name:
CfO_LowerLimit01, CfO_UpperLimit01
CfO_LowerLimit02, CfO_UpperLimit02
These register define the lower/upper limit value of the associated analog inputs. If the converted value violates
the user-defined limits, then a corresponding status message is output.
Data type Value
UDINT -32767 to 32767

8.13.2.14.11 Direct I/O communication
This module is equipped with the following inputs and outputs:

• 1 analog output of type ±10 V
• 2 analog inputs of type ±10 V,
• 4 digital inputs (sink) of type 24 VDC,
• 2 digital channels configurable as inputs (sink) or outputs (source) for 24 VDC
• 3 digital channels configurable as inputs (sink) or outputs (source) of type 5 V diff.
8.13.2.14.11.1 Analog output
Name:
AnalogOutput01
This register is used to predefine the value to be output by the analog output.
Data type Value
INT -32767 to 32767
Name:
AnalogInput01
AnalogInput02
This register is used to depict the value read from the respective analog input.
Data type Value
INT -32767 to 32767
8.13.2.14.11.3 Status feedback from analog inputs
Name:
This register is used to depict the status feedback from the respective analog input.
Data type Values
Bit structure:
0 Broken wire 0 No error
1 Open circuit
1 Overflow 0 No error
1 Violation - Upper limit value
2 Underrun 0 No error
1 Violation - Lower limit value
3-7 Reserved 0

Name:
This register is used to predefine the value that should be signaled on the digital output.
Data type Values
Bit structure:
0-1 Reserved 0
2 DigitalOutput03 0 FALSE
1 TRUE
... ... ...
6 DigitalOutput07 0 FALSE
1 TRUE
7 Reserved 0
Bit structure 1 name:

Bit structure 2 name:
DigitalInput09
This register is used to depict the value read from the respective digital input.
Data type Value
USINT See bit structures.
Bit structure 1:
0 DigitalInput01 0 FALSE
1 TRUE
... ... ...
1 TRUE
Bit structure 2:
1 TRUE

mands.
Minimum cycle time
≥200 µs
≥200 µs

Data sheets • Other modules • Summary
8.14 Other modules

The following modules are included in this module group:
• IO-Link master modules
• Strain gauge measurement module
8.14.1 Summary
X67DS438A X67 digital signal module, 4x I/O-Link master V1.1, 4 digital channels configurable as inputs or outputs, 3-wire 865
connections
X67UM1352 X67 universal mixed module, 1 input for full-bridge strain gauge evaluation, 24-bit, 4 digital inputs, 24 VDC, sink, 910
1 digital output, 0.5 A, source, 1 digital output, 1 A, source

Data sheets • Other modules • X67DS438A
8.14.2 X67DS438A
The module is an IO-Link master that allows intelligent sensor and actuators to be connected in accordance to the
IO-Link standard. The module can be used to operate up to 4 IO-Link devices. All IO-Link channels can also be
operated in SIO mode if desired and thus used as digital inputs or outputs. The module also has 4 additional digital
inputs, which can be used independent of the IO-Link channel configuration.
• 4 IO-Link channels (Port Class A)
• Each IO-Link channel can be configured as a digital input or output (SIO mode)
• Additional digital input per IO-Link connection
• 24 VDC and GND for sensor/actuator supply
8.14.2.2 Order data

Other functions
X67DS438A X67 digital signal module, 4x I/O-Link master V1.1, 4 digital
channels configurable as inputs or outputs, 3-wire connections
Table 158: X67DS438A - Order data

Optional accessories for sensors

Connectors and cables from the X67 system accessories can be used to connect standard IO-Link sensors and
devices.
Sensors/Devices with M12 connector
M12 connector
X67AC0C21 X67 female M12 connector, 5-pin, A-keyed, shielded, cage clamp connection
X67AC2C21 X67 female M12 connector, 5-pin, A-keyed, shielded, screw clamp connection
X67AC0C01 X67 male M12 connector, 5-pin, A-keyed, shielded, cage clamp connection
X67AC2C01 X67 male M12 connector, 5-pin, A-keyed, shielded, screw clamp connection
M12 connector with cable
X67CA0A41.xxxx M12 attachment cable, 5-pin, straight
X67CA0A51.xxxx M12 attachment cable, 5-pin, angled
Sensors/Devices with M8 connector

M8 connector
X67AC0P20 Female M8 connector, 4-pin, piercing connection
M8 connector with cable, open on one side
X67CA0P20.xxxx M8 attachment cable, 4-pin, straight
X67CA0P30.xxxx M8 attachment cable, 4-pin, angled

Model number X67DS438A

Short description
I/O module IO-Link master with 4 IO-Link interfaces
General information
B&R ID code 0xCAAE
Status indicators IO-Link operating state, bus function, module status
Diagnostics
IO-Link operating state Yes, using status LED and software
C/Q status Yes, using status LED and software
I/Q status Yes, using software
Connection type
Inputs M12, A-keyed
Cable specification
Cable type 4-pin sensor cable, unshielded
Cable length Max. 20 m
Line capacitance Max. 3 nF
Loop resistance Max. 6 Ω
Power consumption
Internal I/O 0.5 W
Additional power dissipation caused by the actua- -
tors (resistive) [W]
Bus - IO-Link Yes
IO-Link - IO-Link No
Certification
CE Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Voltage range 24 VDC ±25%
Voltage drop for short circuit protection at 0.5 A Max. 0.3 V
Power consumption Max. 12 W per IO-Link interface
Overload protection
Turn-off delay Configurable using software
Turn-off duration Configurable using software
IO-Link in master mode
Transfer rates
COM1 4.8 kbaud
COM2 38.4 kbaud
COM3 230.4 kbaud
Limit values for COM3
Max. connection capacity 22 nF (cable + IO-Link device)
Max. load 96 Ω / 250 mA
Data format 1 start bit, 8 data bits, 1 parity bit (even), 1 stop bit
Bus level 24 VDC (active), 0 VDC (resting voltage)
IO-Link in master mode or in SIO mode "digital
output"
Design Bipolar, positive and negative switching
Peak short circuit current <1.3 A
Residual voltage <0.7 VDC at nominal current 0.25 A
Switching voltage I/O power supply minus voltage drop for short circuit protection and semiconductor switch
Voltage drop on semiconductor switch Max. 0.5 VDC at 0.25 A
Switching delay
0 -> 1 <10 µs
1 -> 0 <10 µs
Table 159: X67DS438A - Technical data

Model number X67DS438A
Overload protection of C/Q output
Overcurrent threshold Configurable using software
Turn-off duration Configurable using software
Isolation voltage between IO-Link and bus 500 VEff
IO-Link in SIO mode "digital output"
Total nominal current Max. 1 A
Switching frequency (resistive load) Max. 500 Hz
Output protection Thermal cutoff if overcurrent or short circuit occurs, integrated protection for switching inductances
IO-Link in SIO mode "digital input"
Input filter
Hardware 300 ns
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Isolation voltage between IO-Link and bus 500 VEff
IO-Link I/Q interface (digital input)
Input filter
Hardware ≤60 µs
Software Default 1 ms, configurable between 0 and 25.5 ms
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Any Yes
Temperature
Relative humidity
Operation 5 to 95%
Storage 5 to 95%
Transport 5 to 95%
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 159: X67DS438A - Technical data


Off Off No X2X Link power supply
On Off X2X Link power supply OK
X2X Link communication running
Off On X2X Link power supply OK
X2X Link communication not running
On On PREOPERATIONAL:
X2X Link power supply OK
Status indicator 1:
Module not initialized
Left: Green, Right: Red I/O LEDs: Status indicator for corresponding IO-Link channel
1-4 Color/Status Description
Orange off/on:
Current physical status of the C/Q line in SIO mode
Red:
Overload of supply or C/Q line of channel
Green: Channel in operation.

IO-Link communication is running.
Green/Red (single flash): Channel in operation.

IO-Link communication is not running.
Green/Red (double flash): Channel in operation.

IO-Link device does not correspond to predefined values.
Status indicator 2:
Left: Green, Right: Red Status indicator 2: Status indicator for module function
Green Off No I/O power supply
On RUN mode
Red Off No I/O power supply or everything OK
8.14.2.4.1 LED signaling pattern
Blinking
Triple flash
Double flash
Single flash
LED on
LED off
1/8 blink cycle
Blink cycle

A B
Connector A: Connector B:
X2X Link interface X2X Link interface
Input Output
Connections 1 to 4:
4x IO-Link channels
4x digital inputs
Connector C: C D Connector D:
Supply Routing
8.14.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.14.2.8 Pinout
Shield
1 +24 VDC
X1 to X4 2 I/Q
M12 ① 3 GND
4 C/Q
5 NC

8.14.2.8.1 IO-Link channels
The IO-Link channels and digital inputs are connected using M12 circular connectors.
Connection Pinout
Connector 1/2 Pin Name
1 1 +24 VDC 24 VDC sensor supply
2 2 I/Q Additional digital input
5 3 GND GND for sensor supply
4 C/Q Communication connection (C) or digital input/output (Q)
4 5 NC -
3 Connector 1 to 4 → B-keyed (female), in-/output

2
4
1
5
Connector 3/4

C/Q connector
The following connection options are available depending on the operating mode of an IO-Link channel.
Operating mode Connected element
IO-Link master mode IO-Link device
"Digital output" SIO mode Actuator
"Digital input" SIO mode Sensor
The connection is made as illustrated here:
4 C/Q
IO-Link device
1 L+
Device
3 L-
1
5 2
4 C/Q
Actuator
4 +24 VDC
1 ... +24 VDC 1
3 2 ... I/Q
3 GND
5 3 ... GND
2 3 4 ... C/Q
5 ... NC 4 C/Q
Sensor
1 +24 VDC
1 4
3 GND
4 C/Q
1 +24 VDC
Sensor
I/Q connector
The sensors can be connected to the additional digital inputs as follows:
1
2 I/Q
5 2
Sensor
1 +24 VDC
4
1 ... +24 VDC
3 3 GND
2 ... I/Q
5 3 ... GND
2 3 4 ... C/Q 2 I/Q

Sensor
5 ... NC
1 +24 VDC
1 4

24 V
Rshunt 24 V
RxD
SPI Connection for
IO-Link channel
System 1 2
SPI TxD
Control
Serial Peripheral Interface Gate driver C/Q 5
UART TxEN control 4 3
C/Q status indicator (orange)
I/Q input status Filter I/Q

version.
Read Write
Register Name1) Data type Cyclic Acyclic Cyclic Acyclic
General module properties
513 CfO_SupplyConfig USINT ●
515 CfO_InputFilter USINT ●
4097 + [CO1024] CfO_OperatingMode0[C] USINT ●
General module communication
1 Additional digital inputs USINT ●
DigitalInputPin2_01 Bit 4
... ...
IO-Link - configuration
4100 + [CO1024] CfO_ChannelMode0[C] UDINT ●
4126 + [CO1024] CfO_IdentificationVendorId0[C] UINT ●
4132 + [CO1024] CfO_IdentificationDeviceId0[C] UDINT ●
15372 CfO_TimerCycle UDINT ●
15366 CfO_TimerOffset INT ●
4110 + [CO1024] CfO_ReqCycleMultiple0[C] UINT ●
4114 + [CO1024] CfO_ReqCycleDivisor0[C] UINT ●
4118 + [CO1024] CfO_ReqCycleOffset0[C] UINT ●
4106 + [CO1024] CfO_ReqCycleTime0[C] UINT ●
IO-Link - General
7 SIO: Digital outputs USINT ●
... ...
DisablePowerSupply01 Bit 4
... ...
1 SIO: Digital inputs USINT ●
... ...
3 Sync (status byte) USINT ●
Synchronized01 Bit 0
... ...
CycleEnd01 Bit 4
... ...
CycleEnd04 Bit 7
5 Overload (status byte) USINT ●
Overload01 Bit 0
... ...
Overload04 Bit 3
33 + [CO16] ChannelStatus0[C] USINT ●
38 + [CO16] FrameCount0[C] SINT ●
4610 + [CO1024] CycleStartNettime0[C] INT ●
4612 + [CO1024] CycleStartNettime0[C] DINT
4618 + [CO1024] CycleEndNettime0[C] INT ●
4620 + [CO1024] CycleEndNettime0[C] DINT
IO-Link - Parameter server for IO-Link device
35 + [CO16] DsControl0[C] USINT ● ●
4164 + [CO1024] CfO_DS_Config0[C] UDINT ●
4265 + [CO1024] DsProgress0[C] USINT ●
4172 + [CO1024] CfO_DS_SaveCtrl0[C] UDINT ●
4180 + [CO1024] CfO_DS_SaveData0[C] UDINT ●
IO-Link - timestamp
4634 + [CO1024] IoLinkTimestampIn0[C] INT ●
4636 + [CO1024] IoLinkTimestampIn0[C] DINT
4641 + [CO1024] IoLinkTimestampInStatusSeq0[C] USINT ●
4738 + [CO1024] IoLinkTimestampOut0[C] INT ●
4740 + [CO1024] IoLinkTimestampOut0[C] DINT

Read Write
Register Name1) Data type Cyclic Acyclic Cyclic Acyclic
4745 + [CO1024] IoLinkTimestampOutCtrlSeq0[C] USINT ●
4643 + [CO1024] IoLinkTimestampOutStatus0[C] USINT ●
IO-Link - Process data
4148 + [CO1024] CfO_PDO_TypeInfo0[C] UDINT ●
4481 + [CO1024] OutputData0[C]_[N] (U)SINT ●
+ [N8×8]
4482 + [CO1024] OutputData0[C]_[N] (U)INT
+ [N8×8]
4484 + [CO1024] OutputData0[C]_[N] (U)DINT
+ [N8×8] REAL
4140 + [CO1024] CfO_PDI_TypeInfo0[C] UDINT ●
4353 + [CO1024] InputData0[C]_[N] (U)SINT ●
+ [N8×8]
4354 + [CO1024] InputData0[C]_[N] (U)INT
+ [N8×8]
4356 + [CO1024] InputData0[C]_[N] (U)DINT
+ [N8×8] REAL
IO-Link - information
4226 + [CO1024] VendorId0[C] UINT ● ●

4236 + [CO1024] DeviceId0[C] UDINT ● ●
4230 + [CO1024] FunctionId0[C] UINT ● ●
4242 + [CO1024] CycleTime0[C] UINT ● ●
4246 + [CO1024] CycleMultible0[C] UINT ●
4250 + [CO1024] CycleDivisor0[C] UINT ●
4254 + [CO1024] MinCycleTime0[C] UINT ●
4257 + [CO1024] PDI_Size0[C] USINT ●
4259 + [CO1024] PDO_Size0[C] USINT ●
4261 + [CO1024] Baudrate0[C] USINT ●
4263 + [CO1024] IoLinkVersionID0[C] USINT ●
Event interface
113 EventPortSeq USINT ● ●
115 EventQualifier USINT ● ●
118 EventCode UINT ● ●
121 EventsLeft USINT ●
123 EventQuit USINT ● ●
123 EventQuitReadBack USINT ●
Command interface
98 ParameterIndexOut UINT ● ●
101 ParameterSubIndexOut USINT ● ●
103 ParameterCtrlOut USINT ● ●
108 ParameterDataOut_0 UDINT ● ●
103 ParameterCtrlIn USINT ● ●
108 ParameterDataIn_0 UDINT ● ●
FlatStream
193 CfO_OutputMTU USINT ●
195 CfO_InputMTU USINT ●
197 CfO_FlatStreamMode USINT ●
199 CfO_Forward USINT ●
204 CfO_ForwardDelay UDINT ●
129 InputSequence USINT ●
131 + [N27×2] RxByte[N] USINT ●
129 OutputSequence USINT ●
131 + [N27×2] TxByte[N] USINT ●
1) Channel offset [COx] of channel [C]: ([C] - 1) × x; [C] = 1 to 4:
• [CO1024] = ([C] - 1) × 1024

• [CO16] = ([C] - 1) × 16
Index offset [Nn×o] = ([N] - 1) × o; [N] = 1 to n:
• [N8×8] = ([N] - 1) × 8; [N] = 1 to 8

• [N27×2] = ([N] - 1) × 2; [N] = 1 to 27

Read Write
Register Offset Name1) Data type Cyclic Acyclic Cyclic Acyclic
General module properties
513 - CfO_SupplyConfig USINT ●
515 - CfO_InputFilter USINT ●
4097 + [CO1024] - CfO_OperatingMode0[C] USINT ●
General module communication
1 20 Additional digital inputs USINT ●
... ...
IO-Link - configuration
4100 + [CO1024] - CfO_ChannelMode0[C] UDINT ●
4126 + [CO1024] - CfO_IdentificationVendorId0[C] UINT ●
4132 + [CO1024] - CfO_IdentificationDeviceId0[C] UDINT ●
15372 - CfO_TimerCycle UDINT ●
15366 - CfO_TimerOffset INT ●
4110 + [CO1024] - CfO_ReqCycleMultiple0[C] UINT ●
4114 + [CO1024] - CfO_ReqCycleDivisor0[C] UINT ●
4118 + [CO1024] - CfO_ReqCycleOffset0[C] UINT ●
4106 + [CO1024] - CfO_ReqCycleTime0[C] UINT ●
IO-Link - General
7 - SIO: Digital outputs USINT ●
... ...
... ...
1 20 SIO: Digital inputs USINT ●
... ...
3 21 Sync (status byte) USINT ●
... ...
CycleEnd01 Bit 4
... ...
CycleEnd04 Bit 7
5 22 Overload (status byte) USINT ●
Overload01 Bit 0
... ...
Overload04 Bit 3
33 + [CO16] 16 + [CO1] ChannelStatus0[C] USINT ●
38 + [CO16] - FrameCount0[C] SINT ●
4610 + [CO1024] - CycleStartNettime0[C] INT ●
4612 + [CO1024] - CycleStartNettime0[C] DINT
4618 + [CO1024] - CycleEndNettime0[C] INT ●
4620 + [CO1024] - CycleEndNettime0[C] DINT
IO-Link - Parameter server for IO-Link device
35 + [CO16] - DsControl0[C] USINT ●
4164 + [CO1024] - CfO_DS_Config0[C] UDINT ●
4265 + [CO1024] - DsProgress0[C] USINT ●
4172 + [CO1024] - CfO_DS_SaveCtrl0[C] UDINT ●
4180 + [CO1024] - CfO_DS_SaveData0[C] UDINT ●
IO-Link - timestamp
4634 + [CO1024] - IoLinkTimestampIn0[C] INT ●
4636 + [CO1024] - IoLinkTimestampIn0[C] DINT
4641 + [CO1024] - IoLinkTimestampInStatusSeq0[C] USINT ●
4738 + [CO1024] - IoLinkTimestampOut0[C] INT ●
4740 + [CO1024] - IoLinkTimestampOut0[C] DINT
4745 + [CO1024] - IoLinkTimestampOutCtrlSeq0[C] USINT ●
4643 + [CO1024] - IoLinkTimestampOutStatus0[C] USINT ●
IO-Link - Process data
4140 + [CO1024] - CfO_PDO_TypeInfo0[C] UDINT ●
4481 + [CO1024] 0 + [CO4] OutputData0[C]_[N] (U)SINT ●
+ [N4×8] + [N4]
4148 + [CO1024] - CfO_PDI_TypeInfo0[C] UDINT ●
4353 + [CO1024] 0 + [CO4] InputData0[C]_[N] (U)SINT ●
+ [N4×8] + [N4]

Read Write
Register Offset Name1) Data type Cyclic Acyclic Cyclic Acyclic
IO-Link - information
4226 + [CO1024] - VendorId0[C] UINT ●
4236 + [CO1024] - DeviceId0[C] UDINT ●
4230 + [CO1024] - FunctionId0[C] UINT ●
4242 + [CO1024] - CycleTime0[C] UINT ●
4246 + [CO1024] - CycleMultible0[C] UINT ●
4250 + [CO1024] - CycleDivisor0[C] UINT ●
4254 + [CO1024] - MinCycleTime0[C] UINT ●
4257 + [CO1024] - PDI_Size0[C] USINT ●
4259 + [CO1024] - PDO_Size0[C] USINT ●
4261 + [CO1024] - Baudrate0[C] USINT ●
4263 + [CO1024] - IoLinkVersionID0[C] USINT ●
Event interface
113 - EventPortSeq USINT ●
115 - EventQualifier USINT ●
118 - EventCode UINT ●
121 - EventsLeft USINT ●
123 - EventQuit USINT ●
123 - EventQuitReadBack USINT ●
Command interface
98 - ParameterIndexOut UINT ●
101 - ParameterSubIndexOut USINT ●
103 - ParameterCtrlOut USINT ●
108 - ParameterDataOut_0 UDINT ●
103 - ParameterCtrlIn USINT ●
108 - ParameterDataIn_0 UDINT ●
FlatStream
193 - CfO_OutputMTU USINT ●
195 - CfO_InputMTU USINT ●
197 - CfO_FlatStreamMode USINT ●
199 - CfO_Forward USINT ●
204 - CfO_ForwardDelay UDINT ●
129 - InputSequence USINT ●
131 + [N27×2] RxByte[N] USINT ●
129 -- OutputSequence USINT ●
131 + [N27×2] - TxByte[N] USINT ●
1) Channel offset [COx] of channel [C]: ([C] - 1) × x; [C] = 1 to 4:
• [CO1024] = ([C] - 1) × 1024

• [CO16] = ([C] - 1) × 16
• [CO4] = ([C] - 1) × 4
• [CO1] = [C] - 1
Index offset [Nn×o] = ([N] - 1) × o; [N] = 1 to n:
• [N4×8] = ([N] - 1) × 8; [N] = 1 to 4

• [N27×2] = ([N] - 1) × 2; [N] = 1 to 27
Index offset [Nn] = [N] - 1; [N] = 1 to n:
• [N4] = [N] - 1; [N] = 1 to 4

8.14.2.11.4 General module properties
The module has the option of supplying power to IO-Link devices.

To prevent damage to hardware, each channel is monitored individually and equipped with its own overload pro-
tection. In this way, an overload in the power supply on one channel does not affect the other channels.
In addition to the standardized IO-Link interface, an additional digital input is available on pin 2 of each IO-Link
channel connection.
8.14.2.11.4.1 Configuring overload protection for the IO-Link supply
Name:
CfO_SupplyConfig
This register can be used to define how the module supply behaves for all channels when an overload occurs.
The following rules apply:
• The overload duration (bits 6-7) corresponds to the time that the supply remains switched on after an
overload is detected. The supply is only cut off if the overcurrent occurs for the entire time configured.
• The switch-off duration (bits 4-5) corresponds to the time that the supply remains switched off after a
overload-related cutoff until it is switched back on.
For this reason, an overload that occurs over a longer period can cause the module supply to cyclically
switch on/off.
Data type Values
Bit structure:
0-3 Reserved -
4-5 Switch-off duration after overload 00 5 ms
01 20 ms
10 50 ms
11 Forbidden
6-7 Overload duration until error detection 00 1 ms
01 4 ms
10 10 ms
11 Forbidden
8.14.2.11.4.2 Filter for digital inputs
Name:
CfO_InputFilter
The value of the input filter affects the response time of all additional digital inputs:
• Lower filter values reduce the input's dead time.
• Higher filter values are recommended for noisy signals.
The filter value can be configured in steps of 100 µs. It makes sense to enter values in appropriate steps, however,
since the input signals are sampled every half of the X2X Link cycle time.
Data type Value
1 0.1 ms
... ...
255 25.5 ms
Information:
This register has no effect of the digital inputs of the IO-Link channels in SIO mode.

