DI570 Manual

KeConnect
DI 570
Digital input module
Project engineering manual V 1.03
Translation of the original instructions

Document: V 1.03
Document No.:
Pages: 64
© KEBA 2021
Specifications are subject to change due to further technical developments. Details presented may be
subject to correction.
All rights reserved.
Reindlstraße 51, 4040 Linz, Austria
KEBA Industrial Automation GmbH
+43 732 7090-0, +43 732 7309-10, [email protected]
For information about KEBA and our subsidiaries please look at www.keba.com.
DI 570 Record of Revision
Record of Revision
Changed
Version Date Change in chapter Description
by
1.00 07-2017 - Newly created sthm
Mounting and in-
stallation instruc-
1.01 10-2017 Chapter added, Various changes hasl, sthm
tions, Appendix:
Object descriptions
Various, Directives,
1.02 07-2018 standards and reg- Various changes, adding REACH regulation sthm, hli
ulations
Change to new company structure, UKCA, stan-
1.03 10-2021 Various chapters hasl
dards restructured
Project engineering manual V1.03 3

© KEBA 2021
DI 570
4 Project engineering manual V1.03

© KEBA 2021
DI 570 Table of contents
Table of contents
1 Introduction ................................................................................................................ 9
1.1 Purpose of the document................................................................................. 9
1.2 Preconditions ................................................................................................... 9
1.3 Intended use .................................................................................................... 10
1.4 Notes on this document ................................................................................... 10
1.4.1 Contents of the document.................................................................. 11
1.4.2 Not contained in this document ......................................................... 11
1.5 Documentation for further reading ................................................................... 11
1.6 EtherCAT declaration....................................................................................... 11
2 Safety notes ................................................................................................................ 12

2.1 Representation................................................................................................. 12
2.2 General safety instructions .............................................................................. 13
3 Description of the module ......................................................................................... 14

3.1 Front view ........................................................................................................ 14
3.2 Side view.......................................................................................................... 15
3.3 DataMatrix code............................................................................................... 15
3.4 Type plate ........................................................................................................ 15
3.5 Symbol printing ................................................................................................ 16
3.6 Accessories...................................................................................................... 17
3.6.1 Socket plug ........................................................................................ 17
4 Displays and operating elements ............................................................................. 18

4.1 Module status LEDs......................................................................................... 18
4.2 Signal indication LED....................................................................................... 18
5 Mounting and installation instructions .................................................................... 20

5.1 General instructions on assembly and removal ............................................... 20
5.2 Mounting rail .................................................................................................... 20
5.3 End bracket...................................................................................................... 20
5.4 Required space................................................................................................ 21
5.5 Installing the module ........................................................................................ 22
5.6 Removing the module ...................................................................................... 23
5.7 Adding modules ............................................................................................... 24
5.7.1 Setting the module address .............................................................. 24
5.7.2 Adding input/output modules ............................................................. 24
5.7.3 Removing input/output modules ........................................................ 28

© KEBA 2021
Table of contents DI 570
5.8 Air conditioning and ventilation ........................................................................ 29

5.8.1 Use of air filters .................................................................................. 30
6 Connections and wiring............................................................................................. 31

6.1 Power supply ................................................................................................... 31
6.2 EMC and wiring guidelines .............................................................................. 31
6.3 Digital inputs .................................................................................................... 31
6.3.1 Connection example .......................................................................... 32
6.3.2 Connection diagram........................................................................... 32
6.4 Velocity inputs.................................................................................................. 33
6.4.1 Connection example .......................................................................... 33
6.4.2 Connection diagram........................................................................... 34
7 Configuration .............................................................................................................. 35
7.1 EtherCAT configuration.................................................................................... 35
7.1.1 Address settings (explicit device identification) ................................. 35
8 Operating behavior .................................................................................................... 36