8.14.2.11.4.3 OperatingMode
Name:
CfO_OperatingMode01 to CfO_OperatingMode04
This register is the same as the first bytes of the "ChannelMode" on page 879 register in the IO-Link configuration.
It can be used to switch a channel's mode at runtime. The rest of the settings for the "ChannelMode" on page 879
register are unchanged and continue to be used in the selected mode.
Data type Values
Bit structure:
0-1 Channel mode 00 Mode: Inactive
01 Mode: SIO output
The channel's C/Q connector is configured as a digital output.
10 Mode: SIO input
The channel's C/Q connector is configured as a digital input.
11 Mode: Operate
The channel's C/Q connector is configured for IO-Link data transfer.
2-7 Reserved -
8.14.2.11.5 General module communication
An additional digital input is available on the module for each IO-Link channel. Each of these inputs can be used
regardless of how the individual IO-Link channels are configured.
8.14.2.11.5.1 Additional digital inputs
Name:
DigitalInputPin2_01 to DigitalInputPin2_04
This register can be used to read the current state of the additional digital inputs.
Data type Values
Bit structure:
0-3 Reserved -
4 DigitalInputPin2_01 0 or 1 Input state - Additional digital input 1

8.14.2.11.6 IO-Link - general configuration
In order to establish communication between the module and IO-Link device, the "ChannelMode" on page 879
register must be configured at least. Additional registers allow the data stream to be adjusted and the connected
devices to be checked. This way, the IO-Link communication can be better adjusted to the user's requirements.
8.14.2.11.6.1 ChannelMode
Name:
CfO_ChannelMode01 to CfO_ChannelMode04
The user has the option of setting all channel-specific settings via this register.
Data type Value
Bit structure:
0-1 Channel mode 00 Mode: Inactive
01 Mode: SIO output
The channel's C/Q connector is configured as a digital output.
10 Mode: SIO input
The channel's C/Q connector is configured as a digital input.
11 Mode: Operate
The channel's C/Q connector is configured for IO-Link data
transfer.
2-7 Reserved -
8-9 Threshold value for overcurrent on the channel1) 00 250 mA
(OverCurrentThreshold in Automation Studio configuration) 01 125 mA
10 75 mA
11 50 mA
10 - 11 Reserved -
12 - 13 Switch-off duration after overload1) 00 20 ms
(OverloadOffTime in Automation Studio configuration) 01 12 ms
10 6.4 ms
11 32 ms
14 - 15 Reserved -
16 - 17 Synchronization mode 00 Free-wheeling (asynchronous)
01 Synchronous (manual)
10 Synchronous (automatic)
11 Forbidden
18 - 19 Reserved -
20 - 23 Inspection level 0 Tests disabled
1 Testing VendorID and DeviceID
24 - 25 IO-Link timestamp 00 No timestamp
01 Input timestamp
10 Output timestamp
11 Input and output timestamps
26 Format of the IO-Link output timestamp2) 0 32-bit (DINT)
1 16-bit (INT)
27 - 32 Reserved -
1) This is overload protection for the C/Q connector of the IO-Link channel (IO-Link data line or SIO output) as opposed to overload protection of the IO-Link
supply.
2) This bit informs the module of the format used for the IoLinkTimestampOut output timestamp. In Automation Studio, this setting is made implicitly in the I/O
configuration together with the selection of the data type for the IO-Link timestamp.
8.14.2.11.6.2 IdentificationVendorID
Name:
CfO_IdentificationVendorId01 to CfO_IdentificationVendorId04
If the Vendor ID is to be verified during startup, then the expected value must be specified in this register. The
verification can be enabled by setting the inspection level in the "ChannelMode" on page 879 register.
Information:
If the expected ID does not match the actual ID of the connected IO-Link device, communication will
not be started for this channel.
Data type Values
UINT 0 to 65,535

8.14.2.11.6.3 IdentificationDeviceID
Name:
CfO_IdentificationDeviceId01 to CfO_IdentificationDeviceId04
If the device ID should be verified during startup, then the expected ID of the IO-Link device must be specified in
this register. The verification can be enabled by setting the inspection level in the "ChannelMode" on page 879
register.
Information:
If the expected ID does not match the actual ID of the connected IO-Link device, communication will
not be started for this channel.
Data type Values
UDINT 0 to 4,294,967,295
8.14.2.11.6.4 Timing of IO-Link communication
At runtime, the module needs to manage data sets from 2 different communication standards. For efficient X2X Link
communication, it is important to make sure that the cycle time of all X2X modules is the same as the bus cycle time.
Cycle times specified in IO-Link
The IO-Link specification defines the timing cycle for polling an IO-Link device. This cycle is called the IO-Link cycle.
Valid IO-Link cycle times range from 0.4 ms to 132.8 ms. There are three ranges:
Area Increment Calculation Valid cycle times
0.4 to 6.3 ms 0.1 ms Cycle time = 0.1 ms * n + 0.4 ms 0.4, 0.5, 0.6 to 6.2, 6.3 ms
Module timer
An internal module timer that applies globally to all channels serves as the bases for synchronizing the individual
channels. Using this defined time basis, X2X and IO-Link communication can be synchronized with each other. The
period duration for the module timer can be defined in µs. To make communication as efficient and deterministic
as possible, the module timer is configured in automatic mode to match the X2X Link cycle time by default. If
necessary, the start of the module timer can be offset using the "TimerOffset" on page 883.
The module timer's cycle is synchronized automatically with the X2X cycle. Depending of the ratio between the
X2X and module timer cycle time, there may be different ratios between the cycles.
Examples
1 to 1 (X2X cycle 1000, cycle timer 1000) → Always exactly one timer cycle per X2X cycle
2 to 1 (X2X cycle 2000, cycle timer 1000) → Always exactly two timer cycles per X2X cycle
1 to 2 (X2X cycle 1000, cycle timer 2000) → Always exactly one timer cycle per 2 X2X cycles
3 to 5 (X2X cycle 1500, cycle timer 2500) → Always exactly 3 timer cycles per 5 X2X cycles

Synchronous operation
Unlike to free-running operation, synchronous mode and the synchronization cycle time in this operating mode can
be configured individually for each channel.
The SYNCHRONIZED operating mode optimizes the interaction between X2X and IO-Link communication. The
module's resources were designed for this mode, so this configuration should be used for the module's channels.
• In the mode SYNCHRONIZED (automatic), the module calculates the necessary timing parameters itself.
An IO-Link cycle is set that complies with the IO-Link specification. The selected IO-Link cycle time corre-
sponds to the lowest possible multiple of the module timer cycle time that meets the following conditions:
– Valid IO-Link cycle time

– Greater than or equal to the minimum cycle time on the device
• In the mode SYNCHRONIZED (manual), the user can configure the module's timing manually. Both the
synchronization cycle time and the IO-Link cycle can be defined manually by setting a factor.
Synchronization cycle time
Synchronization cycle time = Timer cycle time * CfO_ReqCycleMultiple0x
The synchronization ensures that synchronization cycles run parallel with the same synchronization cycle time and
are not offset by timer cycles.
IO-Link cycle time
IO-Link cycle time = Synchronization cycle time / CfO_ReqCycleDivisor0x
The IO-Link cycle is set individually for each channel. If necessary, the IO-Link cycle of a channel can be offset
using a channel-specific offset. This allows channels to be adjusted so that their queries end at the same time,
for example.
With very short cycle times (<1 ms) it is possible that the data cannot be processed fast enough. When this happens,
the subsequent cycles are delayed, which is indicated by the status bit for synchronization being reset.
Information:
If the IO-Link cycle is configured to be less than the device's minimum cycle time, then a cycle that
meets the following conditions is selected automatically:
• Multiple of the module timer cycle
• Valid IO-Link cycle time
• Greater than or equal to the minimum cycle time on the device

Example of a configuration
X2X cycle X2X cycle 1 ms
Timer cycle Timer cycle 1 ms Timer offset (400 μs)

Channel 1: Multiple = 2
Divisor = 4
Offset = 0
Cycle time = 0.5 ms Synchronization cycle 2 ms CycleRequesetEndNettime02
Divisor = 1
Offset = 0
Cycle time = 2 ms
CycleStartNettime02 CycleEndNettime02
Divisor = 1
Offset = 0
Cycle time = 3 ms Synchronization cycle 3 ms
Divisor = 1
Offset = 1
Cycle time = 3 ms 100 μs 3 ms Cycle offset
Synchronization time
The module timer in this example

• The duration of the module timer period was not defined explicitly. In this case, it corresponds to the X2X
Link cycle time.
• An offset of 400 µs was applied to the module timer; i.e. the module timer cycle begins 400 µs after the
X2X Link cycle.
IO-Link communication in this example
• The parameters "Multiple" on page 883 and "Divisor" on page 883 produce a channel-specific cycle
time for IO-Link communication.
• Channels 1 and 2 have a shared synchronization cycle of 2 ms.
Channels 3 and 4 have a shared synchronization cycle of 3 ms, which is shifted due to the offset.
• Channels start their query together at the beginning of a shared synchronization cycle.
• The IO-Link cycle of the fourth channel was delayed with an offset of 1 ms.
• All channels have a shared synchronization cycle of 6 ms.
Free-running (asynchronous) mode

If the IO-Link and X2X cycle times cannot be synchronized, then the IO-Link cycle time can be defined explicitly. IO-
Link communication then runs independently of the module timer and X2X cycle. Except for "CycleEndNettime" on
page 887, no other net time data points can be used. The cycle times of free-running IO-Link channels are defined
directly via the corresponding registers. However, deviations may occur if the module's resources are exhausted.
TimerCycle
Name:
CfO_TimerCycle
This register can be used to configure synchronous IO-Link communication. If the module timer is not meant to be
operated with the same cycle, then it is possible to define the period length of the module timer in µs using this
register. This allows channels to be synchronized with one another even if using a very unusual X2X cycle time.
Data type Values
UDINT 0 to 4,294,967,295

TimerOffset
Name:
CfO_TimerOffset
This register can be used to configure synchronous IO-Link communication. If the module timer should run with
a timing offset to X2X Link, this register can be used to define how many microseconds in front of or behind the
module timer should be shifted.
Data type Values
INT -32768 to 32767
ReqCycleMultiple
Name:
CfO_ReqCycleMultiple01 to CfO_ReqCycleMultiple04
This register can be used to manually configure the synchronization cycle time. This cycle time can be used together
with the "ReqCycleDivisor" on page 883 register to define the IO-Link cycle time. See "Synchronous operation"
on page 881 for an example.
Information:
If this register is not defined for an IO-Link channel or predefined with zero, the values of the Cycle-
Multiple and CycleDivisor registers are calculated automatically when the module is started.
Data type Values
UINT 0 to 65,535
ReqCycleDivisor
Name:
CfO_ReqCycleDivisor01 to CfO_ReqCycleDivisor04
This register can be used together with "ReqCycleMultiple" on page 883 to define the IO-Link cycle time. See
"Synchronous operation" on page 881 for an example.
Information:
If this register is not defined for an IO-Link channel or predefined with zero, the values of the Cycle-
Multiple and CycleDivisor registers are calculated automatically when the module is started.
Data type Values
UINT 0 to 65,535
ReqCycleOffset
Name:
CfO_ReqCycleOffset01 to CfO_ReqCycleOffset04
This register can be used to offset the IO-Link cycle of a channel with the synchronization cycle.
This offset may be sensible if all channels are running with the same cycle time. In this case, all channels are
finished at the same time, which could result in the module not being able to process all data in time. Offsets can
be used to prevent these sorts of bottlenecks so that data traffic can be divided up more evenly.
UINT 0 to 65535 Configured in timer cycles

ReqCycleTime
Name:
CfO_ReqCycleTime01 to CfO_ReqCycleTime04
This register is used with free-running (asynchronous) IO-Link communication. It contains the explicitly defined
cycle time for the IO-Link query in µs.
Information:
• In free-running mode, no net time data points are permitted to be used except for "CycleEnd-
Nettime" on page 887.
• If the cycle time predefined for IO-Link communication falls below the device's minimum cycle
time, the IO-Link data is queried using the device's minimum cycle time.
• For efficient IO-Link communication, the configured query time should correspond to the spec-
ified IO-Link cycle times. If a value is unsuitable, the next suitable cycle time is used automat-
ically.
UINT 0 to 65535 In 100 μs steps
8.14.2.11.7 IO-Link - General
The following registers are used for general communication. They are mainly used for repair status and runtime
control.
8.14.2.11.7.1 Digital SIO outputs
Name:
DisablePowerSupply01 to DisablePowerSupply04
If a channel is being operated in SIO mode (SIO output), this register can be used to control the SIO output of the
IO-Link channel. It is also possible switch on/off the supply for each IO-Link channel individually.
Data type Values
Bit structure:
0 DigitalOutput01 0 Reset digital SIO output 01
1 Set digital SIO output 01
... ...
3 DigitalOutput04 0 Reset digital SIO output 04
1 Set digital SIO output 04
4 DisablePowerSupply01 0 Switch on supply for IO-Link channel 01
1 Switch off supply for IO-Link channel 01
... ...
7 DisablePowerSupply04 0 Switch on supply for IO-Link channel 04
1 Switch off supply for IO-Link channel 04
8.14.2.11.7.2 Digital SIO inputs
Name:
If a channel is being operated in SIO mode (SOI input), this register can be used to read the input status of the
channel.
Data type Values
Bit structure:
0 DigitalInput01 0 Reset digital SIO input 01
1 Set digital SIO input 01
... ...
3 DigitalInput04 0 Reset digital SIO input 04
1 Set digital SIO input 04
4-7 Reserved -

8.14.2.11.7.3 Sync (status byte)
Name:
Synchronized01 to Synchronized04
CycleEnd01 to CycleEnd04
The module uses this status register to report whether error-free communication with the device was possible
during the last module cycle.
• The CycleEnd bits indicate whether the last data transmitted to the IO-Link device has been processed.
The CycleEnd bits are reset after each X2X cycle.
• The synchronized bits indicate that the channel is synchronized without errors.
Data type Values
Bit structure:
0 Synchronized01 0 Synchronization for channel 1 not OK
1 Synchronization for channel 1 OK
... ...
3 Synchronized04 0 Synchronization for channel 4 not OK
1 Synchronization for channel 1 OK
4 CycleEnd01 0 I/O cycle end: No new IO-Link data
1 I/O cycle end: New data transmitted and received
... ...
7 CycleEnd04 0 I/O cycle end: No new IO-Link data
1 I/O cycle end: New data transmitted and received
8.14.2.11.7.4 Overload (status byte)
Name:
Overload01 to Overload04
This status register is used by the module to report whether an overload in the form of overcurrent or overtemper-
ature occurred in the channel supply.
Data type Values
Bit structure:
0 Overload01 0 Channel 1: No overload
1 Channel 1: Overload
... ...
3 Overload04 0 Channel 4: No overload
1 Channel 4: Overload
4-7 Reserved -

8.14.2.11.7.5 ChannelStatus
Name:
ChannelStatus01 to ChannelStatus04
This register is used to show the current status of the IO-Link channel.
Data type Value Information Status
USINT 0 Channel inactive Disabled
1 Use as digital SIO output SIO mode
2 Use as digital SIO input
3 Startup of IO-Link device, PREOPERATIONAL mode Communication is running but
no process data is exchanged.
However, acyclic access is al-
so possible.
4 Operation, OPERATE mode Communication is running
5 Operation, parameter server data OK
6 Parameter server: Upload active Communication is running and
7 Parameter server: Download active process data is being returned.
8 Parameter server: Deleting active
9 IODD parameters are written
10 to 19 Reserved
21 General error in the parameter server. For example: Communication is running.
• However, an error has oc-
Parameter server not supported
curred on the parameter serv-
• Error accessing an object that is managed by the para- er.
meter server Parameter server errors can be
• Internal error acknowledged via the "DsCon-
22 Parameter server locked by IO-Link device trol" on page 888 register.
23 Parameter server empty:
Tried to load data to the IO-Link device even though no data is
saved in EEPROM
24 New serial number recognized:

The user must decide via the "DsControl" on page 888 regis-
ter what has to be done (Upload – Download – Restore default
values)
25 Parameter server not compatible (new DeviceID or new Ven-
dorID recognized):
The data in EEPROM is not suitable for the connected IO-Link
device. The user must decide via the "DsControl" on page 888
register whether an upload should be carried out.
26 Upload request received.
ter what must be done (Upload – Download – Restore default
values).
27 The parameter checksum of the IO-Link device has changed:
ter what must be done (Upload – Download – Restore default
values).
28 Error when sending the SAVE command
29 Reserved
30 Process data invalid Communication is running.
However, process data was
marked as invalid by the de-
vice.
31 - 39 Reserved
40 No connection No communication
41 Reserved
42 The DeviceID and VendorID of the connected IO-Link device do Communication is running but
not match the predefined IDs. no process data is exchanged.
43 Reserved However, acyclic access is al-
44 Timestamp error so possible.
The IO-Link device does not support IO-Link timestamps.
45 Error starting up the device No communication
46 to 255 Reserved

8.14.2.11.7.6 FrameCount
Name:
FrameCount01 to FrameCount04
Received IO-Link frames are counted in this register. Unlike the sync bits, the FrameCount register ensures that
all frames are actually recognized. This is the case even if X2X cycles are lost or if the IO-Link cycle is faster than
the X2X cycle.
Data type Values
SINT -128 to 127
8.14.2.11.7.7 CycleStartNettime
Name:
CycleStartNettime01 to CycleStartNettime04
This register can be used to read out the value of the net time at the start of the last IO-Link cycle.
Data type Value
INT -32768 to 32767
DINT -2,147,483,648 to 2,147,483,647
8.14.2.11.7.8 CycleEndNettime
Name:
CycleEndNettime01 to CycleEndNettime04
This register can be used to read out the value of the net time at the end of the last IO-Link cycle.
Data type Value
INT -32768 to 32767
DINT -2,147,483,648 to 2,147,483,647
8.14.2.11.8 IO-Link data storage
The parameter server

If supported by the IO-Link device, the IO-Link parameter server can be used to read the application-specific device
configuration from the IO-Link master, for example. The parameter server of the module is generally activated and
can be used with the help of a controller register.
Which data storage parameters are transferred depends on the connected IO-Link device. The read information is
stored in EEPROM on the DS module and can be fed back automatically after replacing the device, for example.
The module is capable of processing the data storage upload request (event code 0xFF91) of the IO-Link specifi-
cation. The request is usually triggered if parameters on the device are changed. In this case, depending on the
configuration, an upload of data storage data can be started (standard).
Automatic management of data storage parameters
Automatic management has been designed according to IO-Link specification. Since the IO-Link standard exhibits
a degree of tolerance here, it is possible that some IO-Link devices may have to be handled differently. This can
be configured using the "CfO_DS_Config" on page 889 register.
An upload/download is performed under the following conditions:
• DsControl0x = 1
• When the device is being started up or if a data storage upload requirement has been received.
Offline configuration
With offline configuration, the configuration data set up for the device in Automation Studio is stored in the project.
This data is then used to configure the CPU automatically when the project is downloaded or data is generated for
the memory card. In contrast to the parameter server, where values are read from an existing device, the values
in this case are defined explicitly in the application. The values are automatically configured only one time after
the download. This procedure only occurs again if a new parameter file is received from Automation Studio, the
device is replaced or if the download is started manually by the library.
This function works independently of the parameter server. If the parameter server is still enabled, however, it can
be started as needed after the offline configuration to store the corresponding data. In the event of a replaced
device, the data can be loaded to the device from the parameter server.

8.14.2.11.8.1 DsControl
Name:
DsControl01 to DsControl04
This register can be used to control the "parameter server" on page 887 manually. Each action is carried out
exactly once when the corresponding value is set. If the same action should be executed multiple times, then this
register must be set to the value 0 beforehand.
USINT 0 No action
1 Operating mode of the parameter server: Automatic upload and download
2 Upload if data storage parameters are available on the device
3 Download if data storage parameters are available in the CPU's memory and the device can
process them
4 Acknowledge error status from parameter server
(see "ChannelStatus" on page 886: error messages 21 to 28)
5 Delete data storage parameters on the CPU's memory
6 Start dummy upload. Starts an upload without saving the data. This can be used to acknowledge
an upload request.
7 to 255 Reserved
8.14.2.11.8.2 DsProgress
Name:
DsProgress01 to DsProgress04
The module uses this register to report the progress of the upload or download from the parameter server. The
values from 0 to 100 can be used for implementing a progress display.
Data type Value
USINT 0 to 100

8.14.2.11.8.3 CfO_DS_Config
Name:
CfO_DS_Config01 to CfO_DS_Config04
This register can be used to set the behavior of the parameter server module (when operating the parameter server
manually). By doing this, a corresponding reaction is assigned to every trigger event.
Data type Value
Bit structure:
Bit Event Value Reaction
0-3 The device ID of the connected device no longer matches the 000 No response
device ID saved together with the parameters. 001 Cancel
010 User-defined reaction. See "ChannelStatus" on page 886: Sta-
tus message 25
011 Upload (default value)
4-7 The device transmitted an upload request. 000 No response
001 Cancel
tus message 26
011 Upload (default value)
8 - 11 A new parameter checksum was detected when starting the 000 No response
device. 001 Cancel
tus message 27
011 Upload
100 Download (default value)
12 - 15 The serial number of the connected device no longer matches 000 No response
the serial number saved together with the parameters. 001 Cancel
tus message 24
011 Upload
100 Download (default value)
16 - 23 Reserved -
24 - 26 Specifies the order that individual events are checked 000 DeviceID, serial number, upload request, parameter checksum
(default value)
001 DeviceID, serial number, parameter checksum, upload request
010 DeviceID, upload request, parameter checksum, serial number
011 DeviceID, upload request, serial number, parameter checksum
100 DeviceID, parameter checksum, upload request, serial number
101 DeviceID, parameter checksum, serial number, upload request
27 - 31 Reserved -
8.14.2.11.8.4 The save command
Some IO-Link devices must be instructed to save transferred data storage parameters in remanent memory after
a download. In order to apply data storage parameters with these devices to remanent memory, a specific save
command must be sent additionally (e.g. value 163 on index 2, subindex 0).
Because such a save command isn't provided in the specification, the option of configuring the device-specific save
command and the corresponding index/subindex has been implemented in the module. If a save command is con-
figured, then it is automatically sent after successfully downloading data storage parameters or offline configuration.

CfO_DS_SaveCtrl
Name:
CfO_DS_SaveCtrl01 to CfO_DS_SaveCtrl04
This register is used together with "CfO_DS_SaveData" on page 890.
Some IO-Link devices must be instructed to save transferred data storage parameters in remanent memory after
a download. In order for these parameters to be applied to remanent memory on these devices, the recorded
index and subindex in these registers must be sent together with the save command (e.g. value 163 on index 2,
subindex 0).
Data type Value
Bit structure:
0 - 15 Index 0 to 255 Device-specific index for save command
16 - 24 Subindex 0 to 255 Device-specific subindex for save command
24 - 26 Data length 0 Save command disabled
1 to 4 The data length of the save command estimated by the device
in bytes
27 - 31 Reserved
CfO_DS_SaveData
Name:
CfO_DS_SaveData01 to CfO_DS_SaveData04
This register is used together with "CfO_DS_SaveCtrl" on page 890 and contains the value written to the index
configured in the CfO_DS_SaveCtrl register.
Data type Values
UDINT 0 to 4,294,967,295
8.14.2.11.9 IO-Link timestamp
The IO-Link timestamp register allows the relation of IO-Link timestamps to the net time of a controller, and vice
versa.
This makes it possible to relate the times of value changes of the IO-Link device exactly to the net time of the
controller, and vice versa. Events can be captured or triggered with a higher timing resolution than would be possible
with the IO-Link cycle. This allows a highly precise timed response from the controller to signals from the sensor,
and vice versa. The resolution depends on the devices being used.
Examples
• For an input device, the timestamp is saved directly by the device when a certain event occurs (e.g. photo-
electric sensor triggered) and then transferred via IO-Link. The IO-Link master converts this IO-Link-spe-
cific timestamp to a net time timestamp that can be used across the system.
• In the output direction, a converted timestamp is transferred to the device via IO-Link. The output device
responds at the corresponding instant and executes the intended event (e.g. closes a switch).
Information:
• The timestamp function is device-specific and not supported by every IO-Link device.
• This function cannot be used if the channel is being operated in free-running mode (asynchro-
nous).
8.14.2.11.9.1 IoLinkTimestampIn
Name:
IoLinkTimestampIn01 to IoLinkTimestampIn04
This register indicates the net time instant at which the application event occurred.
Data type Value
INT -32768 to 32767
DINT -2,147,483,648 to 2,147,483,647

8.14.2.11.9.2 IoLinkTimestampInStatusSeq
Name:
IoLinkTimestampInStatusSeq01 to IoLinkTimestampInStatusSeq04
This register indicates information about the timestamp input.
Data type Values
Bit structure:
0-3 Sequence number 0 to 15 The sequence number is increased by 1 each time a valid time-
stamp is received. If the sequence number is increased by more
than 1, it means that the event was lost.
4 Event 1 triggered by application x Signal state when timestamp occurs
5 Event 2 triggered by application x Signal state when timestamp occurs
Example: Signal state when timestamp occurs
– Photoelectric sensor triggered → This bit = 0
– Photoelectric sensor not triggered → This bit = 1
6 Reserved -
7 Timestamp error 0 No error
1 An error occurred on the IO-Link device. Possible causes:
• More timestamps were generated than could be trans-
ferred.
• The value of the IO-Link timestamp exceeded the per-
mitted range of values.
In both cases, it may help to reduce the IO-Link cycle time.
8.14.2.11.9.3 IoLinkTimestampOut
Name:
IoLinkTimestampOut01 to IoLinkTimestampOut04
The user can write the net time for the output timestamp to this register.
The net time is automatically converted to an IO-Link timestamp. The event is triggered at the defined net time.
The "IoLinkTimestampOutStatus" on page 892 register is used for acknowledgment.
Information:
The net time must be at least three IO-Link cycles in the future; otherwise, a warning is set in IoLink-
TimestampOutStatus.
This register's data type must match the format configured in register "ChannelMode" on page 879,
bit 26.
Data type Value
INT -32768 to 32767
DINT -2,147,483,648 to 2,147,483,647
8.14.2.11.9.4 IoLinkTimestampOutCtrlSeq
Name:
IoLinkTimestampOutCtrlSeq01 to IoLinkTimestampOutCtrlSeq04
This register is used to control how the timestamp is applied.
Data type Values
Bit structure:
0-3 Sequence number 0 to 15 Output timestamp and application event bits applied when the
sequence number is increased by 1
4 Application event 1 x Output state at the timestamp
5 Application event 2 x Output state at the timestamp
6 Acknowledge warning 0 Do not acknowledge
1 Acknowledge warning
7 Acknowledging errors 0 Do not acknowledge
1 Acknowledging errors

8.14.2.11.9.5 IoLinkTimestampOutStatus
Name:
IoLinkTimestampOutStatus01 to IoLinkTimestampOutStatus04
This register is used to show the status of the timestamp output.
Data type Values
Bit structure:
0-3 Acknowledgment of sequence number 0 to 15 When an output timestamp has been successfully applied, then
the sequence number from "IoLinkTimestampOutCtrlSeq" on
page 891 is acknowledged here.
4-5 Reserved -
6 Warning 0 No warning
1 A timestamp was not at least 3 cycles in the future, so output
may be delayed.
7 Errors 0 No error
1 More timestamps were transferred to the module than could be
output.
8.14.2.11.10 IO-Link process data
The input or output data stream of IO-Link process data can be broken down into any structure. The structure is
configured as follows:
• The firmware provides 8 32-bit registers for each channel to allow the mapping of maximum 32 bytes of
IO-Link process data.
• The I/O configuration sets the type with which the register should be registered. So that the length is correct,
the "PDI_TypeInfo" on page 894 register (for input data) or "PDO_TypeInfo" on page 893 register (for
output data) is used to configure how many bytes of the IO-Link data stream should be copied to the
register, or vice versa.
Limitations:
8 registers with 32 bits are available per channel. This makes it possible to register any 8 data points in this way.
If this is not sufficient, it is also possible to use a byte array. The user then has to make sure that the bytes are
divided up into the necessary data types.
Information:
With a bit array, it is important that the byte arrangement is correct within the register. The module
DOES NOT make any necessary conversions from big-endian to little-endian or reverse.
Example
Dividing up elements from an IO-Link data stream into multiple 32-bit registers:
IO-Link frame SINT INT DINT
Register SINT INT DINT
InputData0x_1 InputData0x_2 InputData0x_3

8.14.2.11.10.1 PDO_TypeInfo
Name: CfO_PDO_TypeInfo01 to CfO_PDO_TypeInfo04

To transfer process data to an IO-Link device, this register can be used to configure which data types of the
individual "OutputData" on page 893 registers are used to put together the outgoing IO-Link process data stream
(IO-Link frame, see "IO-Link process data" on page 892). According to this configuration, "OutputData" on page
893 registers are assigned to data points with the corresponding data types in Automation Studio (I/O mapping).
Data type Value
Bit structure:
0 to 3 IO-Link information 1 0000 Array[4] of Bytes
0001 USINT
0010 SINT
0011 UINT
0100 INT
0101 UDINT
0110 DINT
0111 REAL
1000 - 1111 Reserved
4-7 IO-Link information 2 Possible values are identical with IO-Link information 1
8 - 11 IO-Link information 3
Information:
With setting 0 (Array[4] of Bytes), the bytes are copied from the IO-Link data stream unchanged. In all
other modes, the byte order is changed (from big endian to little endian).
8.14.2.11.10.2 OutputData
Name:
OutputData01_1 to OutputData04_8
Output data from the IO-Link device in IO-Link communication mode. A byte array is also a possible alternative.
The user then has to make sure that the bytes are divided up into the necessary data types.
The "PDO_TypeInfo" on page 893 register can be used to configure how many bytes should be applied to the
IO-Link frame from the output registers.
Data type Value
USINT 0 to 255
SINT -128 to 127
UINT 0 to 65535
INT -32,768 to 32,767
UDINT 0 to 4,294,967,295
DINT -2,147,483,648 to 2,147,483,647
REAL -3.4E38 – 3.4E38

8.14.2.11.10.3 PDI_TypeInfo
Name: CfO_PDI_TypeInfo01 to CfO_PDI_TypeInfo04

To transfer process data from the IO-Link device to the CPU (application), the information is first read from the
module and saved temporarily. Typically, four bytes are reserved for each piece for registered information (see
"IO-Link process data" on page 892).
This register can be used to configure how the incoming IO-Link process data stream (IO-Link frame) is divided up.
According to this configuration, the IO-Link process data is made available to the application via the correspond-
ing "InputData" on page 894 registers. The input data registers are assigned to individual data points with the
corresponding data type in the I/O mapping.
Data type Value
Bit structure:
0 to 3 IO-Link information 1 0000 Array[4] of Bytes
0001 USINT
0010 SINT
0011 UINT
0100 INT
0101 UDINT
0110 DINT
0111 REAL
1000 - 1111 Reserved
4-7 IO-Link information 2 Possible values are identical with IO-Link information 1
Information:
With setting 0 (Array[4] of Bytes), the bytes are copied from the IO-Link data stream unchanged. In all
other modes, the byte order is changed (from big endian to little endian).
8.14.2.11.10.4 InputData
Name:
InputData01_1 to InputData04_8
Input data from the IO-Link device in IO-Link communication mode. A byte array is also a possible alternative. The
user then has to make sure that the bytes are divided up into the necessary data types.
Data type Value
USINT 0 to 255
SINT -128 to 127
UINT 0 to 65535
INT -32,768 to 32,767
UDINT 0 to 4,294,967,295
DINT -2,147,483,648 to 2,147,483,647
REAL -3.4E38 – 3.4E38
8.14.2.11.11 IO-Link information data
The IO-Link information data is used to read device-specific values as well as to check the IO-Link configuration.
It is only possible to read the following registers.
8.14.2.11.11.1 VendorId
Name:
VendorId01 to VendorId04
This register contains the unique vendor ID of the IO-Link device.
Data type Values
UINT 0 to 65,535

8.14.2.11.11.2 DeviceId
Name:
DeviceId01 to DeviceId04
This register contains the unique ID of the IO-Link device.
Data type Values
UDINT 0 to 4,294,967,295
8.14.2.11.11.3 FunctionId
Name:
FunctionId01 to FunctionId04
This register contains the device's function class provided by the vendor.
Data type Values
UINT 0 to 65,535
8.14.2.11.11.4 CycleTime
Name:
CycleTime01 to CycleTime04
Some IO-Link devices cannot handle high-speed cycles and require a higher cycle time. This register can be used
to read back the channel's IO-Link cycle time currently being used. The time used for communication is always a
multiple of 100 µs, e.g. 50 for 5 ms cycle time.
UINT 0 to 65535 Specified in 100 μs steps
8.14.2.11.11.5 CycleMultible
Name: CycleMultible01 to CycleMultible04

This register can be used to read back the "multiplicator" on page 883 currently being used for the channel's
IO-Link cycles.
Data type Values
UINT 0 to 65,535
8.14.2.11.11.6 CycleDivisor
Name:
CycleDivisor01 to CycleDivisor04
This register can be used to read back the "divisor" on page 883 currently being used for the channel's IO-Link
cycles.
Data type Values
UINT 0 to 65,535
8.14.2.11.11.7 MinCycleTime
Name:
MinCycleTime01 to MinCycleTime04
This register can be used to read back the minimum IO-Link cycle time. The minimum IO-Link cycle time depends
on the IO-Link device and is read from the module after establishing communication with the IO-Link device.
Data type Values
UINT 0 to 65,535
8.14.2.11.11.8 PDI_Size
Name:
PDI_Size01 to PDI_Size04
This register can be used to read back the size of the input process data defined by the device. This value is read
when starting up the IO-Link device.
Data type Value
USINT 0 to 255

8.14.2.11.11.9 PDO_Size
Name:
PDO_Size01 to PDO_Size04
This register can be used to read back the size of the output process data defined by the device. This value is
read when starting up the IO-Link device.
Data type Value
USINT 0 to 255
8.14.2.11.11.10 Baud rate
Name:
Baudrate01 to Baudrate04
This register can be used to read back the baud rate defined by the IO-Link device. This value is read when starting
up the IO-Link device.
USINT 1 COM1 = 4.8 kbit/s
2 COM2 = 38.4 kbit/s
3 COM3 = 230.4 kbit/s
8.14.2.11.11.11 IoLinkVersionID
Name:
IoLinkVersionID01 to IoLinkVersionID04
This register can be used to read back the IO-Link version.
USINT 16 (= 0x10) V1.0
17 (= 0x11) V1.1
8.14.2.11.12 Event interface
IO-Link devices are able to send events that can be retrieved using cyclic data points. The events are written to a
FIFO buffer that has space for up to 16 elements. If events are not retrieved or more than 16 events take place,
then the oldest event is automatically discarded.
Sequence for reading an event
• A new event was triggered by the device. This is indicated by an increase in "EventPortSeq" on page 896.
• Event data can be read using the "EventQualifier" on page 897 and "EventCode" on page 897 registers.
• The event must be acknowledged. To do so, the sequence number from "EventPortSeq" on page 896
must be copied to the sequence number from "EventQuit" on page 897.
• The next event is specified only after the event is acknowledged.
8.14.2.11.12.1 EventPortSeq
Name:
EventPortSeq
As soon as a new event is generated by an IO-Link device, the sequence number is increased in this register. The
affected channel number is also displayed.
Data type Value
USINT 0 to 255
Bit structure:
0-3 Sequence number 0 to 15
4-5 IO-Link channel number 00 IF1 (channel 1)
01 IF2 (channel 2)
10 IF3 (channel 3)
11 IF4 (channel 4)
6-7 Reserved 0

8.14.2.11.12.2 EventQualifier
Name:
EventQualifier
This register contains additional information about the event.
Data type Values
Bit structure:
0-2 Instance layer generated by the event 000 Unknown
001 Hardware
010 Data exchange layer of the IO-Link device
011 Application layer of the IO-Link device
100 Application
3 Cause of the event 0 Device
1 Master
4-5 Type of event 00 Reserved
01 Information
10 Warning
11 Errors
6-7 Mode of the event 00 Reserved
01 One-time event
10 Event no longer reported (e.g. voltage OK again)
11 Event reported (e.g. voltage too low)
8.14.2.11.12.3 EventCode
Name:
EventCode
The event code of the event being transferred is indicated in this register. The event codes may be vendor-specific
event codes or event codes defined in the IO-Link specification.
Data type Values
UINT 0 to 65,535
8.14.2.11.12.4 EventsLeft
Name:
EventsLeft
This register indicates the number of as yet unprocessed events in the FIFO buffer.
Data type Value
USINT 0 to 16
8.14.2.11.12.5 EventQuit
Name:
EventQuit
This register can be used to acknowledge errors. This is done by copying the sequence number of the event to
be acknowledged to this register.
Data type Value
USINT 0 to 15
8.14.2.11.12.6 EventQuitReadBack
Name:
EventQuitReadBack
This register contains the sequence number of the most recently acknowledged event.
Data type Value
USINT 0 to 15

8.14.2.11.13 IO-Link device configuration
The following possibilities are available for configuring an IO-Link device:

• Direct configuration
• Configuration via IODD/DTM support
The manufacturer must provide a corresponding IODD or DTM file for this.
• Restoring a configuration via parameter server
The IO-Link device must support the "Parameter server" function in accordance with the IO-Link V1.1
specification for this.
Information:
Another way to configure an IO-Link device is to use library "AsIoLink". This library is not part of this
description.
8.14.2.11.13.1 Direct configuration
Direct configuration takes place independently of the B&R hardware and software used. Parameters can be entered
via an additional configuration device, integrated display or other operating elements on the IO-Link device, for
example.
PC (Windows) B&R hardware Third-party device
Firmware
External
Automation Studio PLC with resources for
Automation Studio project Automation Runtime IO-Link module IO-Link device configuration
Advantage
It is advantageous for individual devices because it is possible to start up the IO-Link device using resources from
the manufacturer.
If problems arise while configuring the IO-Link device, checking which software component is causing the error
is not necessary.
Disadvantage
Each individual IO-Link device must be manually preconfigured.
In some circumstances, the user must have several development environments on one computer.

8.14.2.11.13.2 IODD/DTM support
Using the integrated FDT container, IO-Link devices can be configured using Automation Studio. IODD/DTM sup-
port for IO-Link devices is available online as well as offline.
Information:
In order to use the FDT container to configure IO-Link devices, a corresponding hardware description
file (IODD or DTM) must be downloaded and installed.
IODD/DTM (online)
During online configuration, the FDT container in Automation Studio communicates directly with the IO-Link device.
After the connection is established, the configuration parameters can be modified as needed.
FDT
container
and
IODD/DTM
Configuration
from IODD/DTM
Automation Studio PLC with

Automation Studio project Automation Runtime IO-Link module IO-Link device
Advantage
No additional devices are usually required to configure the IO-Link device. All settings can be modified by the user
in a single development environment.
Disadvantage
Each IO-Link device must be configured individually.