8.1 Operating statuses........................................................................................... 36
8.2 Watchdog......................................................................................................... 36
8.3 Response in the event of module errors .......................................................... 36
8.4 Debouncing...................................................................................................... 36
9 Diagnosis .................................................................................................................... 38
9.1 Error codes ...................................................................................................... 38
9.2 AL status codes ............................................................................................... 38
9.3 FoE error codes ............................................................................................... 40
10 Maintenance................................................................................................................ 41
10.1 Firmware update .............................................................................................. 41
11 Disposal ...................................................................................................................... 42
11.1 Disposal of the module .................................................................................... 42
12 Technical data ............................................................................................................ 43

12.1 General ............................................................................................................ 43
12.2 Power supply ................................................................................................... 43
12.3 Environmental conditions................................................................................. 43
12.4 Digital inputs .................................................................................................... 43
12.5 Velocity inputs.................................................................................................. 44
12.6 Interfaces ......................................................................................................... 44
12.7 Dimensions, weight.......................................................................................... 44

© KEBA 2021
DI 570 Table of contents
13 Directives, standards and regulations ..................................................................... 45

13.1 EU Directives ................................................................................................... 45
13.2 Standards for checking the conformity............................................................. 45
13.3 Other standards ............................................................................................... 45
13.4 Regulations ...................................................................................................... 46
13.5 Standards for the American market ................................................................. 46
14 EU Declaration of conformity.................................................................................... 47
15 UKCA ........................................................................................................................... 48
15.1 Directives, Standards and Regulations............................................................ 48
15.2 UKCA Declaration of Conformity ..................................................................... 48
16 Appendix: Object descriptions ................................................................................. 49

16.1 Overview .......................................................................................................... 50
16.2 Communication area........................................................................................ 51
16.2.1 0x1000 Device Type .......................................................................... 51
16.2.2 0x1001 Error Register........................................................................ 51
16.2.3 0x1008 Device Name ........................................................................ 51
16.2.4 0x1009 Hardware Version ................................................................. 51
16.2.5 0x100A Software Version .................................................................. 51
16.2.6 0x1018 Identity .................................................................................. 52
16.2.7 0x10F1 Error Settings ........................................................................ 52
16.2.8 0x10F3 Diagnosis History .................................................................. 52
16.2.9 0x1C00 Sync Manager Communication Type ................................... 53
16.2.10 0x1C13 Sync Manager 3 PDO Assignment....................................... 54
16.2.11 0x1C33 Sync Manager 3 Synchronization......................................... 54
16.3 Input data area................................................................................................. 55
16.3.1 0x6080 - 0x60FF DI ........................................................................... 55
16.4 Configuration area ........................................................................................... 55
16.4.1 0x8080 - 0x80FF DI Config................................................................ 55
16.5 State area ........................................................................................................ 56
16.5.1 0xF000 Modular Device Profile.......................................................... 56
16.5.2 0xF120 Version Information............................................................... 56
16.5.3 0xF130 Custom Identifier................................................................... 57
16.5.4 0xF140 Diagnosis Settings ................................................................ 57
16.5.5 0xF141 Timing ................................................................................... 57
16.5.6 0xF142 CoRout Statistic .................................................................... 58
16.5.7 0xF143 Error Report .......................................................................... 59
16.5.8 0xF144 Hard Fault Information .......................................................... 59
16.6 Information area............................................................................................... 60
16.6.1 0xF901 Type Plate............................................................................. 60

© KEBA 2021
Table of contents DI 570
Index ............................................................................................................................ 61