IODD/DTM (offline)
During offline configuration, the parameter set that can be entered via the IODD or DTM file is stored in the Au-
tomation Studio project. During the download, the parameter set for the IO-Link device is transferred to the con-
troller and then from there to the IO-Link device via the module.
Procedure
1 When the IO-Link module is started, the checksum (CRCFDT) for the current parameter set is calculated.
2 If the previously stored checksum deviates from the present calculated one, the parameter set is transferred
to the IO-Link device.
3 After the parameter set has been transferred, the associated checksum (CRCFDT) is saved on the IO-Link
module and can be used for future comparisons.
4 If the parameter set changes, a new checksum (CRCFDT) results from the succeeding reboot of the controller
and steps 2 and 3 are repeated.
FDT Configuration Configuration CRC (FDT)

container from IODD/DTM from IODD/DTM
and and
IODD/DTM CRC (FDT)
calculation
Configuration
from IODD/DTM

Automation Studio Project Automation Runtime IO-Link module IO-Link device
Advantage
The configuration parameters of the IO-Link device are stored as part of the Automation Studio project. The user
can work within a development environment and define all settings.
For series-produced machine, the IO-Link devices used later do not have to be preconfigured individually.
Disadvantage
The configuration options for the IO-Link device depend on the extent of the IODD or DTM file.
Information:
Before the parameter set is transferred to the IO-Link device, the controller checks if the connected
device has the correct device ID. If the device ID is incorrect, the procedure is canceled. The parameter
set is not transferred, and the checksum is not saved.

8.14.2.11.13.3 Parameter server
The function "parameter server" is defined in IO-Link specification V1.1 and later. This function allows an IO-Link
device to be replaced without requiring any specialist knowledge on the part of maintenance personnel.
This is done by storing the configuration loaded on the IO-Link device on the IO-Link module. In addition, a check-
sum (CRCPServ) is calculated to allow a simple comparison of the parameter sets.
Procedure
1 If the IO-Link device supports the function "parameter server", on startup it calculates the checksum (CR-
CPServ) for its current parameter set.
2 If the currently calculated checksum (CRCPServ) deviates from the one previously stored on the IO-Link
module, then there is a difference between the parameter set of the IO-Link device and the one currently
stored on the module.
3 The device ID and serial number of the IO-Link device are evaluated in order to determine whether the
parameter set must be uploaded by the device or downloaded by the IO-Link module.
a) If the device ID has been changed, then a different device type was recognized. In this case, the
parameter set of the IO-Link device must be read out and saved on the IO-Link module. In addition,
the current checksum (CRCPServ) is stored on the IO-Link module.
b) If the device ID is unchanged but the serial number is different, it is assumed that the IO-Link device
was replaced by a device of the same type.
In this case, the parameter set stored on the IO-Link module is downloaded to the IO-Link device.
c) If the device ID and serial number remain unchanged, it is assumed that a new configuration has
been loaded on the IO-Link device. In this case, the new parameter set on the IO-Link device is
read out and saved on the IO-Link module. In addition, the current checksum (CRCPServ) is stored
on the IO-Link module.
Firmware
and
Configuration of the CRC (PServ)
parameter server calculation
and
CRC (PServ) External
Automation Studio PLC with resources for
Automation Studio project Automation Runtime IO-Link module IO-Link device configuration

8.14.2.11.13.4 Shared use of IODD/DTM and parameter server
IODD/DTM support and the parameter server can be used together. The two functions work independently of one
another, but they also affect each other.
FDT Configuration Configuration

container from IODD/DTM from IODD/DTM CRC (FDT)
and and
IODD/DTM CRC (FDT)
calculation Firmware
and
Configuration of the CRC (PServ)
parameter server calculation
and
CRC (PServ)
Automation Studio project Automation Runtime IO-Link module IO-Link device
Changing the configuration using IODD/DTM support
If the IO-Link device is reconfigured using the FDT container (IODD/DTM), the IO-Link device then calculates
the new checksum (CRCPServ). Afterwards, the modified data is read back by the parameter server of the IO-Link
module.
Replacing the IO-Link device
If the IO-Link device is replaced, the system only checks the checksum (CRCPServ). The parameter set of the FDT
container goes unnoticed because the checksum (CRCFDT) in the project on the controller still matches the stored
checksum (CRCFDT) on the IO-Link module (for the sequence, see "Parameter server" on page 901).

8.14.2.11.14 Command interface
The command interface offers the option of accessing the object dictionary of the IO-Link device using the index
and subindex. Access is also possible using the AsIOLink library or FlatStream.
Information:
With this interface, up to the first 4 bytes of an object can be read or written.
Procedure for write operation:

• Set the object to be written using "ParameterIndexOut" on page 903 and "ParameterSubIndexOut" on
page 903.
• Write the data to be written to "ParameterDataOut" on page 904.
• Set read/write, IF and the sequence number increased by 1 in the "ParameterCtrlOut" on page 904
register.
• Wait until the sequence acknowledgment in "ParameterCtrlIn" on page 904 is the same as the sequence
number.
Procedure for read operation:
• Set the object to be read using "ParameterIndexOut" on page 903 and "ParameterSubIndexOut" on page
903.
• Delete bit 7 in the "ParameterCtrlOut" on page 904 parameter, set the channel number and increase the
sequence number.
• Wait until the sequence acknowledgment in "ParameterCtrlIn" on page 904 is the same as the sequence
number.
• Read the error status from "ParameterCtrlIn" on page 904. An error is indicated by a set error bit.
• Read the data from "ParameterCtrlIn" on page 904.
For error-related behavior, see "Error codes" on page 908.
8.14.2.11.14.1 ParameterIndexOut
Name:
ParameterIndexOut
This register defines the index of the object in the object dictionary that should be accessed.
Data type Values
UINT 0 to 65,535
8.14.2.11.14.2 ParameterSubIndexOut
Name:
ParameterSubIndexOut
This register defines the subindex of the object in the object dictionary that should be accessed.
Data type Value
USINT 0 to 255

8.14.2.11.14.3 ParameterCtrlOut
Name:
ParameterCtrlOut
This register defines the type of access to be used.
Data type Values
Bit structure:
0-1 Sequence number 0 to 3
1 IF2 (channel 2)
2 IF3 (channel 3)
3 IF4 (channel 4)
4-6 Data length 0 to 4
7 Read or write 0 Read
1 Write
8.14.2.11.14.4 ParameterDataOut
Name:
ParameterDataOut_0
This register contains the data that should be written.
Data type Values
UDINT 0 to 4,294,967,295
8.14.2.11.14.5 ParameterCtrlIn
Name:
ParameterCtrlIn
This register monitors the status of the access.
Data type Values
Bit structure:
0-1 Sequence confirmation 0 to 3
1 IF2 (channel 2)
2 IF3 (channel 3)
3 IF4 (channel 4)
4-6 Data length 0 to 4
7 Error bit 0 No error
1 Error, the error code is indicated in "ParameterDataIn" on page
904.
8.14.2.11.14.6 ParameterDataIn
Name:
ParameterDataIn_0
After a successful read operation, this register contains the input data. In the event of an error, it contains the
error codes.
Data type Values
UDINT 0 to 4,294,967,295
Error display
• If the "error code" on page 908 does not equal 8 (e.g. error reported by device), then the LSB receives
the error code.
• If an error is reported by the device, then the error specified by the IO-Link device is also indicated.
UDINT
MSB LSB
Reserved IO-Link error code Additional IO-Link error code 8

8.14.2.11.16 Using IO-Link with FlatStream
With this module, the user has the option of communicating with the connected IO-Link device via FlatStream.
Communication takes place separately with respect to timing, i.e. output data is transferred completely from the
CPU to the module and checked. Only then does the module initiate the actual communication with the IO-Link
device.
The module acts the same way in the input direction. Messages from the IO-Link device must have been received
completely by the X2X module before the FlatStream message is generated and transmitted to the CPU.
8.14.2.11.16.1 General handling of FlatStream

Input/Output sequence Rx/Tx bytes
(unchanged) Control byte (unchanged) Payload data for FlatStream (IO-Link information)
The user has a choice when using FlatStream.

• Using FlatStream as described in the "Flatstream communication" on page 960 section
• Using the "AsFltGen" library to manage input/output sequence and FlatStream control bytes automatically
In both cases, a module-specific array with FlatStream payload data must be created in the application.

8.14.2.11.16.2 IO-Link information for the FlatStream
To be able to use IO-Link communication via FlatStream, you must define an individual array in the application.
The following must be defined for the query in the direction CPU → Module → IO-Link device:
• Module's channel number
• Frame number for the query
• Type of query
• The corresponding IO-Link data must then be attached depending on the query.
The response consists of the following parts:
• The frame number, access type and type of query are repeated.
• The module generates the error bit and manages the confirmation bit.
• The successfully received IO-Link information or corresponding "error code" on page 908 is then ap-
pended.
Module-specific FlatStream array for IO-Link communication
Bytes Name Value Description
1 Channel number 1 to 4
2 Frame number 0 to 255 This number is repeated in the module's response. This allows
the later response from the module to be distinctly attributed to
the request.
3 See Byte 3 x
... IO-Link data or error code Depends on byte 3
Byte 3
0-2 Type of query 0 Access to object dictionary
1 Access to inputs' process data
2 Access to outputs' process data
3 Read individual event
4 Read multiple events
5 Enable event forwarding
6 Disable event forwarding
7 Announcement of automatically forwarded event
3-4 Reserved -
5 Confirm 0 Message without query
1 Response to query1)
6 Status bit (for response frame) 0 No error
1 Error
7 Access types 0 Read
1 Write
1) This confirmation bit is additionally set with the response to a query. The response for confirming a query frequently contains additional data that must be
processed.

8.14.2.11.16.3 IO-Link data
Depending on the type of query, different IO-Link data results that must be appended to the FlatStream array.
Access to object dictionary
Request
1 to 3 Module-specific FlatStream array for IO-Link communication
4 High index number 0 to 255 Index of the desired IO-Link parameter
5 Low index number 0 to 255
6 Subindex number 0 to 255 Subindex of the IO-Link parameter
7 to ... Data 0 to 255 Optional, for write operation
Response
4 to ... Data / "Error code" on page 908 0 to 255 Omitted if data has been written successfully
Accessing process data
Request
4 Data 0 to 255 Optional, for write operation
Response
4 Data / "Error code" on page 908 0 to 255 Omitted if data has been written successfully
Accessing event data
Request
Response
4 Event counter - Current Bit 0 to 3 Number of attached events
Event counter - Pending Bit 4 to 7 Number of pending events
5 Event 0 – Event qualifier 0 to 255 See "EventQualifier" on page 897.
6 Event 0 – High event data 0 to 255
7 Event 0 – Low event data 0 to 255
8 - 10 Event 1
x to (x + 2) Event n1)
1) Applies only if multiple events were queried with byte 3 (bits 0 to 2 = 4). Only 1 event comes with byte 3 (bits 0 to 2 = 3).
or
4 "Error code" on page 908 0 to 255
Enable/Disable event forwarding
Request
Response
or

Announcement of forwarded event
After enabling event forwarding, events no longer have to be queried cyclically. The module generates the event
as soon as the corresponding event occurs.
Message
4 Event counter - Current Bit 0 to 3 Number of attached events
Event counter - Pending Bit 4 to 7 Number of pending events
5 Event 0 – Event qualifier 0 to 255 See "EventQualifier" on page 897.
6 Event 0 – High event data 0 to 255
7 Event 0 – Low event data 0 to 255
8 - 10 Event 1
x to (x + 2) Event n1)
1) Applies only if multiple events were queried with byte 3 (bits 0 to 2 = 4). Only 1 event comes with byte 3 (bits 0 to 2 = 3).
or
8.14.2.11.17 Error codes
Queries can be made via registers or FlatStream. If a query fails, the error bit is set and an error code generated. In
addition to general error codes, vendor-specific error codes can also occur. Information about these can be found
in the operating instructions for the corresponding IO-Link device.
Error indicators in the registers
• The error bit is set in "ParameterCtrIn" on page 904, whereas the length of the error code is indicated in
the data length parameter.
• "ParameterDataIn" on page 904 contains the error code.
Error indicators in FlatStream
If the error bit is set, the FlatStream bytes are put together as follows:
• Bytes 1 to 3: Module-specific FlatStream array
• Byte 4: Error code; if 8 (error reported by device), bytes 5 and 6 will include additional information.
• Bytes 5 and 6: Error code from IO-Link device
• ...
Error codes
Code Function
1 No device on this channel
2 IO-Link disabled
3 Communication error with device
4 Query buffer full
5 Event queue empty
6 Query not supported
7 Object access failed
8 Object access, error reported by device
9 Incorrect channel number
10 Write operation not possible
11 No input data available
12 Frame too short
13 One or more events discarded
14 Device has no input data
15 Device has no output data

mands.
Minimum cycle time
Without IO-Link (all channels in SIO-Modus) ≥200 µs
With IO-Link ≥400 µs
Without IO-Link (all channels in SIO-Modus) ≥200 µs
With IO-Link ≥400 µs (depends on the minimum IO-Link cycle time of the IO-Link device)

Data sheets • Other modules • X67UM1352
8.14.3 X67UM1352
This module enables the remote connection of a force gauge using a strain gauge with a converter resolution of
up to 24-bit. The data rate can be set from 0.26 ms to 100 ms. This module concept requires compensation in
the measurement system. This compensation eliminates the absolute uncertainty in the measurement circuit, such
as component tolerances, effective bridge voltage or zero point offset. The measurement precision refers to the
absolute (compensated) value, which will only change as a result of changes in the operating temperature. The
module is also equipped with 4 digital inputs and 2 digital outputs.
■ 1 strain gauge input with 24-bit resolution
■ High data output rate (10 to 3,750 Hz)
■ Adjustable gain
■ 1 high-side output 24 VDC, 0.5 A
■ 1 high-side output 24 VDC, 1.0 A
8.14.3.2 Order data

Other functions
X67UM1352 X67 universal mixed module, 1 input for full-bridge strain gauge
evaluation, 24-bit, 4 digital inputs, 24 VDC, sink, 1 digital output,
0.5 A, source, 1 digital output, 1 A, source
Table 160: X67UM1352 - Order data

Model number X67UM1352

Short description
I/O module 4 digital inputs, 2 digital outputs, 1 input for full-bridge strain gauge
General information
B&R ID code 0x1CDF
Diagnostics
Outputs Yes, using status LED
Connection type
Power consumption
Internal I/O 1W
Channel - Bus Yes
Digital - Analog Yes
Digital - I/O power supply No
Table 161: X67UM1352 - Technical data

Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
I/O power supply
Power consumption
Strain gauge supply
Voltage drop for short circuit protection at 60 mA Max. 0.36 VDC
Strain gauge factor ±15.625 to ±125 mV/V, configurable using software
Input type Differential, used to evaluate a full-bridge strain gauge
Conversion time Depends on the configured data output rate
Data output rate 10 to 3750 samples per second, configurable using software
Input filter
Order 1
Slope 20 dB
Operating range / Measurement sensor 75 to 5000 Ω
Input protection RC protection
Input current 450 nA
Common-mode range 0 to 3 VDC
Permissible input voltage range (with regard to the poten-
tial strain gauge GND) on the inputs "Input +" and "Input -"
Gain 1 to 8, configurable using software
Broken bridge supply line Value approaches 0
Broken sensor line Value goes to ±limit
Valid value range 0x7FFF FFFF to 0x8000 0001
Strain gauge supply
Connection 4-wire connections
Quantization
LSB value (16-bit)
69 mV/V 9.31 µV
138 mV/V 18.6 µV
276 mV/V 37.3 µV
553 mV/V 74.6 µV
LSB value (24-bit)
69 mV/V 36.4 nV
138 mV/V 72.8 nV
276 mV/V 146.0 nV
553 mV/V 251.0 nV
Temperature coefficient 50 ppm/°C
Digital inputs
Quantity 4
Input voltage 24 VDC ±25%
61131-2

Input filter
Hardware <1 ms
Software -
Input circuit Sink
Switching threshold
Low <5 VDC
High >15 VDC
Digital outputs
Quantity 2
Switching voltage 24 VDC ±25%
Actuator power supply External
Isolation voltage between output and bus 500 VEff
Nominal output current
Output 1 0.5 A
Output 2 1A
Output driver turn-on time
Output 1
Typical 50 µs
0 -> 1 (90% VOut) Max. 100 µs
Output 2
Typical 60 µs
0 -> 1 (90% VOut) Max. 160 µs
Switch-off time for the output driver
Output 1
Typical 75 µs
1 -> 0 (90% VOut) Max. 150 µs
Output 2
Typical 15 µs
1 -> 0 (90% VOut) Max. 50 µs
Braking voltage when switching off inductive loads
Output 1 -47 VDC
Output 2 Approx. 1 VDC
Max. frequency
Output 1 100 Hz
Output 2 1 kHz
Any Yes
Temperature
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm



I/O LEDs
Yellow On Digital output 1, 2 on
Green On Digital input 1, 2 on
Green On Digital input 3, 4 on
On RUN mode
Left: Green, Right: Red Red Off No power to module or everything OK
X2X Link X2X Link

Connection A: Input Connection B: Output
Digital input
Analog input (strain gauge)

Connection C: Supply Connection D: Routing
8.14.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.14.3.8 Pinout
Shield
1 +24 VDC
X1 to X2 2 DI
M12 ① 3 GND
4 DO
5 NC
Shield
1 +24 VDC
X3 2 DI-3
M12 ① 3 GND
4 DI-4
5 GND
Shield
1 SG VCC
X4 2 Input +
M12 ① 3 SG GND
4 Input -
5 Shield

M12, 5-pin Pinout

Connector 1/2 Pin Connection 1 Connection 2
1
2 2 Digital input 1 (24 VDC / 1 ms) Digital input 2 (24 VDC / 1 ms)
3 GND
5
4 Digital output 1 (24 VDC / 0.5 A) Digital output 2 (24 VDC / 1.0 A)
5 Not connected
3

8.14.3.8.2 Connections X3
M12, 5-pin Pinout

Connection 3 Pin Connection 3
3
2 2 Digital input 3 (24 VDC / 1 ms)
3 GND
4 Digital input 4 (24 VDC / 0.5 A)
5 Not connected
1
5
8.14.3.8.3 Connection X4 (strain gauge)
Connection Pinout
Connection 4 Pin Connection 4
1 SG VCC Power supply for strain gauge ca. 4.4 V (min. resistance 75 Ω)
3
2 2 Input + Differential input +
3 SG GND
4 Input - Differential input -
5 Shield
4 Shielding also provided by threaded insert in the module
1
5
Connection X1 and X2: Digital input and output
DI
Sensor
+24 VDC 1 2
5 Connection x
+24 VDC
Actuator
4 3
DO
GND
Connection X3: Digital inputs
+24 VDC
Sensor 1
DI
GND 1 2
5 Connection X
+24 VDC
Sensor 2
4 3
DI
GND
Connection 4: Strain gauge

+U
1 2
4 3

Digital inputs
DI1/2
VDR Connector 1/2

2 3
Input status Filter (tIN) I/O status 5
LED (green)
1 4
DE3
VDR
Input status Filter (tIN) I/O status

LED (green)
Connection 3
2 3
5
DE4
1 4
VDR
Input status Filter (tIN) I/O status

LED (green)
C +24 V D
2 2
1 4 4 1
3 3
GND
VDR
>30 V
Analog strain gauge input
Strain gauge input

Power supply
1
Input value Connection 4 5
2
A/D converter
4 3

Digital outputs
Connector 1/2
2 3
5
temperature
cutoff
4
1
I/O status
LED (orange)
VDR
Filter (t IN)
Output monitoring
Status of the
actuator power supply
Short circuit and

overload protection
Monitoring of C D
output power supply +24 V
2 2
1 4 1
Transil diode 4
3 3
GND
VDR
>30 V
Output power supply

version.

Configuration
26 ConfigOutput01 (A/D converter configuration) USINT ●
Communication
0 Input state of the digital inputs USINT ●
... ...
28 Status of the A/D converter USINT ●
OpenLine01 Bit 0
OutputError01 Bit 0
OutputError02 Bit 1
8.14.3.12.3 Function model 0 - Packed data points

Configuration
26 ConfigOutput01 (A/D converter configuration) USINT ●
Communication
0 DigitalInput01 USINT ●
2 DigitalOutput01 USINT ●
26 StatusOutput01 USINT ●

8.14.3.12.4.1 A/D converter configuration
Name:
ConfigOutput01
The gain and data rate of the A/D converter can be configured in this register.
Data type Values
Bit structure:
0-1 Gain 00 1
01 2
10 4
11 8
2-4 Data rate (samples per second): 000 10
001 50
010 60
011 1001)
100 5001)
101 1000
111 2000
111 3750
5-7 Reserved -
1) Automation Runtime H281 and later

An AR installer and installation package are needed for Automation Runtime 2.4.
Relationship between gain, measurement range and bridge voltage

Gain Measurement range Measurement range x bridge voltage
1 ±125 mV/V ±0.553 V
2 ±62.500 mV/V ±0.278 V
4 ±31.250 mV/V ±0.136 V
8 ±15.625 mV/V ±0.069 V
8.14.3.12.5.1 Input state of the digital inputs
Name:
DigitalInput01
Data type Values
Bit structure:
... ...
8.14.3.12.5.2 Output status of the digital outputs
Name:
DigitalOutput01
Data type Values
Bit structure:

8.14.3.12.5.3 Strain gauge value
Name:
AnalogInput01
This register contains the raw value determined by the A/D converter for the full-bridge strain gauge with 24-bit
resolution.
DINT 0x7FFF FFFF to 0x8000 0001 Valid range of values. 1 LSB = 0x0000 0100.
0x7FFF FFFF Overflow
0x8000 0000 Underflow
0x8000 0000 Invalid value
Resolution in bits
Through the sigma-delta conversion of the analog signals on the module, there is, in principal, an effective resolution
of the displayed value. This means that even if the A/D converter on the module always outputs a 24-bit value,
then the attainable resolution according to calculations is always smaller than the 24-bit converter resolution (see
following example). The effective resolution depends on the data rate and measurement area (see section "A/D
converter configuration" on page 919).
Because of the conversion method, a data rate of 10 Hz and a specified measurement area of 15.625 mV/V result
in an effective resolution of 18.9 bits:
32-bit
24-bit
31 24 16 8 0
0 0 0 0 0 0 0 0
18.9-bit
The amount of information in the low-order bits (marked in gray) can only be used to a certain extent and is subject
to heavy disturbances.
The following table shows how the effective resolution (in bits), or the RMS value range of the strain gauge value
depend on the module configuration (data rate, measurement area).
Data rate (Hz) Gain / Resolution
1 2 4 8
±125 mV/V ±62.500 mV/V ±31.250 mV/V ±15.625 mV/V
Bits Range of Bits Range of Bits Range of Bits Range of values
values values values
10 21.0 ±1,000,000 20.4 ±691,800 19.9 ±490,000 18.9 ±244,000
50 19.9 ±490,000 19.4 ±346,000 18.8 ±230,000 17.9 ±122,000
60 19.8 ±450,000 19.3 ±320,000 18.8 ±230,000 17.8 ±114,000
100 19.6 ±297,000 19.1 ±280,000 18.5 ±185,000 17.4 ±86,000
500 18.6 ±200,000 18.0 ±130,000 17.3 ±80,000 16.3 ±40,000
1000 17.5 ±92,000 17.2 ±75,000 16.5 ±46,000 15.6 ±25,000
2000 17.0 ±65,500 16.6 ±49,600 16.1 ±35,000 15.3 ±20,000
3750 16.6 ±49,600 16.2 ±37,600 15.7 ±26,600 14.7 ±13,000
Resolution for 2 to 8 mV/V sensors

The setting 16 mV/V should be used for 2 to 8 mV/V sensors. This now results in the following resolution:
Data rate (Hz) Gain / Resolution
8 8 8
±1.953 mV/V ±3.906 mV/V ±7.8125 mV/V
Bits Range of values Bits Range of values Bits Range of values
10 15.9 ±30,500 16.9 ±61,100 17.9 ±122,000
50 14.9 ±15,300 15.9 ±30,500 16.9 ±61,100
60 14.8 ±14,300 15.8 ±28,400 16.8 ±57,000
100 14.4 ±10,800 15.4 ±21,600 16.4 ±43,200
500 13.3 ±5,000 14.3 ±10,080 15.3 ±20,100
1000 12.6 ±3,100 13.6 ±6,200 14.6 ±12,400
2000 12.3 ±2,500 13.3 ±5,000 14.3 ±10,000
3750 11.7 ±1,660 12.7 ±3,300 13.7 ±6,600

8.14.3.12.5.4 Status of the A/D converter
Name:
StatusInput01
This register is used to indicate the status of the A/D converter.
Data type Values
Bit structure:
0 OpenLine 01 0 No error
1 Open circuit of measuring bridge
8.14.3.12.5.5 Status of the digital outputs
Name:
OutputError01 to OutputError02
Data type Values
Bit structure:
0 OutputError01 0 Channel 01: No error
1 Channel 01: Error occurred
1 OutputError02 0 Channel 02: No error
1 Channel 02: Error occurred
mands.
Minimum cycle time
250 µs
250 µs

Data sheets • System supply modules • Summary
8.15 System supply modules

The system supply module uses 24 VDC industrial voltage to generate power for the electrically isolated X2X Link
network. The module can be connected in parallel and can also be used redundantly.
8.15.1 Summary
X67PS1300 X67 system supply module 24 VDC, X2X Link power supply 15 W, reverse polarity protection, short circuit 923
protection, overload protection, parallel connection possible, redundancy operation possible

Data sheets • System supply modules • X67PS1300
8.15.2 X67PS1300
This system supply module converts the 24 VDC I/O supply voltage into the electrically isolated X2X Link power
supply. The module provides 15 W of output power for additional X67 modules on the bus.
■ Electrical isolation of supply and X2X Link power supply
■ Protection with redundancy during parallel operation of multiple system supply modules
■ Short circuit protection
■ Overload protection
8.15.2.2 Order data

System supply modules
X67PS1300 X67 system supply module 24 VDC, X2X Link power supply 15
W, reverse polarity protection, short circuit protection, overload
protection, parallel connection possible, redundancy operation
possible
Table 162: X67PS1300 - Order data

Model number X67PS1300

Short description
System power supply modules Electrically isolated X2X Link power supply
General information
Status indicators Input voltage OK, output voltage OK
Connection type
X2X Link power supply output M12, B-keyed
X2X Link power supply input M8, 4-pin
Power consumption
Internal 3W
X2X Link feed - X2X Link power supply Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
X2X Link power supply input
Nominal current 0.75 A
Fuse Integrated
Table 163: X67PS1300 - Technical data

Model number X67PS1300
X2X Link power supply output
Nominal current 0.75 A
Nominal output power 15 W
Efficiency >80%
Parallel connection Yes 1)
Redundant operation Yes, when input voltages are the same
Supply failure bridging >5 ms at 24 VDCIn and IOut = 0.75 A
Overload characteristics Short circuit protection, overload protection
Isolation voltage between input and output 500 VEff
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 225 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm
Table 163: X67PS1300 - Technical data

1) In parallel operation, only 90% of the rated power can be assumed. It is important to make sure that all power supplies operated in parallel are switched
on and off at the same time.

Status indicator 1: green Status indicator 1: Status indicator for X2X Link
Color Status Description
Green On X2X Link power supply is within the valid limits
Status indicator 2: Status indicator for the I/O power supply
Color Status Description
Orange On I/O power supply voltage within the valid range
Status indicator 2: orange
X2X Link
Connection A: Input


8.15.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.15.2.8 Maximum number of modules connected
With a large number of modules connected, the following must be taken into account:
• The total power consumption of all modules is not permitted to exceed 15 W.
• In addition, the internal resistance of the connection cable between the individual modules must also be
taken into account.
Example
20 X67DM1321 modules should be connected to the system supply module.
This is possible according to the data sheet: 20 * 0.75 W power consumption = 15 W total power consumption.
The sum of the cable resistance values when using long connection cables between the modules, however, results
in an additional voltage drop. The supply voltage drops below 18 V, which results in a situation where the function-
ality of the modules can no longer be guaranteed.
Solution: Add more system supply modules
8.15.2.9 Operating in Automation Studio
Information:
This module does not have to be integrated in the project in Automation Studio.

Data sheets • Temperature modules • Summary
8.16 Temperature modules

Temperature measured values are converted into number values which can be processed by the PLC using tem-
perature modules.
In the PLC, the number values are always in 16-bit 2s complement, regardless of the resolution. In this way,
the resolution (number of steps) of the temperature module does not have to be considered when creating the
application program.
8.16.1 Summary
X67AT1311 X67 temperature input module, 4 inputs for resistance measurement, 2-wire or 4-wire measurement, PT100, 927
resolution 0.01 K
X67AT1322 X67 temperature input module, 4 inputs for resistance measurement, 2-wire or 4-wire measurement, PT100, 937
PT1000, KTY10, KTY84, resolution 0.1 K

Data sheets • Temperature modules • X67AT1311
8.16.2 X67AT1311
The module is a temperature module for PT100 resistance temperature sensors. The sensors can be connected
using 2-wire or 4-wire connections.
■ 4 inputs for resistance temperature measurement with 3 different resolutions
■ Additional direct resistance measurement with 2 different resolutions
■ Configuration can be set for each channel
■ 2-wire and 4-wire measurement
8.16.2.2 Order data

Temperature modules
X67AT1311 X67 temperature input module, 4 inputs for resistance measure-
ment, 2-wire or 4-wire measurement, PT100, resolution 0.01 K
Table 164: X67AT1311 - Order data


Model number X67AT1311

Short description
I/O module 4 inputs for PT100 or resistance measurement
General information
B&R ID code 0xD21B
Diagnostics
Connection type
Power consumption
Internal I/O 1.5 W
Channel - Bus Yes
Certification
CE Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Temperature inputs resistance measurement
Input Resistance measurement with constant current supply for 2-wire or 4-wire connections
Filter time Configurable between 2 and 20 ms
Conversion time
Same sensor types 75 ms per channel with 50 Hz filter
Output format INT or UINT for resistance measurement
Sensor
PT100 -200 to 270°C (at 0.01 K resolution)
-200 to 645°C (at 0.02 K resolution)
-200 to 850°C (at 0.04 K resolution)
PT100 temperature measurement range Configurable per channel
Resistance measurement range 0.010 to 420 Ω / 0.005 to 210 Ω
Sensor standard EN 60751
Common-mode range ±1 VDC
Linearization method Software
Measuring current 1.014 mA ±1.25%
Reference 422 Ω ±0.05%
Permitted input signal Short-term max. ±30 V
Max. error at 25°C
Gain 0.008% 1)
Offset 0.012% 2)
Crosstalk between channels -70 dB
Temperature sensor resolution 3)
PT100 1 LSB = 0.01 K (up to 270°C)
1 LSB = 0.02 K (up to 645°C)
1 LSB = 0.04 K (up to 850°C)
Resistance measurement resolution
Measurement range up to 420 Ω 1 LSB = 10 mΩ
Measurement range up to 210 Ω 1 LSB = 5 mΩ
Input filter
Cutoff frequency 115 Hz / Filter 1st order
Slope -20 dB
Table 165: X67AT1311 - Technical data

50 Hz >70 dB
DC >70 dB
Temperature measurement monitoring
Below lower range limit 0x8001
Above upper range limit 0x7FFF
Open circuit 0x7FFF
General error 0x8000
Open inputs 0x7FFF
Resistance measurement monitoring
Below lower range limit 0x0000
Above upper range limit 0xFFFF
Open circuit 0xFFFF
General error 0xFFFF
Open inputs 0xFFFF
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 205 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) Based on the current resistance value.
2) Based on the entire resistance measurement range.
3) Based on the full converter resistance measurement resolution without correcting calculation

1-4 Status display of the corresponding analog input
Green On The A/D converter returns valid values.
Blinking Overflow, underflow or open circuit
Off The input is switched off
On RUN mode
Status indicator 2:
Single flash Warning/Error on an I/O channel. Overflow or underflow of the ana-
log inputs.

X2X Link
Connection A: Input

8.16.2.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.16.2.8 Pinout
Shield
1 Sensor +
X1 to X4 2 Sense +
M12 ① 3 Sensor -
4 Sense -
5 Shield

M5, 5-pin Pinout

1 Sensor +
1
2 2 Sense +
3 Sensor -
5
4 Sense -
5 Shield1)
3
3
2
4
1
5
Connections 3/4
4-wire connections
Sensor +
+ 1 2
Sense +
Sensor
Sense -
5 Connection x
Sensor - 4 3
-
①
① Braided shield, twisted wires
2-wire connections
Sensor/Sense +
+ 1 2
Sensor
② 5 Connection x
Sensor/Sense - 4 3
-
①
②
Pins 1 + 2 and 3 + 4 must be connected in the connector!

1.014 mA
Multiplexer
Channel 1
Channel 2 - 4
I/O status
+LB
LED
(green)
Channel 1
1...4
Channel 2 - 4
1 2
A/D converter
Channel
Multiplexer
Input value 5 2-4

4 3
Channel 1
Channel 2 - 4
-LB
Monitoring the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

Configuration
18 ConfigOutput02 (measurement range and channel selection) UINT ●
Communication
0 Temperature01 INT ●
Resistor01 UINT
Resistor02 UINT
Resistor03 UINT
Resistor04 UINT

Configuration
18 - ConfigOutput02 (measurement range and UINT ●
channel selection)
Communication
0 0 Temperature01 INT ●
Resistor01 UINT
Resistor02 UINT
Resistor03 UINT
Resistor04 UINT

8.16.2.11.4 General information - Conversion cycle
All pending signals from enabled inputs are converted to digital values in every conversion cycle.
Unnecessary inputs can be disabled to reduce the I/O update time. Inputs can also be disabled temporarily if they
are not needed for a certain amount of time.
The conversion time needed for an individual input is calculated using the following formula:
The time saved per disabled input depends on the selected filter:
Filter frequency Filter time Time saved per input Digital converter resolution
50 Hz 20 ms 75 ms 16-bit
60 Hz 16.67 ms 65 ms 16-bit
250 Hz 4 ms 27 ms 13-bit
500 Hz 2 ms 21 ms 10-bit
Example
Inputs are filtered using a 50 Hz filter.
Example 1 Example 2
Switched on inputs 1 to 4 1 and 3
Conversion time 300 ms 150 ms
Name:
ConfigOutput01
Filtering for all analog inputs can be configured via this register.
Data type Value Filter frequency Filter time Digital converter resolution
USINT 0 50 Hz 20 ms 16-bit
1 60 Hz 16.67 ms 16-bit
2 250 Hz 4 ms 13-bit
3 500 Hz 2 ms 10-bit
≥4 Values ≥4 are not permitted.
8.16.2.11.5.2 Measurement range and channel selection
Name:
ConfigOutput02
This register can be used to configure the sensor type for individual channels.
This module is designed for temperature and resistance measurement. The measurement range must be specified
because of the different calibration values for temperature and resistance.
The default setting for all channels is ON. To save time, individual channels can be switched off (see "conversion
cycle" on page 934).
Data type Values
Bit structure:
0-3 Analog input 1 Measurement range for PT100 temperature measurement
0000 -200 to 270°C, resolution 0.01 K/bit
0011 to 0100 Reserved
Measurement range for resistance measurement
0101 0.01 to 420 Ω, resolution 0.01 Ω/bit
0110 0.005 to 210 Ω, resolution 0.005 Ω/bit
Disable input
0111 Input switched off
4-7 Analog input 2 x For possible values, see analog input 1
8 - 11 Analog input 3 x For possible values, see analog input 1

Name:
Temperature01 to Temperature04
Resistor01 to Resistor04
This register is used to indicate the analog input values depending on the configured operating mode.
Data type Value Input signal
INT -20000 to 27000 (for -200.0 to 270.0°C) Sensor type PT100, resolution 0.01 K/bit
-10000 to 32250 (for -200.0 to 645.0°C) Sensor type PT100, resolution 0.02 K/bit
-5000 to 21250 (for -200.0 to 850.0°C) Sensor type PT100, resolution 0.04 K/bit
UINT 1 to 42000 (for 0.01 to 420 Ω Resistance measurement
1 to 42000 (for 0.005 to 210 Ω Resistance measurement
In order for the user to always be supplied with a defined output value, the following must be taken into consid-
eration:
• Up to the first conversion, 0x8000 is output.
• After switching the mode until the first conversion:
° from "Resistance measurement" to "Sensor type PTxx": 0x8000

° from "Sensor type PTxx" to "Resistance measurement": 0xFFFF
• If the input is not switched on, 0x8000 is output.
8.16.2.11.6.2 Status of the analog inputs
Name:
StatusInput01
The module's inputs are monitored. A change in the monitoring status generates an error message.
Data type Values
Bit structure:
11 Open circuit
... ...
11 Open circuit
8 - 15 Number of conversion cycles performed x

occurs.
Error status Temperature measurement Resistance measurement
Digital value for error Digital value for error
Open circuit or open input 32767 (0x7FFF) 65535 (0xFFFF)
Above upper limit value 32767 (0x7FFF) 65535 (0xFFFF)
Below lower limit value -32767 (0x8001) 0 (0x0000)
General error -32768 (0x8000) 65535 (0xFFFF)

Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
mands.
Minimum cycle time
200 µs
Inputs

8.16.3 X67AT1322
The module is a temperature module for KTY10, KTY84, PT100 and PT1000 resistance temperature sensors. The
sensors can be connected using 2-wire or 4-wire connections. The sensor type can be configured for each input.
■ 4 inputs for resistance temperature measurement
■ PT100, PT1000 and other resistance temperature sensors
■ Direct resistance measurement
■ Configurable sensor type per channel
■ 2-wire and 4-wire measurement
8.16.3.2 Order data

Temperature modules
X67AT1322 X67 temperature input module, 4 inputs for resistance measure-
ment, 2-wire or 4-wire measurement, PT100, PT1000, KTY10,



Short description
I/O module 4 inputs for KTY10-6, KTY84-130, PT100 or PT1000 resistance temperature measurement
General information
B&R ID code 0x1488
Diagnostics
Connection type
Power consumption
Internal I/O 1.5 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Temperature inputs resistance measurement
Input Resistance measurement with constant current supply for 2-wire or 4-wire connections
Conversion time
Same sensor types 75 ms per channel with 50 Hz filter
When switching sensor type 195 ms per channel with 50 Hz filter
Output format INT or UINT for resistance measurement
Sensor
Sensor type Configurable per channel
KTY10-6 -50 to 145°C
KTY84-130 -40 to 300°C
PT100 -200 to 850°C
PT1000 -200 to 850°C
Resistance measurement range 0.1 to 4500 Ω / 0.05 to 2250 Ω
Sensor standard EN 60751
Measuring current 250 µA ±1.25%
Reference 4530 Ω ±0.1%
Permitted input signal Short-term max. ±30 V
Max. error at 25°C
Gain 0.01% 1)
Offset 0.015% 2)
Max. offset drift 5.25 mΩ/°C 2)
Temperature sensor resolution 3)
KTY10-6 1 LSB = 0.1°C
KTY84-130 1 LSB = 0.1°C
PT100 1 LSB = 0.1°C
PT1000 1 LSB = 0.1°C

Resistance measurement resolution
G=1 1 LSB = typ. 69.1223 mΩ ±0.1%
G=2 1 LSB = typ. 34.5611 mΩ ±0.1%
Input filter
Slope -20 dB
50 Hz >70 dB
DC >70 dB
Temperature measurement monitoring
Range exceeded (neg.) 0x8001
Open circuit 0x7FFF
Open inputs 0x7FFF
Resistance measurement monitoring
Above upper range limit 0xFFFF
Open circuit 0xFFFF
General error 0xFFFF
Open inputs 0xFFFF
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 200 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) Based on the current resistance value.
2) Based on the entire resistance measurement range.
3) Based on the full converter resistance measurement resolution without correcting calculation

On RUN mode
Status indicator 2:
log inputs.

X2X Link
Connection A: Input

8.16.3.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1
Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1

8.16.3.8 Pinout
Shield
1 Sensor +
X1 to X4 2 Sense +
M12 ① 3 Sensor -
4 Sense -
5 Shield

M5, 5-pin Pinout

1 Sensor +
1
2 2 Sense +
3 Sensor -
5
4 Sense -
5 Shield1)
3
3
2
4
1
5
Connections 3/4
4-wire connections
Sensor +
+ 1 2
Sense +
Sensor
Sense -
5 Connection x
Sensor - 4 3
-
①
2-wire connections
Sensor/Sense +
+ 1 2
Sensor
② 5 Connection x
Sensor/Sense - 4 3
-
①
②
Pins 1 + 2 and 3 + 4 must be connected in the connector!