© KEBA 2021
DI 570 Introduction
1 Introduction
1.1 Purpose of the document

This document describes the DI 570 modules.
It also includes information on the structure and properties of the EtherCAT
and describes the object directory.
Information
The manual is written exclusively for the target groups listed in this manual.
The machine manufacturer or system supplier must incorporate the safety
information required for end customers into the operating manual for end
customers in the applicable national language.
1.2 Preconditions
This document contains information for persons with the following skills:
Target group Knowledge and skills pre-requirement
Basic technical training (University of Applied Science/University
level, engineering degree or corresponding professional experience).
Knowledge in:
Project engineer
● working mode of a PLC,
● current valid safety regulations,
● the application.
Specialized training in the electro-technical field (in accordance with
industrial training guidelines).
Knowledge in:
Electrician ● wiring guidelines,
● circuit diagrams,
● system analysis and troubleshooting,
● correct installation of electrical connections according to na-
tional and international regulations.
Basic technical training (Vocational high school, engineering degree
or corresponding professional experience).
Knowledge in:
Start-up technician
● working mode of machine or plant,
● principal functions of the application,
● system analysis and troubleshooting,
● setting options at the operating installations.

© KEBA 2021
Introduction DI 570
Target group Knowledge and skills pre-requirement

Basic technical training (Vocational high school, engineering degree
or corresponding professional experience).
Knowledge in:
● working mode of a PLC,
Service technician
● working mode of machine or plant,
● diagnosis possibilities,
● systematic error analysis and rectification.
1.3 Intended use

The DI 570 was developed for control applications in industrial machines.
The typical applications areas include injection molding machines, robots,
presses, machine tools and similar.
The DI 570 may only be used for the types of use detailed in the technical
description and only in compliance with the described technical framework
conditions. The DI 570 may only be used in connection with recommended
or approved devices.
The DI 570 has been developed, manufactured, tested and documented ob-
serving the relevant instructions and standards. Therefore, provided that the
instructions and safety precautions are properly observed, the product does
not pose any danger to the health of persons or a risk of damage to other
property or equipment under normal circumstances.
KEBA shall assume no liability or warranty for consequential losses, which
may arise of:
● Disregard of directives and standards
● Illegal changes
● Improper use
● Disregard of instructions in this document
1.4 Notes on this document

This manual is an integral part of the product. It is to be retained over the en-
tire life cycle of the product and should be forwarded to any subsequent
owners or users of the product. For end users, necessary safety notes and
information must be integrated in the instruction manual for end users in the
specific national language by the mechanical engineer or the system
provider.
This documentation must be legible and available to the specified persons
and must be read and understood by them.

© KEBA 2021
DI 570 Introduction
Information
The pictured devices used in this manual are visual examples. The devices
used by you may differ in their appearance.
1.4.1 Contents of the document

● Description of the module
● Connection and wiring
● Configuration
● Operating behavior
● Technical data
1.4.2 Not contained in this document

● Programming instructions
● Firmware description
1.5 Documentation for further reading

Name Target group
● Project engineer
● Electrician
Provided system manual ● Programmer
● Commissioning foreman
● Service technician
1.6 EtherCAT declaration
EtherCAT® is registered trademark and

patented technology, licensed by Beckhoff
Automation GmbH, Germany.

© KEBA 2021
Safety notes DI 570
2 Safety notes
2.1 Representation
At various points in this manual, you will see notes and precautionary warn-
ings regarding possible hazards. The symbols used have the following
meaning:
DANGER!
indicates an imminently hazardous situation, which will result in death or se-
rious bodily injury if the corresponding precautions are not taken.
WARNING!
indicates a potentially hazardous situation, which can result in death or seri-
ous bodily injury if the corresponding precautions are not taken.
CAUTION!
means that if the corresponding safety measures are not taken, a potentially
hazardous situation can occur that may result in slight bodily injury.
Caution
means that damage to property can occur if the corresponding safety mea-
sures are not taken.
ESD
This symbol reminds you of the possible consequences of touching electro-
statically sensitive components.
Safety information
Describes important safety-related requirements or informs about essential
safety-related correlations.
Information
Identifies practical tips and useful information. No information that warns
about potentially dangerous or harmful functions is contained.