250 µA
Multiplexer
Channel 1
Channel 2 - 4
I/O status
+LB
LED
(green)
Channel 1
Channel 2 - 4
1...4
1 2
Multiplexer
Input value 5
A/D Channel
converter 4 3 2-4
Channel 1
Channel 1
Channel 2 - 4
-LB
Monitoring the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

Configuration
18 ConfigOutput02 (sensor type and channel selection) UINT ●
Communication
Resistor01 UINT
Resistor02 UINT
Resistor03 UINT
Resistor04 UINT

Configuration
18 - ConfigOutput02 (sensor type and channel se- UINT ●
lection)
Communication
Resistor01 UINT
Resistor02 UINT
Resistor03 UINT
Resistor04 UINT

8.16.3.11.4 General information - Conversion cycle
All pending signals from enabled inputs are converted to digital values in every conversion cycle.
are not needed for a certain amount of time.
The time saved per disabled input depends on the selected filter:
Filter frequency Filter time Time saved per input Digital converter resolution
50 Hz 20 ms 75 ms 16-bit
60 Hz 16.67 ms 65 ms 16-bit
250 Hz 4 ms 27 ms 13-bit
500 Hz 2 ms 21 ms 10-bit
Example
Example 1 Example 2
Switched on inputs 1 to 4 1 and 3
Conversion time 300 ms 150 ms
Name:
ConfigOutput01
1 60 Hz 16.67 ms 16-bit
2 250 Hz 4 ms 13-bit
3 500 Hz 2 ms 10-bit
8.16.3.11.5.2 Sensor type and channel selection
Name:
ConfigOutput02
This register can be used to configure the sensor type for individual channels.
This module is designed for temperature and resistance measurement. The sensor type must be specified because
of the different calibration values for temperature and resistance.
The default setting for all channels is ON. To save time, individual channels can be switched off (see "conversion
cycle" on page 944).
Data type Values
Bit structure:
0-3 Analog input 1 0000 Sensor type KTY10
0001 Sensor type KTY84
0010 PT100 sensor type
0011 PT1000 sensor type
0100 Reserved
0101 Resistance measurement 0.1 to 4500 Ω
0110 Resistance measurement 0.05 to 2250 Ω
0111 Input switched off
4-7 Analog input 2 x For possible values, see analog input 1

Name:
Resistor01 to Resistor04
INT -500 to 1450 (for -50.0 to 145.0°C) Sensor type KTY10-6
-400 to 3000 (for -40.0 to 300.0°C) Sensor type KTY84-130
-2000 to 8500 (for -200.0 to 850.0°C) Sensor type PT100 and PT1000
UINT 1 to 45000 (for 0.1 to 4500 Ω or 0.05 to 2250 Ω) Resistance measurements
8.16.3.11.6.2 Status of the analog inputs
Name:
StatusInput01
Data type Values
Bit structure:
11 Open circuit
... ...
11 Open circuit

occurs.
Error status Temperature measurement Resistance measurement
Digital value for error Digital value for error
Open circuit or open input 32767 (0x7FFF) 65535 (0xFFFF)
Above upper limit value 32767 (0x7FFF) 65535 (0xFFFF)
Below lower limit value -32767 (0x8001) 0 (0x0000)
General error -32768 (0x8000) 65535 (0xFFFF)

Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
mands.
Minimum cycle time
200 µs
Inputs

8.16.4 X67AT1402
The module is a temperature module for type J, K and S thermocouple sensors. The selected sensor type is used
for all 4 inputs.
■ 4 inputs for thermocouple sensors
■ Sensor types J, K and S
■ Additional direct raw value measurement for other sensor types
■ Terminal temperature compensation
8.16.4.2 Order data

Temperature modules
X67AT1402 X67 temperature input module, 4 thermocouple inputs, Type J,
K, S, resolution 0.1 K



Short description
I/O module 4 inputs for thermocouple sensors
General information
B&R ID code 0x1486
Diagnostics
Connection type
Power consumption
Internal I/O 2.6 W
Channel - Bus Yes
Certification
CE Yes
KC Yes
UL cULus E115267
IP67, Ta = 0 - Max. 60°C
TÜV 05 ATEX 7201X
GOST-R Yes
I/O power supply
Thermocouple temperature inputs
Input Thermocouple
Output format INT
Measurement range
Sensor temperature
Type J: Fe-CuNi -210 to 1200°C
Type K: NiCr-Ni -270 to 1372°C
Type S: PtRh10-Pt -50 to 1768°C
Terminal temperature -25 to 85°C
Raw value ±65.534 mV
Terminal temperature compensation Using thermocouple connector X67AC9A02 (accessory) 1)
Sensor standard IEC 60584-1
Resolution
Sensor temperature 1 LSB = 0.1°C
Terminal temperature 1 LSB = 0.1°C
Raw value output with respect to gain 1 LSB = 1 µV or 2 µV
Normalization
Type J -210.0 to 1200.0°C
Type K -270.0 to 1372.0°C
Type S -50.0 to 1768.0°C
Monitoring
Open circuit 0x7FFF
Open inputs 0x7FFF
Permitted input signal Short-term ±30 VDC

Max. error at 25°C
Gain ±0.040% 2)
Offset
Type J ±0.024% 3)
Type K ±0.030% 3)
Type S ±0.088% 3)
Max. offset drift
Type J 0.0024% / °C 3)
Type K 0.0030 %/°C 3)
Type S 0.0089% / °C 3)
DC >70 dB
50 Hz >70 dB
Terminal temperature error Typ. ±2°C after 10 min. 5)
Conversion time 62 ms per channel with 50 Hz filter + 62 ms per cy-
cle for terminal temperature measurement with 50 Hz filter
Input filter
Slope -20 dB
Any Yes
Temperature
Derating -
Dimensions
Width 53 mm
Height 85 mm
Depth 42 mm
Weight 205 g
M8 Max. 0.4 Nm
M12 Max. 0.6 Nm

1) At least one terminal temperature sensor is required to determine the temperature measured at the J, K and S thermocouple sensors.
2) Refers to the current measurement without consideration of the reference junction measurement error
3) Based on the entire measurement range without consideration of the cold junction measurement error
5) For slight temperature differences between environment and module mounting area.


On RUN mode
Status indicator 2:
log inputs.
X2X Link
Connection A: Input

8.16.4.6 X2X Link
connectors.
Connection Pinout
3 Pin Name
A
1 X2X+
2 X2X
2 3 X2X⊥
4 X2X\
4

4
1

Information:
Connection Pinout
2 Pin Name
C
1 1 24 VDC
2 24 VDC
4
3 GND
4 GND
3
1
8.16.4.8 Pinout
Shield
1 Compensation
X1 to X4 2 AI +
M12 ① 3 GND
4 AI -
5 Shield

M12, 5-pin Pinout

1 Compensation input
1
2 2 Input +
3 GND
5
4 Input -
5 Shield1)
3
3
2
4
1
5
Connections 3/4

Without temperature compensation
1 2
TC 1
5 Connection x
4 3
With temperature compensation (Sensor PT1000 is integrated in connector X67AC9A02.)
1 2
TC 1
5 Connection x
4 3
PT1000 (integrated)
I/O status
+LB Uref
LED
(green)
Instrument 1...4
drive
1 2
Channel 1
5
Multiplexer
Input value
A/D 4 3
converter
Channel
2-4
-LB
Channel 1
Multiplexer
Terminal temperature measurement

using X67AC9A02
Channel
2-4
Monitoring the
2 2
1 4 4 1
3 3
GND
VDR
>30 V

version.

Configuration
18 ConfigOutput02 (measurement range and channel selection) UINT ●
Communication
8 TerminalTemperature01 INT ●

Configuration
18 - ConfigOutput02 (measurement range and UINT ●
channel selection)
Communication
8 - TerminalTemperature01 INT ●

8.16.4.11.4 General information
8.16.4.11.4.1 Terminal temperature compensation
The module is equipped with integrated temperature compensation. The following applies:
• Possible for inputs 1 to 4.
• The sensor for measuring the terminal temperature is integrated in the plug housing (X67AC9A02).
• The module independently recognizes that a terminal temperature compensation is necessary using this
type of plug.
• At least one terminal temperature sensor is required to determine the temperature measured at the J, K
and S thermocouple sensors; otherwise, 0x7FFF is generally output.
Examples of possible configurations
Plug with sensor on the input Description
1 The terminal temperature compensation for all 4 inputs is performed using the temperature measured on input
1.
1 and 3 The terminal temperature compensation for inputs 1 and 2 is performed using the temperature measured on
input 1.
The terminal temperature compensation for inputs 3 and 4 is performed using the temperature measured on
input 3.
1 to 4 The terminal temperature compensation is performed using the temperature measured on the respective input.
8.16.4.11.4.2 Raw value measurement
Raw value measurement functions with and without terminal temperature measurement. If another sensor type is
used as J, K and S, then the terminal temperature must be measured on at least one input. Based on this value,
the user must then implement terminal temperature compensation.
8.16.4.11.4.3 Conversion time
All pending signals from enabled inputs are converted to digital values in every conversion cycle. A terminal tem-
perature measurement also takes place.
are not needed for a certain amount of time. The measurement of the terminal temperature cannot be switched off.
The amount of time saved per channel depends on the filter time:
Filter Filter time Amount of time saved per input Digital converter resolution
50 Hz 20 ms 75 ms 16-bit
60 Hz 16.67 ms 65 ms 16-bit
250 Hz 4 ms 27 ms 13-bit
500 Hz 2 ms 21 ms 10-bit
Example
Example 1 Example 2
Switched on inputs 1 to 4 1, 3
Conversion time for inputs 248 ms 124 ms
Conversion time for terminal temperature 62 ms 62 ms
Conversion time total 310 ms 186 ms

Name:
ConfigOutput01
1 60 Hz 16.67 ms 16-bit
2 250 Hz 4 ms 13-bit
3 500 Hz 2 ms 10-bit
8.16.4.11.5.2 Sensor type and channel selection

Data type Values
Bit structure:
0-2 Defines sensor 000 Conversion switched off
001 Sensor type J
010 Sensor type K
011 Sensor type S
100 to 101 Conversion switched off
110 Raw value without linearization and terminal temperature com-
pensation; Resolution 1 µV for a measurement range of ±32.767
mV
111 Raw value without linearization and terminal temperature com-
pensation; Resolution 2 µV for a measurement range of ±65.534
mV
3 Reserved 0
4 Input 1 0 Input 1 switched off
1 Input 1 switched on
... ...
7 Input 4 0 Input 4 switched off
1 Input 4 switched on
Name:
INT -2100 to 12000 (for -210.0 to 1200.0°C) Sensor type J
-2700 to 13720 (for -270.0 to 1372.0°C) Sensor type K
-500 to 17680 (for -50.0 to 1768.0°C) Sensor type S
eration:
• After switching the sensor type, 0x8000 is output until the first conversion.
• If the input is not switched on, 0x8000 is output.
• At least one terminal temperature sensor is required to determine the temperature measured at the J, K
and S thermocouple sensors. Otherwise, 0x7FFF is generally output.

8.16.4.11.6.2 Terminal temperature
Name:
TerminalTemperature01 to TerminalTemperature04
These registers output the terminal temperature in 0.1°C steps.
INT -250 to 850 for -25.0 to 85.0°C
eration:
• If some of the terminal temperature sensors are not installed, then the value 0x7FFF is output on the inputs
which are not installed.
• If there is no terminal temperature sensor installed at all, then the value 0x7FFF is generally output.
Name:
StatusInput01
Data type Values
Bit structure:
11 Open circuit
... ...
11 Open circuit

occurs.
Error status Digital value for error
Open circuit or open input 32767 (0x7FFF)
Above upper limit value 32767 (0x7FFF)
General error -32768 (0x8000)

Name:
asy_ModulID
Data type Values
UINT Module ID
Name:
asy_SupplyStatus
Data type Values
Bit structure:
1-7 Reserved 0
Name:
asy_SupplyInput
mands.
Minimum cycle time
200 µs
Inputs

Additional information
9 Additional information
9.1 General data points

In addition to the registers listed in the register description, X67 modules also have other more general data points.
version.
9.1.1 FirmwareVersion
Name:
FirmwareVersion
The firmware version of the module can be read using this data point.
The last two positions correspond to the number after the decimal point.
Example: 345 corresponds to 3.45.
UINT 1 to 99 Release version of older modules or developmental versions of new modules
100 to 29999 Release version
30000 to 59999 Test version
9.1.2 HardwareVariant
Name:
HardwareVariant
The hardware variant of the module can be read using this data point.
Data type Values
UINT 0 to 65,535
9.1.3 ModuleID
Name:
ModuleID
The module ID of the module can be read using this data point. The module hardware ID can be found in the
corresponding module documentation (B&R ID code in the technical data). In addition, a serial number is printed
on each electronics module; the module hardware ID corresponds to the first 4 positions of the serial number. (See
figure: Hardware ID is also colored black.)
Data type Values

UINT 0 to 65,535
Information:
IDs beginning from 9999 are printed as hexadecimal numbers and must be converted to their decimal
values for comparison!

9.1.4 SerialNumber
Name:
SerialNumber
The module's unique serial number can be read using this data point.
The complete serial number is made up of ModuleID and SerialNumber as follows: Serial number = (Hardware
ID * 1E+7) + SerialNumber
The serial number is printed in decimal form on the module's housing.
Example
Hardware ID = (decimal) 1213
Serial number = (decimal) 671339
Serial number = 1213 * 10000000 + 671339 = 12130671339
Data type Values

UDINT 0 to 4,294,967,295
9.1.5 ModuleOK
Name:
ModuleOK
Whether the module is physically present in the slot or not can be read from this register.
BOOL 0 Module not ready for operation
1 Module connected and configured
9.1.6 StaleData
Name:
StaleData
Whether the transferred data originates from the current cycle or a previous cycle can be read using this data point.
This error can result from cycle times that are too short or disturbances in module communication, for example.
Information:
This data point is only valid if ModuleOK = 1.
BOOL 0 Data originates from the current cycle
1 Data does not originate from the current cycle

9.2 Flatstream communication

9.2.1 Introduction
B&R offers an additional communication method for some modules. "Flatstream" was designed for X2X and
POWERLINK networks and allows data transmission to be adapted to individual demands. Although this method
is not 100% real-time capable, it still allows data transmission to be handled more efficiently than with standard
cyclic polling.
Field device
X2X Language
Cyclic call
mittels I/O Mapping
B&R CPU
Cyclic call B&R module Cyclic
PLC or B&R field device
von Cachewerten Cache values Communication
Bus controller
Acyclic call
mittels
Bibliotheksfunktionen
B&R CPU
Acyclic call B&R module Cyclic
PLC or B&R field device
von Cachewerten Cache values Communication
Bus controller
Flatstream
B&R CPU X2X-compatible B&R module

PLC or Device command B&R field device
Device command as bridge
Bus controller
Figure 67: 3 types of communication

Flatstream extends cyclic and acyclic data queries. With Flatstream communication, the module acts as a bridge.
It is used to pass CPU queries directly on to the field device.

9.2.2 Message, segment, sequence, MTU
The physical properties of the bus system limit the amount of data that can be transmitted during one bus cycle.
With Flatstream communication, all messages are viewed as part of a continuous data stream. Long data streams
must be broken down into several fragments that are sent one after the other. To understand how the receiver puts
these fragments back together to get the original information, it is important to understand the difference between
a message, a segment, a sequence and an MTU.
Message
A message refers to information exchanged between 2 communicating partner stations. The length of a message
is not restricted by the Flatstream communication method. Nevertheless, module-specific limitations must be con-
sidered.
Segment (logical division of a message):
A segment has a finite size and can be understood as a section of a message. The number of segments per
message is arbitrary. So that the recipient can correctly reassemble the transmitted segments, each segment
is preceded by a byte with additional information. This control byte contains information such as the length of a
segment and whether the approaching segment completes the message. This makes it possible for the receiving
station to interpret the incoming data stream correctly.
Sequence (how a segment needs to be arranged physically):
The maximum size of a sequence corresponds to the number of enabled Rx or Tx bytes (later: "MTU"). The
transmitting station splits the transmit array into valid sequences. These sequences are then written successively
to the MTU and transmitted to the receiving station where they are put back together again. The receiver stores
the incoming sequences in a receive array, obtaining an image of the data stream in the process.
With Flatstream communication, the number of sequences sent are counted. Successfully transmitted sequences
must be acknowledged by the receiving station to ensure the integrity of the transmission.
MTU (Maximum Transmission Unit) - Physical transport:
MTU refers to the enabled USINT registers used with Flatstream. These registers can accept at least one sequence
and pass it on to the receiving station. A separate MTU is defined for each direction of communication. OutputMTU
defines the number of Flatstream Tx bytes, and InputMTU specifies the number of Flatstream Rx bytes. The MTUs
are transported cyclically via the X2X Link network, increasing the load with each additional enabled USINT register.
Properties
Flatstream messages are not transmitted cyclically or in 100% real time. Many bus cycles may be needed to trans-
mit a particular message. Although the Rx and Tx registers are exchanged between the transmitter and the receiver
cyclically, they are only processed further if explicitly accepted by register "InputSequence" or "OutputSequence".
Behavior in the event of an error (brief summary)
The protocol for X2X and POWERLINK networks specifies that the last valid values should be retained when
disturbances occur. With conventional communication (cyclic/acyclic data queries), this type of error can generally
be ignored.
In order for communication to also take place without errors using Flatstream, all of the sequences issued by the
receiver must be acknowledged. If Forward functionality is not used, then subsequent communication is delayed
for the length of the disturbance.
If Forward functionality is being used, the receiving station receives a transmission counter that is increment-
ed twice. The receiver stops, i.e. it no longer returns any acknowledgments. The transmitting station uses Se-
quenceAck to determine that the transmission was faulty and that all affected sequences will have to be repeated.

9.2.3 The Flatstream principle
Requirements
Before Flatstream can be used, the respective communication direction must be synchronized, i.e. both commu-
nication partners cyclically query the sequence counter on the opposite station. This checks to see if there is new
data that should be accepted.
Communication
If a communication partner wants to transmit a message to its opposite station, it should first create a transmit
array that corresponds to Flatstream conventions. This allows the Flatstream data to be organized very efficiently
without having to block other important resources.
PLC / Bus controller Module
Module-internal Module-internal
Transmit array OutputMTU Receive buffer Receive array
Type: USINT Type: USINT Type: USINT Type: USINT
_data_01 TxBytes Cycl. *RxBytes _data_01

_data_02 _data_02
If Output MTU The transmit buffer Wenn der OutputSequence-
_data_03 is enabled: of the module is Zähler erhöht wird: _data_03
adapted cyclically to
_data_04 CPU fills OutputMTU Modul fügt den Sendepuffer _data_04
OutputMTU via X2X zum internen Array hinzu
_data_05 with the next
_data_05
... sequence of the If successful: ...
transmit array InputSequenceAck wird
_data_xx an den Sendezähler _data_xx
via X2X
Receive array InputMTU Transmit buffer Transmit array
_data_01 RxBytes Cycl. *TxBytes _data_01

_data_02 _data_02
Wenn der InputMTU wird If permitted:
_data_03 InputSequence adapted cyclically to Module fills internal _data_03
Zähler erhöht wird: an den Empfangs- transmit buffer with the
_data_04 puffer angepasst next sequence of the _data_04
_data_05 InputMTU, must be added to the transmit array _data_05
end of the receive array
... . - The module increases ...
(erhöhe InputSequenceAck InputSequenceCounter
_data_xx um korrekt zu beenden) _data_xx
Figure 68: Flatstream communication

Procedure
The first thing that happens is that the message is broken into valid segments of up to 63 bytes, and the corre-
sponding control bytes are created. The data is formed into a data stream made up of one control bytes per asso-
ciated segment. This data stream can be written to the transmit array. The maximum size of each array element
matches that of the enabled MTU so that one element corresponds to one sequence.
If the array has been completely created, the transmitter checks whether the MTU is permitted to be refilled. It then
copies the first element of the array or the first sequence to the Tx byte registers. The MTU is transported to the
receiver station via X2X Link and stored in the corresponding Rx byte registers. To signal that the data should be
accepted by the receiver, the transmitter increases its SequenceCounter.
If the communication direction is synchronized, the opposite station detects the incremented SequenceCounter.
The current sequence is appended to the receive array and acknowledged by SequenceAck. This acknowledgment
signals to the transmitter that the MTU can now be refilled.
If the transmission is successful, the data in the receive array will correspond 100% to the data in the transmit array.
During the transmission, the receiving station must detect and evaluate the incoming control bytes. A separate
receive array should be created for each message. This allows the receiver to immediately begin further processing
of messages once they have been completely transmitted.

9.2.4 Registers for Flatstream mode
5 registers are available for configuring Flatstream. The default configuration can be used to transmit small amounts
of data relatively easily.
Information:
The CPU communicates directly with the field device via the "OutputSequence" and "InputSequence"
as well as the enabled Tx and Rx bytes. For this reason, the user needs to have sufficient knowledge
of the communication protocol being used on the field device.
9.2.4.1 Flatstream configuration
To use Flatstream, the program sequence must first be expanded. The cycle time of the Flatstream routines must
be set to a multiple of the bus cycle. Other program routines should be implemented in Cyclic #1 to ensure data
consistency.
At the absolute minimum, registers "InputMTU" and "OutputMTU" must be configured. All other registers are filled in
with default values at the beginning and can be used immediately. These registers are used for additional options,
e.g. to transmit data in a more compact way or to increase the efficiency of the general procedure.
The Forward registers extend the functionality of the Flatstream protocol. This functionality is useful for substan-
tially increasing the Flatstream data rate, but it also requires quite a bit of extra work when creating the program
sequence.
9.2.4.1.1 Number of enabled Tx and Rx bytes
Name:
OutputMTU
InputMTU
These registers define the number of enabled Tx or Rx bytes, i.e. the maximum size of a sequence. The user must
consider that the more bytes made available also means a higher load on the bus system.
Information:
In the rest of this documentation, the names "OutputMTU" and "InputMTU" do not refer to the registers
explained here. Instead, they are used as synonyms for the currently enabled Tx or Rx bytes.
Data type Values
USINT See the module-specific register overview (theoretically: 3 to 27).

9.2.4.2 Flatstream operation
When using Flatstream, the communication direction is very important. For transmitting data to a module (output
direction), Tx bytes are used. For receiving data from a module (input direction), Rx bytes are used.
Registers "OutputSequence" and "InputSequence" are used to control and ensure that communication is taking
place properly, i.e. the transmitter issues the directive that the data should be accepted and the receiver acknowl-
edges that a sequence has been transmitted successfully.
9.2.4.2.1 Format of input and output bytes
Name:
"Format of Flatstream" in Automation Studio
On some modules, this function sets how the Flatstream input and output bytes (Tx or Rx bytes) are transferred.
• Packed: Data is transferred as an array.
• Byte-by-byte: Data is transferred as individual bytes.
9.2.4.2.2 Transporting the payload data and the control bytes
Name:
TxByte1 to TxByteN
RxByte1 to RxByteN
(The value the number N is different depending on the bus controller model used.)
The Tx and Rx bytes are cyclic registers used to transport the payload data and the necessary control bytes.
The number of active Tx and Rx bytes is taken from the configuration of registers "OutputMTU" and "InputMTU",
respectively.
In the user program, only the Tx and Rx bytes from the CPU can be used. The corresponding counterparts are
located in the module and are not accessible to the user. For this reason, the names were chosen from the point
of view of the CPU.
• "T" - "Transmit" →CPU transmits data to the module.
• "R" - "Receive" →CPU receives data from the module.
Data type Values
USINT 0 to 65535
9.2.4.2.3 Control bytes
In addition to the payload data, the Tx and Rx bytes also transmit the necessary control bytes. These control bytes
contain additional information about the data stream so that the receiver can reconstruct the original message from
the transmitted segments.
Bit structure of a control byte
0-5 SegmentLength 0 - 63 Size of the subsequent segment in bytes (default: Max. MTU size - 1)
6 nextCBPos 0 Next control byte at the beginning of the next MTU
1 Next control byte directly after the end of the current segment
7 MessageEndBit 0 Message continues after the subsequent segment
1 Message ended by the subsequent segment
SegmentLength
The segment length lets the receiver know the length of the coming segment. If the configured segment length
is insufficient for a message, then the information must be distributed over several segments. In these cases, the
actual end of the message is detected using bit 7 of the control byte.
Information:
The control byte is not included in the calculation to determine the segment length. The segment length
is only derived from the bytes of payload data.
nextCBPos
This bit indicates the position where the next control byte is to be expected. This information is especially important
when using option "MultiSegmentMTU".
When using Flatstream communication with multi-segment MTUs, the next control byte is no longer expected in
the first Rx byte of the subsequent MTU, but directly after the current segment.
MessageEndBit
"MessageEndBit" is set if the subsequent segment completes a message. The message has then been completely
transmitted and is ready for further processing.
Information:
In the output direction, this bit must also be set if one individual segment is enough to hold the entire
message. The module will only process a message internally if this identifier is detected.
The size of the message being transmitted can be calculated by adding all of the message's segment
lengths together.
Flatstream formula for calculating message length:
Message [bytes] = SegmentLengths (all CBs without ME) + SegmentLength (of the first CB with CB Control byte
ME) ME MessageEndBit
9.2.4.2.4 Communication status of the CPU
Name:
OutputSequence
Register "OutputSequence" contains information about the communication status of the CPU. It is written by the
CPU and read by the module.
Data type Values
Bit structure:
0-2 OutputSequenceCounter 0-7 Counter for the sequences issued in the output direction
3 OutputSyncBit 0 Output direction disabled
1 Output direction enabled
4-6 InputSequenceAck 0-7 Mirrors InputSequenceCounter
7 InputSyncAck 0 Input direction not ready (disabled)
1 Input direction ready (enabled)
OutputSequenceCounter
The OutputSequenceCounter is a continuous counter of sequences that have been issued by the CPU. The CPU
uses OutputSequenceCounter to direct the module to accept a sequence (the output direction must be synchro-
nized when this happens).
OutputSyncBit
The CPU uses OutputSyncBit to attempt to synchronize the output channel.
InputSequenceAck
InputSequenceAck is used for acknowledgment. The value of InputSequenceCounter is mirrored if the CPU has
received a sequence successfully.
InputSyncAck
The InputSyncAck bit acknowledges the synchronization of the input channel for the module. This indicates that
the CPU is ready to receive data.

9.2.4.2.5 Communication status of the module
Name:
InputSequence
Register "InputSequence" contains information about the communication status of the module. It is written by the
module and should only be read by the CPU.
Data type Values
Bit structure:
0-2 InputSequenceCounter 0-7 Counter for sequences issued in the input direction
3 InputSyncBit 0 Not ready (disabled)
1 Ready (enabled)
4-6 OutputSequenceAck 0-7 Mirrors OutputSequenceCounter
7 OutputSyncAck 0 Not ready (disabled)
1 Ready (enabled)
InputSequenceCounter
The InputSequenceCounter is a continuous counter of sequences that have been issued by the module. The mod-
ule uses InputSequenceCounter to direct the CPU to accept a sequence (the input direction must be synchronized
when this happens).
InputSyncBit
The module uses InputSyncBit to attempt to synchronize the input channel.
OutputSequenceAck
OutputSequenceAck is used for acknowledgment. The value of OutputSequenceCounter is mirrored if the module
has received a sequence successfully.
OutputSyncAck
The OutputSyncAck bit acknowledges the synchronization of the output channel for the CPU. This indicates that
the module is ready to receive data.

9.2.4.2.6 Relationship between OutputSequence and InputSequence
Output sequence Input sequence
Communication status of the CPU Communication status of the module
0-2 OutputSequenceCounter 0-2 InputSequenceCounter
3 OutputSyncBit Intersecting 3 InputSyncBit
4-6 InputSequenceAck Handshake 4-6 OutputSequenceAck
7 InputSyncAck 7 OutputSyncAck
Figure 69: Relationship between OutputSequence and InputSequence

Registers "OutputSequence" and "InputSequence" are logically composed of 2 half-bytes. The low part signals
to the opposite station whether a channel should be opened or if data should be accepted. The high part is to
acknowledge that the requested action was carried out.
SyncBit and SyncAck
If SyncBit and SyncAck are set in one communication direction, then the channel is considered "synchronized", i.e.
it is possible to send messages in this direction. The status bit of the opposite station must be checked cyclically.
If SyncAck has been reset, then SyncBit on that station must be adjusted. Before new data can be transmitted,
the channel needs to be resynchronized.
SequenceCounter and SequenceAck
The communication partners cyclically check whether the low nibble on the opposite station changes. When one
of the communication partners finishes writing a new sequence to the MTU, it increments its SequenceCounter.
The current sequence is then transmitted to the receiver, which acknowledges its receipt with SequenceAck. In
this way, a "handshake" is initiated.
Information:
If communication is interrupted, segments from the unfinished message are discarded. All messages
that were transmitted completely are processed.

9.2.4.3 Synchronization
During synchronization, a communication channel is opened. It is important to make sure that a module is present
and that the current value of SequenceCounter is stored on the station receiving the message.
Flatstream can handle full-duplex communication. This means that both channels / communication directions can
be handled separately. They have to be synchronized independently so that simplex communication can theoret-
ically be carried out as well.
Synchronization in the output direction (CPU as the transmitter):

The corresponding synchronization bits (OutputSyncBit and OutputSyncAck) are reset. Because of this, Flatstream
cannot be used at this point in time to send messages from the CPU to the module.
Algorithm
1) The CPU must write 000 in OutputSequenceCounter and reset OutputSyncBit.
CPU must cyclically query the high nibble of register "InputSequence" (check for 000 in OutputSequenceAck and 0 in OutputSyncAck).
The module does not accept the current contents of InputMTU since the channel is not yet synchronized.
The module matches OutputSequenceAck and OutputSyncAck to the values of OutputSequenceCounter and OutputSyncBit.
2) If the CPU registers the expected values in OutputSequenceAck and OutputSyncAck, it is permitted to increment OutputSequenceCounter.
The CPU continues cyclically querying the high nibble of register "OutputSequence" (checks for 001 in OutputSequenceAck and 0 in InputSyncAck).
The module does not accept the current contents of InputMTU since the channel is not yet synchronized.
The module matches OutputSequenceAck and OutputSyncAck to the values of OutputSequenceCounter and OutputSyncBit.
3) If the CPU registers the expected values in OutputSequenceAck and OutputSyncAck, it is permitted to increment OutputSequenceCounter.
The CPU continues cyclically querying the high nibble of register "OutputSequence" (checks for 001 in OutputSequenceAck and 1 in InputSyncAck).
Note:
Data can be theoretically transferred from this point forward. However, it is still recommended to wait until the output direction is completely synchronized before
transmitting data.
The module sets OutputSyncAck.
The output direction is synchronized, and the CPU can transmit data to the module.
Synchronization in the input direction (CPU as the receiver):

The corresponding synchronization bits (InputSyncBit and InputSyncAck) are reset. Because of this, Flatstream
cannot be used at this point in time to send messages from the module to the CPU.
Algorithm
The module writes 000 to InputSequenceCounter and resets InputSyncBit.
The module monitors the high nibble of register "OutputSequence" and expects 000 in InputSequenceAck and 0 in InputSyncAck.
1) The CPU is not permitted take on the current contents of InputMTU since the channel is not yet synchronized.
The CPU must match InputSequenceAck and InputSyncAck to the values of InputSequenceCounter or InputSyncBit.
If the module registers the expected values in InputSequenceAck and InputSyncAck, it increments InputSequenceCounter.
The module monitors the high nibble of register "OutputSequence" and expects 001 in InputSequenceAck and 0 in InputSyncAck.
2) The CPU is not permitted take on the current contents of InputMTU since the channel is not yet synchronized.
The CPU must match InputSequenceAck and InputSyncAck to the values of InputSequenceCounter or InputSyncBit.
If the module registers the expected values in InputSequenceAck and InputSyncAck, it sets InputSyncBit.
The module monitors the high nibble of register "OutputSequence" and expects 1 in InputSyncAck.
3) The CPU is permitted to set InputSyncAck.
Note:
Theoretically, data could already be transferred in this cycle.
If InputSyncBit is set and InputSequenceCounter has been increased by 1, the values in the enabled Rx bytes have to be accepted and acknowledged (see al-
so "Communication in the input direction").
The input direction is synchronized, and the module can transmit data to the CPU.

9.2.4.4 Transmitting and receiving
If a channel is synchronized, then the opposite station is ready to receive messages from the transmitter. Before
the transmitter can send data, it needs to first create a transmit array in order to meet Flatstream requirements.
The transmitting station must also generate a control byte for each segment created. This control byte contains
information about how the subsequent part of the data being transmitted should be processed. The position of the
next control byte in the data stream can vary. For this reason, it must be clearly defined at all times when a new
control byte is being transmitted. The first control byte is always in the first byte of the first sequence. All subsequent
positions are determined recursively.
Flatstream formula for calculating the position of the next control byte:
Position (of the next control byte) = Current position + 1 + Segment length
Example
3 autonomous messages (7 bytes, 2 bytes and 9 bytes) are being transmitted using an MTU with a width of 7
bytes. The rest of the configuration corresponds to the default settings.
Message 1: Transmit/Receive array
With 7 USINT elements according to

the configurable MTU size
A1 A2 A3 A4 A5 A6 A7
Standard
Message 2:
C1 A1 A2 A3 A4 A5 A6 Sequence for bus cycle 1

B1 B2
C2 A7 - - - - - Sequence for bus cycle 2
Message 3:
C3 B1 B2 - - - - Sequence for bus cycle 3
D1 D2 D3 D4 D5 D6 D7 D8 D9
C4 D1 D2 D3 D4 D5 D6 Sequence for bus cycle 4
No more data to transmit C5 D7 D8 D9 - - - Sequence for bus cycle 5
- - - ... C0 - - - - - - Sequence for bus cycle 6
Figure 70: Transmit/Receive array (default)

First, the messages must be split into segments. In the default configuration, it is important to ensure that each
sequence can hold an entire segment, including the associated control byte. The sequence is limited to the size of
the enable MTU. In other words, a segment must be at least 1 byte smaller than the MTU.
MTU = 7 bytes → Max. segment length = 6 bytes
• Message 1 (7 bytes)
➯ First segment = Control byte + 6 bytes of data

➯ Second segment = Control byte + 1 data byte


➯ Second segment = Control byte + 3 data bytes
• No more messages
➯ C0 control byte
A unique control byte must be generated for each segment. In addition, the C0 control byte is generated to keep
communication on standby.
C0 (control byte 0) C1 (control byte 1) C2 (control byte 2)
- SegmentLength (0) = 0 - SegmentLength (6) = 6 - SegmentLength (1) = 1
- nextCBPos (0) = 0 - nextCBPos (0) = 0 - nextCBPos (0) = 0
- MessageEndBit (0) = 0 - MessageEndBit (0) = 0 - MessageEndBit (1) = 128
Control byte Σ 0 Control byte Σ 6 Control byte Σ 129
Table 170: Flatstream determination of the control bytes for the default configuration example (part 1)
Table 171: Flatstream determination of the control bytes for the default configuration example (part 2)

9.2.4.5 Transmitting data to a module (output)
When transmitting data, the transmit array must be generated in the application program. Sequences are then
transmitted one by one using Flatstream and received by the module.
Information:
Although all B&R modules with Flatstream communication always support the most compact trans-
missions in the output direction, it is recommended to use the same design for the transfer arrays in
both communication directions.

Transmit array OutputMTU Receive buffer Receive array
_data_01 TxBytes Cycl. *RxBytes _data_01

_data_02 _data_02
If Output MTU The transmit buffer Wenn der OutputSequence-
_data_03 is enabled: of the module is Zähler erhöht wird: _data_03
adapted cyclically to
_data_04 CPU fills OutputMTU Modul fügt den Sendepuffer _data_04
OutputMTU mit via X2X zum internen Array hinzu
_data_05 The transmit buffer
_data_05
... sequence of the If successful: ...
transmit array InputSequenceAck wird
_data_xx an den Sendezähler _data_xx
via X2X
Figure 71: Flatstream communication (output)

The length of the message is initially smaller than OutputMTU. In this case, one sequence would be sufficient to
transmit the entire message and the necessary control byte.
Algorithm
Cyclic status query:
- The module monitors OutputSequenceCounter.
0) Cyclic checks:
- CPU must check OutputSyncAck.
→ If OutputSyncAck = 0: Reset OutputSyncBit and resynchronize the channel.
- CPU must check whether OutputMTU is enabled.
→ If OutputSequenceCounter > InputSequenceAck: MTU is not enabled because the last sequence has not yet been acknowledged.
1) Preparation (create transmit array):
- The CPU must split up the message into valid segments and create the corresponding control bytes.
- The CPU must assemble the segments and control bytes into the transmit array.
2) Transmit:
- The CPU transfers the current element of the transmit array to OutputMTU.
→ The OutputMTU is transferred cyclically to the module's transmit buffer but not processed further.
- The CPU must increase OutputSequenceCounter
Reaction:
- The module accepts the bytes from the internal receive buffer and adds them to the internal receive array.
- The module transmits acknowledgment and writes the value of OutputSequenceCounter to OutputSequenceAck.
3) Completion:
- The CPU must monitor OutputSequenceAck.
→ A sequence is only considered to have been transferred successfully if it has been acknowledged via OutputSequenceAck. In order to detect potential trans-
mission errors in the last sequence as well, it is important to make sure that the length of the Completion phase is run through long enough.
Note:
To monitor communication times exactly, the task cycles that have passed since the last increase of OutputSequenceCounter should be counted. In this way,
the number of previous bus cycles necessary for the transmission can be measured. If the monitoring counter exceeds a predefined threshold, then the se-
quence can be considered lost.
(The relationship of bus to task cycle can be influenced by the user so that the threshold value needs to be determined individually.)
- Subsequent sequences are only permitted to be transmitted in the next bus cycle after the completion check has been carried out successfully.

Message larger than OutputMTU

The transmit array, which needs to be created in the program sequence, consists of several elements. The user
has to arrange the control and data bytes correctly and transfer the array elements one after the other. The transfer
algorithm remains the same and is repeated starting at the point Cyclic checks.
General flow chart
Start
► diff = (OutputSequenceCounter -
OutputSequenceAck) AND 7
► limit = (OutputSequenceCounter -
LastValidAck) AND 7
(diff ≤ limit)
No OutputSequenceAck = No LastValidAck = Yes
AND (OutputSyncAck = 1)
AND (OutputSyncBit = 1)? OutputSequenceCounter? OutputSequenceCounter?
Yes Yes No
No LastValidAck =
diff = 0?
OutputSequenceAck
Yes
LastValidAck = No
OutputSequenceAck = 0?
OutputSequenceAck
Yes
No OutputSequenceCounter = 0
More sequences to be sent? OutputSequenceCounter = 1 OutputSyncBit = 1
LastValidAck = 0
Yes
Copy next sequence to MTU

Increase OutputSequenceCounter
Sequence handling Synchronization
Figure 72: Flow chart for the output direction

9.2.4.6 Receiving data from a module (input)
When receiving data, the transmit array is generated by the module, transferred via Flatstream and must then
be reproduced in the receive array. The structure of the incoming data stream can be configured with the mode
register. The algorithm for receiving the data does not change in this regard.
Receive array InputMTU Sendepuffer Transmit array
_data_01 RxBytes Cycl. *TxBytes _data_01

_data_02 _data_02
Wenn der InputMTU wird If permitted:
_data_03 InputSequence adapted cyclically to Module fills internal _data_03
Zähler erhöht wird: an den Empfangs- transmit buffer with the
_data_04 puffer angepasst next sequence of the _data_04
InputMTU, must be activated on the transmit array
_data_05 end of the receive array
_data_05
... . - The module increases ...
(erhöhe InputSequenceAck InputSequenceCounter
_data_xx um korrekt zu beenden) _data_xx
Figure 73: Flatstream communication (input)

Algorithm
0) Cyclic status query:
- The CPU must monitor InputSequenceCounter.
Cyclic checks:
- The module checks InputSyncAck.
- The module checks InputSequenceAck.
Preparation:
- The module forms the segments and control bytes and creates the transmit array.
Action:
- The module transfers the current element of the internal transmit array to the internal transmit buffer.
- The module increases InputSequenceCounter.
1) Receiving (as soon as InputSequenceCounter is increased):
- The CPU must accept data from InputMTU and append it to the end of the receive array
- The CPU must match InputSequenceAck to InputSequenceCounter of the sequence currently being processed.
Completion:
- The module monitors InputSequenceAck.
→ A sequence is only considered to have been transmitted successfully if it has been acknowledged via InputSequenceAck.
- Subsequent sequences are only transmitted in the next bus cycle after the completion check has been carried out successfully.

General flow chart
Start
► InputSequenceAck = InputSequenceCounter
Synchronization
No
InputSyncBit = 1? ► RemainingSegmentSize = 0
► SegmentFlags = 0
Yes
No No
InputSyncAck = 1? InputSequenceAck > 0?
Yes Yes
MTU_Offset = 0 InputSyncAck = 1
(InputSequenceCounter – No
InputSequenceAck)
AND 0x07 = 1?
Yes
► RemainingSegmentSize =
Yes MTU_Data[MTU_Offset] AND 0b0011 1111
RemainingSegmentSize = 0? ► SegmentFlags =
MTU_Data[MTU_Offset] AND 0b1100 0000
No ► MTU_Offset = MTU_Offset + 1
Yes RemainingSegmentSize > No

(InputMTU_Size - MTU_Offset)?
Segment data handling

► DataSize = InputMTU_Size – MTU_Offset ► DataSize = RemainingSegmentSize
► Copy segment data, e.g. memcpy(xxx, ADR(MTU_Data[MTU_Offset]), DataSize)

► MTU_Offset = MTU_Offset + DataSize
► RemainingSegmentSize = RemainingSegmentSize - DataSize
RemainingSegmentSize = 0 AND Yes

► Mark frame as complete
(SegmentFlags AND 0x80) = 0?
No
RemainingSegmentSize = 0 AND Yes

(SegmentFlags AND 0x40) = 0?
No
Yes
► InputSequenceAck =
InputMTU_Size = MTU_Offset?
InputSequenceCounter
No
Figure 74: Flow chart for the input direction

9.2.4.7 Details
It is recommended to store transmitted messages in separate receive arrays.

After a set MessageEndBit is transmitted, the subsequent segment should be added to the receive array. The
message is then complete and can be passed on internally for further processing. A new/separate array should
be created for the next message.
Information:
When transmitting with MultiSegmentMTUs, it is possible for several small messages to be part of one
sequence. In the program, it is important to make sure that a sufficient number of receive arrays can
be managed. The acknowledge register is only permitted to be adjusted after the entire sequence has
been applied.
If SequenceCounter is incremented by more than one counter, an error is present.
Note: This situation is very unlikely when operating without "Forward" functionality.
In this case, the receiver stops. All additional incoming sequences are ignored until the transmission with the correct
SequenceCounter is retried. This response prevents the transmitter from receiving any more acknowledgments for
transmitted sequences. The transmitter can identify the last successfully transmitted sequence from the opposite
station's SequenceAck and continue the transmission from this point.
Acknowledgments must be checked for validity.
If the receiver has successfully accepted a sequence, it must be acknowledged. The receiver takes on the value
of SequenceCounter sent along with the transmission and matches SequenceAck to it. The transmitter reads
SequenceAck and registers the successful transmission. If the transmitter acknowledges a sequence that has
not yet been dispatched, then the transmission needs to be interrupted and the channel resynchronized. The
synchronization bits are reset and the current/incomplete message is discarded. It needs to be sent again once
the channel has been resynchronized.