© KEBA 2021
DI 570 Safety notes
2.2 General safety instructions
WARNING!
● It is also absolutely essential that you observe the safety notes in the
system manual for your automation system.
● The following application areas are expressly excluded for the DI 570
without completing a special evaluation relating to the application and
implementing the necessary measures in the installation relating to the
operating conditions:
● Use in areas where there is a risk of explosion or fire
● Use in the mining industry
● Outdoor use
● Use in wet rooms or rooms with the risk of splashing water
● Use in environments with heavily polluted air
● Use in environments with hazardous solutions, vapors or radiation
● Use in non-stationary applications
● The EN ISO 13849-1 standard was not taken into consideration during
the development of the DI 570.
● The module is defined as "open type equipment" (UL 61010-2-201) or as
"open type equipment" (EN 61010-2-201) and must therefore be in-
stalled in a control cabinet.
Caution
Improper handling will destroy the module or the control system!
Turn off the supply voltage before inserting or removing modules. Other-
wise, the module can be destroyed or undefined signal states can lead to
damage of the control system.

© KEBA 2021
Description of the module DI 570
3 Description of the module

The DI 570 is an input module with 19 digital inputs.
3.1 Front view
Fig. 3-1: Front side
1 ... Module status LEDs 2 ... Reference potential

3 ... Digital inputs (I) 4 ... Serial number
5 ... DataMatrix code

© KEBA 2021
DI 570 Description of the module
3.2 Side view
Fig. 3-2: Side view right
1 ... Recesses for locking 2 ... Lock of the input/output module

3 ... Area for type plate printing 4 ... Area for symbol printing
5 ... KeBus 6 ... Mounting rail lock
7 ... Area for connection diagram print-
ing
3.3 DataMatrix code

The data matrix code is made up of the following elements:
1 2 3 4 5 6 7 8 * 1 2 3 4 5 6
Serial number Material number
3.4 Type plate
Information
The type plate shown is an example. The actual data on the type plate de-
pends on the module.

© KEBA 2021
Description of the module DI 570
Fig. 3-3: Example type plate
1 ... Manufacturer's address 2 ... Manufacturer

3 ... Product group 4 ... Product designation
5 ... Technical data (voltage) 6 ... Ambient temperature
7 ... Country of manufacture 8 ... Production date
9 ... Revision number / index 10 ... Material number
Information
The electronic type plate is stored on the module in an EEPROM and can
be read out from the CoE object 0xF901 by the application.
3.5 Symbol printing

There are symbols on the module, which are described in the following table.
Information
The symbols described show the full version of the symbol printing. The ac-
tual symbol printing depends on the module.
Symbols description
CE conformity marking
EAC marking
KCC marking
RCM marking
TÜV marking

© KEBA 2021
DI 570 Description of the module
UKCA marking
UL marking
3.6 Accessories
3.6.1 Socket plug

Required socket plugs
Module Quantity
DI 570 5
The appropriate female connectors are not included in the delivery from
KEBA but can be purchased from KEBA.
Designation Description Order no.
BCF 3.81 4-pol. 180G Push In BK - 097180
(Company KEBA)
Socket plug 4-pole; black
BCF 3.81/04/180 SN BK BX - 1969950000
(Company Weidmüller)
Caution
Only compatible socket plugs approved by KEBA can be used.
The technical data is provided in the manufacturer’s technical data sheet for
the socket plugs that are used.

© KEBA 2021
Displays and operating elements DI 570
4 Displays and operating elements
Caution
Thermical overload due to charging and discharging!
As long as one of the Status LEDs is still on after deactivation of the system,
do not remove or insert modules or option modules in the system. Other-
wise charging and discharging of back-up capacitors may lead to a thermal
overload (electric arc) of the contacts.
4.1 Module status LEDs