9.2.4.8 Flatstream mode
Name:
FlatstreamMode
In the input direction, the transmit array is generated automatically. This register offers 2 options to the user that
allow an incoming data stream to have a more compact arrangement. Once enabled, the program code for eval-
uation must be adapted accordingly.
Information:
All B&R modules that offer Flatstream mode support options "Large segments" and "MultiSegmentM-
TUs" in the output direction. Compact transmission only needs to be explicitly allowed in the input
direction.
Bit structure:
0 MultiSegmentMTU 0 Not allowed (default)
1 Permitted
1 Large segments 0 Not allowed (default)
1 Permitted
2-7 Reserved
Standard
By default, both options relating to compact transmission in the input direction are disabled.
1. The module only forms segments that are at least one byte smaller than the enabled MTU. Each sequence
begins with a control byte so that the data stream is clearly structured and relatively easy to evaluate.
2. Since a Flatstream message is permitted to be any length, the last segment of the message frequently does
not fill up all of the MTU's space. By default, the remaining bytes during this type of transfer cycle are not used.
Bus cycle 1 Bus cycle 2 Bus cycle 3
C C C
- - -
ME0 ME1 ME1
Segment 1 Segment 2 Segment 3
Message 1 Message 2
C
Control byte with MessageEndBit = 0
ME0
C
ME1
Figure 75: Message arrangement in the MTU (default)

MultiSegmentMTUs allowed
With this option, InputMTU is completely filled (if enough data is pending). The previously unfilled Rx bytes transmit
the next control bytes and their segments. This allows the enabled Rx bytes to be used more efficiently.
C C C C
- -
ME0 ME1 ME0 ME1
Segment 1 Segment 2 3 Segment 4
Message 1 Message 2
C
ME0
C
ME1
Figure 76: Arrangement of messages in the MTU (MultiSegmentMTUs)

Large segments allowed:
When transmitting very long messages or when enabling only very few Rx bytes, then a great many segments must
be created by default. The bus system is more stressed than necessary since an additional control byte needs to be
created and transmitted for each segment. With option "Large segments", the segment length is limited to 63 bytes
independently of InputMTU. One segment is permitted to stretch across several sequences, i.e. it is possible for
"pure" sequences to occur without a control byte.
Information:
It is still possible to split up a message into several segments, however. If this option is used and
messages with more than 63 bytes occur, for example, then messages can still be split up among
several segments.
C C
- - - -
ME1 ME1
Message 1 Message 2
C
ME0
C
ME1
Figure 77: Arrangement of messages in the MTU (large segments)

Using both options

Using both options at the same time is also permitted.
C C
- - - -
ME1 ME1
Message 1 Message 2
C
ME0
C
ME1
Figure 78: Arrangement of messages in the MTU (large segments and MultiSegmentMTUs)

9.2.4.9 Adjusting the Flatstream
If the way messages are structured is changed, then the way data in the transmit/receive array is arranged is also
different. The following changes apply to the example given earlier.
MultiSegmentMTU
If MultiSegmentMTUs are allowed, then "open positions" in an MTU can be used. These "open positions" occur if
the last segment in a message does not fully use the entire MTU. MultiSegmentMTUs allow these bits to be used to
transmit the subsequent control bytes and segments. In the program sequence, the "nextCBPos" bit in the control
byte is set so that the receiver can correctly identify the next control byte.
Example
3 autonomous messages (7 bytes, 2 bytes and 9 bytes) are being transmitted using an MTU with a width of 7 bytes.
The configuration allows transmission of MultiSegmentMTUs.

A1 A2 A3 A4 A5 A6 A7
Message 2: MultiSegmentMTU

B1 B2
C2 A7 C3 B1 B2 C4 D1 Sequence for bus cycle 2
Message 3:
D1 D2 D3 D4 D5 D6 D7 D8 D9
C6 D8 D9 C0 - - - Sequence for bus cycle 4
No more data to transmit C0 - - - - - - Sequence for bus cycle 5
Figure 79: Transmit/receive array (MultiSegmentMTUs)

First, the messages must be split into segments. As in the default configuration, it is important for each sequence
to begin with a control byte. The free bits in the MTU at the end of a message are filled with data from the following
message, however. With this option, the "nextCBPos" bit is always set if payload data is sent after the control byte.
MTU = 7 bytes → Max. segment length = 6 bytes
➯ First segment = Control byte + 6 bytes of data (MTU full)

➯ Second segment = Control byte + 1 byte of data (MTU still has 5 open bytes)
➯ First segment = Control byte + 2 bytes of data (MTU still has 2 open bytes)
➯ First segment = Control byte + 1 byte of data (MTU full)

➯ Second segment = Control byte + 6 bytes of data (MTU full)
➯ Third segment = Control byte + 2 bytes of data (MTU still has 4 open bytes)
➯ C0 control byte
Table 172: Flatstream determination of the control bytes for the MultiSegmentMTU example (part 1)
Warning!
The second sequence is only permitted to be acknowledged via SequenceAck if it has been completely
processed. In this example, there are 3 different segments within the second sequence, i.e. the program
must include enough receive arrays to handle this situation.
Table 173: Flatstream determination of the control bytes for the MultiSegmentMTU example (part 2)

Large segments
Segments are limited to a maximum of 63 bytes. This means they can be larger than the active MTU. These large
segments are divided among several sequences when transmitted. It is possible for sequences to be completely
filled with payload data and not have a control byte.
Information:
It is still possible to subdivide a message into several segments so that the size of a data packet does
not also have to be limited to 63 bytes.
Example
The configuration allows the transmission of large segments.

A1 A2 A3 A4 A5 A6 A7
Message 2: Large segments

B1 B2
A7 - - - - - - Sequence for bus cycle 2
Message 3:
C2 B1 B2 - - - - Sequence for bus cycle 3
D1 D2 D3 D4 D5 D6 D7 D8 D9
No more data to transmit D7 D8 D9 - - - - Sequence for bus cycle 5
Figure 80: Transmit/receive array (large segments)

First, the messages must be split into segments. The ability to form large segments means that messages are split
up less frequently, which results in fewer control bytes generated.
Large segments allowed → Max. segment length = 63 bytes



➯ C0 control byte
Table 174: Flatstream determination of the control bytes for the large segment example

Large segments and MultiSegmentMTU

Example
The configuration allows transmission of large segments as well as MultiSegmentMTUs.
A1 A2 A3 A4 A5 A6 A7
Message 2: Both options

B1 B2
A7 C2 B1 B2 C3 D1 D2 Sequence for bus cycle 2
Message 3:
D3 D4 D5 D6 D7 D8 D9 Sequence for bus cycle 3
D1 D2 D3 D4 D5 D6 D7 D8 D9
C0 - - - - - - Sequence for bus cycle 4
No more data to transmit C0 - - - - - - Sequence for bus cycle 5
Figure 81: Transmit/receive array (large segments and MultiSegmentMTUs)

First, the messages must be split into segments. If the last segment of a message does not completely fill the MTU,
it is permitted to be used for other data in the data stream. Bit "nextCBPos" must always be set if the control byte
belongs to a segment with payload data.
The ability to form large segments means that messages are split up less frequently, which results in fewer control
bytes generated. Control bytes are generated in the same way as with option "Large segments".
Large segments allowed → Max. segment length = 63 bytes



➯ C0 control byte
Table 175: Flatstream determination of the control bytes for the large segment and MultiSegmentMTU example

9.2.5 Example of Forward functionality on X2X Link
Forward functionality is a method that can be used to substantially increase the Flatstream data rate. The basic
principle is also used in other technical areas such as "pipelining" for microprocessors.
9.2.5.1 Function principle
X2X Link communication cycles through 5 different steps to transmit a Flatstream sequence. At least 5 bus cycles
are therefore required to successfully transfer the sequence.
Step I Step II Step III Step IV Step V
Actions Transfer sequence from Cyclic matching of MTU and Append sequence to re- Cyclic matching of Check SequenceAck
transmit array, module buffer ceive array, MTU and module buffer
increase SequenceCounter adjust SequenceAck
Resource Transmitter Bus system Receiver Bus system Transmitter
(task for sending) (direction 1) (task for receiving) (direction 2) (task for Ack checking)
Sequence 1 Step I Step II Step III Step IV Step V
Sequence 3 ...
Bus cycle 1 Bus cycle 2 Bus cycle 3 Bus cycle 4 Bus cycle 5 Bus cycle 6 Bus cycle 7 Bus cycle 8 Bus cycle 9 Bus cycle 10
Time
Time
Figure 82: Comparison of transmission without/with Forward

Each of the 5 steps (tasks) requires different resources. If Forward functionality is not used, the sequences are
executed one after the other. Each resource is then only active if it is needed for the current sub-action.
With Forward, a resource that has executed its task can already be used for the next message. The condition for
enabling the MTU is changed to allow for this. Sequences are then passed to the MTU according to the timing. The
transmitting station no longer waits for an acknowledgment from SequenceAck, which means that the available
bandwidth can be used much more efficiently.
In the most ideal situation, all resources are working during each bus cycle. The receiver still has to acknowledge
every sequence received. Only when SequenceAck has been changed and checked by the transmitter is the
sequence considered as having been transmitted successfully.

9.2.5.2 Configuration
The Forward function only has to be enabled for the input direction. 2 additional configuration registers are available
for doing so. Flatstream modules have been optimized in such a way that they support this function. In the output
direction, the Forward function can be used as soon as the size of OutputMTU is specified.
9.2.5.2.1 Number of unacknowledged sequences
Name:
Forward
With register "Forward", the user specifies how many unacknowledged sequences the module is permitted to
transmit.
Recommendation:
X2X Link: Max. 5
POWERLINK: Max. 7
Data type Values
USINT 1 to 7
Default: 1
9.2.5.2.2 Delay time
Name:
ForwardDelay
Register "ForwardDelay" is used to specify the delay time in µs. This is the amount of time the module has to
wait after sending a sequence until it is permitted to write new data to the MTU in the following bus cycle. The
program routine for receiving sequences from a module can therefore be run in a task class whose cycle time is
slower than the bus cycle.
Data type Values
UINT 0 to 65535 [µs]
Default: 0
Time
Time
Figure 83: Effect of ForwardDelay when using Flatstream communication with the Forward function
In the program, it is important to make sure that the CPU is processing all of the incoming InputSequences and In-
putMTUs. The ForwardDelay value causes delayed acknowledgment in the output direction and delayed reception
in the input direction. In this way, the CPU has more time to process the incoming InputSequence or InputMTU.

9.2.5.3 Transmitting and receiving with Forward
The basic algorithm for transmitting and receiving data remains the same. With the Forward function, up to 7
unacknowledged sequences can be transmitted. Sequences can be transmitted without having to wait for the
previous message to be acknowledged. Since the delay between writing and response is eliminated, a considerable
amount of additional data can be transferred in the same time window.
Algorithm for transmitting
Cyclic status query:
- The module monitors OutputSequenceCounter.
0) Cyclic checks:
- CPU must check OutputSyncAck.
→ If OutputSyncAck = 0: Reset OutputSyncBit and resynchronize the channel.
- CPU must check whether OutputMTU is enabled.
→ If OutputSequenceCounter > OutputSequenceAck + 7: In this case, not enabled because the last sequence has not yet been acknowledged.
1) Preparation (create transmit array):
- The CPU must split up the message into valid segments and create the corresponding control bytes.
- The CPU must assemble the segments and control bytes into the transmit array.
2) Transmit:
- The CPU must transfer the current part of the transmit array to OutputMTU.
- CPU must increase OutputSequenceCounter for the sequence to be accepted by the module
- The CPU is then permitted totransmit, in the next bus cycle if the MTU has been enabled.
The module responds since OutputSequenceCounter > OutputSequenceAck:
- The module accepts data from the internal receive buffer and appends it to the end of the internal receive array.
- The module is acknowledged and the currently received value of OutputSequenceCounter is transferred to OutputSequenceAck.
- The module queries the status cyclically again.
3) Completion (acknowledgment):
- The CPU must cyclically check OutputSequenceAck.
→ A sequence is only considered to have been transferred successfully if it has been acknowledged via OutputSequenceAck. In order to detect potential trans-
mission errors in the last sequence as well, it is important to make sure that the algorithm is run through long enough.
Note:
To monitor communication times exactly, the task cycles that have passed since the last increase of OutputSequenceCounter should be counted. In this way,
the number of previous bus cycles necessary for the transmission can be measured. If the monitoring counter exceeds a predefined threshold, then the se-
quence can be considered lost (the relationship of bus to task cycle can be influenced by the user so that the threshold value needs to be determined individual-
ly).
Algorithm for receiving

0) Cyclic status query:
- The CPU must monitor InputSequenceCounter.
Cyclic checks:
- The module checks InputSyncAck.
- The module checks if InputMTU for enabling.
→ Enabling criteria: InputSequenceCounter > InputSequenceAck + Forward
Preparation:
- The module forms the control bytes / segments and creates the transmit array.
Action:
- The module transfers the current part of the transmit array to the receive buffer.
- The module increases InputSequenceCounter.
- The module waits for a new bus cycle after time from ForwardDelay has expired.
- The module repeats the action if InputMTU is enabled.
1) Receiving (InputSequenceCounter > InputSequenceAck):
- The CPU must apply data from InputMTU and append it to the end of the receive array.
- The CPU must match InputSequenceAck to InputSequenceCounter of the sequence currently being processed.
Completion:
- The module monitors InputSequenceAck.
→ A sequence is only considered to have been transmitted successfully if it has been acknowledged via InputSequenceAck.

Details/Background
1. Illegal SequenceCounter size (counter offset)
Error situation: MTU not enabled
If the difference between SequenceCounter and SequenceAck during transmission is larger than permitted, a
transfer error occurs. In this case, all unacknowledged sequences must be repeated with the old Sequence-
Counter value.
2. Checking an acknowledgment
After an acknowledgment has been received, a check must verify whether the acknowledged sequence has
been transmitted and had not yet been unacknowledged. If a sequence is acknowledged multiple times, a
severe error occurs. The channel must be closed and resynchronized (same behavior as when not using
Forward).
Information:
In exceptional cases, the module can increment OutputSequenceAck by more than 1 when using
Forward.
An error does not occur in this case. The CPU is permitted to consider all sequences up to the
one being acknowledged as having been transmitted successfully.
3. Transmit and receive arrays

The Forward function has no effect on the structure of the transmit and receive arrays. They are created and
must be evaluated in the same way.

9.2.5.4 Errors when using Forward
In industrial environments, it is often the case that many different devices from various manufacturers are being
used side by side. The electrical and/or electromagnetic properties of these technical devices can sometimes cause
them to interfere with one another. These kinds of situations can be reproduced and protected against in laboratory
conditions only to a certain point.
Precautions have been taken for X2X Link transmissions if this type of interference occurs. For example, if an
invalid checksum occurs, the I/O system will ignore the data from this bus cycle and the receiver receives the last
valid data once more. With conventional (cyclic) data points, this error can often be ignored. In the following cycle,
the same data point is again retrieved, adjusted and transmitted.
Using Forward functionality with Flatstream communication makes this situation more complex. The receiver re-
ceives the old data again in this situation as well, i.e. the previous values for SequenceAck/SequenceCounter and
the old MTU.
Loss of acknowledgment (SequenceAck)
If a SequenceAck value is lost, then the MTU was already transmitted properly. For this reason, the receiver is per-
mitted to continue processing with the next sequence. The SequenceAck is aligned with the associated Sequence-
Counter and sent back to the transmitter. Checking the incoming acknowledgments shows that all sequences up
to the last one acknowledged have been transmitted successfully (see sequences 1 and 2 in the image).
Loss of transmission (SequenceCounter, MTU):
If a bus cycle drops out and causes the value of SequenceCounter and/or the filled MTU to be lost, then no data
reaches the receiver. At this point, the transmission routine is not yet affected by the error. The time-controlled
MTU is released again and can be rewritten to.
The receiver receives SequenceCounter values that have been incremented several times. For the receive array
to be put together correctly, the receiver is only permitted to process transmissions whose SequenceCounter has
been increased by one. The incoming sequences must be ignored, i.e. the receiver stops and no longer transmits
back any acknowledgments.
If the maximum number of unacknowledged sequences has been sent and no acknowledgments are returned, the
transmitter must repeat the affected SequenceCounter and associated MTUs (see sequence 3 and 4 in the image).
Time
Sequence 1 Step I Step II Step III
Sequence 3 Step I Step II Step I Step II Step III
Sequence 4 Step I Step II Step I Step II
Bus cycle 1 Bus cycle 2 Bus cycle 3 EMC Bus cycle 5 Bus cycle 6 Bus cycle 7 Bus cycle 8 Bus cycle 9 Bus cycle 10
Time
Figure 84: Effect of a lost bus cycle

Loss of acknowledgment
In sequence 1, the acknowledgment is lost due to disturbance. Sequences 1 and 2 are therefore acknowledged
in Step V of sequence 2.
Loss of transmission
In sequence 3, the entire transmission is lost due to disturbance. The receiver stops and no longer sends back
any acknowledgments.
The transmitting station continues transmitting until it has issued the maximum permissible number of unacknowl-
edged transmissions.
5 bus cycles later at the earliest (depending on the configuration), it begins resending the unsuccessfully sent
transmissions.

X67 System-ENG - V3.20 PDF

Загружено:

Сведения о документе

Оригинальное название

Авторское право

Доступные форматы

Поделиться этим документом

Поделиться или встроить документ

Параметры публикации

Этот документ был вам полезен?

Это неприемлемый материал?

Авторское право:

Доступные форматы

X67 System-ENG - V3.20 PDF

Загружено:

Авторское право:

Доступные форматы

X67 system

Version: 3.20 (March 2018)

Translation of the original documentation

4 Mechanical and electrical configuration...............................................................19

4.10.1 Example 1..............................................................................................................................................43

7 International and national certifications...............................................................89

8 Data sheets............................................................................................................ 102

8.1.6 X67AI2744 with Rev. ≤B9..................................................................................................................... 157

X67 system User's Manual 3.20 5

8.10 Communication modules...........................................................................................................................682

9 Additional information.......................................................................................... 958

6 X67 system User's Manual 3.20

1.1 Manual history

° Added separate section "Safety guidelines" after "General information".

• Revised and updated section "Standards and certifications".

° Added detailed overview of standards and testing requirements.

• Updated all data sheets

° Updated or added register descriptions.

X67 system User's Manual 3.20 7

1.3 Intended use

1.4 Transport and storage

1.5 Mounting orientation

8 X67 system User's Manual 3.20

1.7 Environmentally friendly disposal

1.7.1 Separation of materials

Disposal must comply with applicable legal regulations.

1.8 Definition of this term

Table 1: Definition of this term

X67 system User's Manual 3.20 9

2.1 Organization of safety notices

Table 2: Organization of safety notices

2.2 Protection against electrostatic discharge

• Electrical components with a housing

10 X67 system User's Manual 3.20

2.2.2 Guidelines for proper ESD handling

Electrical components with a housing

Electrical components without a housing

X67 system User's Manual 3.20 11

12 X67 system User's Manual 3.20

3.1 The X67 system

Modules for measuring temperature using a resistance temperature detector or thermocouple

System power supply

X67 system User's Manual 3.20 13

3.2 General product features

Figure 1: X67 system - X2X Link communication

14 X67 system User's Manual 3.20

3.3 Reduced costs

Open communication Minimum control cabinet space

PLC X67 X67 X67 X67

PLC X67 X67 X67 X67

X67 X67 X67 X67

X67 X67 X67 X67

Figure 2: X67 system - Expanding the control cabinet by other means

X67 system User's Manual 3.20 15

16 X67 system User's Manual 3.20

3.5 EMC concept

PLC CANopen, DeviceNet, PROFIBUS DP

X67 system User's Manual 3.20 17

3.7 System power supply

System supply System supply

U1 U1-1 U1-2 U1 U1-3

3.8 Configurable X2X Link address

Bus module with