A green EtherCAT RUN-LED and a red INFO-LED are located on the front of
the DI 570. The INFO-LED works like the EtherCAT ERROR-LED with spe-
cial enhancements.
RUN LED
Indication Meaning
No voltage supply or indication of the EtherCAT operating
Dark
state INIT
Indication of the EtherCAT operating state PRE-OPERA-
Green flashing (slow)
TIONAL
Indication of the EtherCAT operating state SAFE-OPERA-
Green flashing
TIONAL
Green flashing (fast) Indication of the EtherCAT operating state BOOTSTRAP
Green Indication of the EtherCAT operating state OPERATIONAL
INFO-LED
Display Meaning
No voltage supply or EtherCAT communication running
Dark
without errors
Flashing red (6x) Slave identification
Flashing red (1x) Start-up
Display of the EtherCAT error according to “ETG.1300
All other flashing codes EtherCAT Indicator and Labeling Specification” (“ERR Indi-
cator States” table)
4.2 Signal indication LED

On the left side of the pin strip, the status of the digital inputs is indicated by
green LEDs.

© KEBA 2021
DI 570 Displays and operating elements
LED Digital Input
Indication Meaning
Dark No voltage supply or indication of the state OFF
Green Indication of the state ON

© KEBA 2021
Mounting and installation instructions DI 570
5 Mounting and installation instructions

The DI 570 is intended for installation on a horizontal mounting rail in a con-
trol cabinet.
Additional modules (input/output modules) of the KeConnect series can be
arranged and lined up next to one another.
5.1 General instructions on assembly and removal
Caution
Switch off the operating and load voltage supplies before carrying out as-
sembly, installation or maintenance work.
5.2 Mounting rail

A steel rail TS 35x7.5 is to be used as mounting rail for the device. For the
sake of stability the screw distance, as shown in the illustration, must be be-
tween 100 - 120 mm.
Fig. 5-4: Fixing of the mounting rail.
5.3 End bracket

To prevent the modules from slipping or loosening through vibration, an end
bracket must be mounted on the left and right side of the mounting rail. The
end bracket must be made of a non-conductive material to protect against
contact.

© KEBA 2021
DI 570 Mounting and installation instructions
Fig. 5-5: Mounting of the end bracket
1 ... End bracket
5.4 Required space

The module housing has ventilation slots for heat dissipation.
Caution
Make sure that the ventilation slots are not covered.
Fig. 5-6: Space requirement (dimensions in mm)

© KEBA 2021
Information
● Free space for air circulation around the module: At least 30 mm above
and below the module.
5.5 Installing the module
Caution
Permissible installation position:
The mounting rail must be installed so that the front of the mounted module
is facing forward and the ventilation slots are facing up and down (see fol-
lowing graphics). Otherwise damage could occur (e.g. from heat build-up)
(see the "Air conditioning and ventilation" chapter).
Fig. 5-7: Installation on a mounting rail
To install the module on a mounting rail, proceed as follows:

1) Release all of the mounting rail locks (1).
2) Slightly tilt the module and put it on the mounting rail fixture (2).
3) Press the lower half of the module onto the mounting rail (3).
4) Lock all of the mounting rail locks one after the other (4).
5) Use the end brackets to secure the module against slipping or loosening
due to vibration, see 5.3 End bracket.
The module is installed on the mounting rail.

© KEBA 2021
5.6 Removing the module
Caution
Risk of damaging components during installation work under voltage!
Before dismantling, disconnect the power supply and detach all cable con-
nections.
Fig. 5-8: Dismantling from the mounting rail
To dismantle the module, proceed as follows:

1) Disconnect the power supply.
2) Disconnect all cable connections on the module.
3) Remove the end bracket.
4) Release all of the mounting rail locks one after the other (1).
5) Tilt the lower part of the module to release it from the mounting rail (2).
6) Remove the module from the mounting rail (3).
The module is dismantled.

© KEBA 2021
5.7 Adding modules

Additional KeConnect C5 modules can be connected to the DI 570.
The DI 570 is lined up to the right of the supplying module. The supplying
module can be a single CPU module or a CPU module with input/output
modules already lined up on the right. The connection between the DI 570
and the connected modules is made via the KeBus interface.
The process of adding to a CPU module and the process of adding to an in-
put/output module that has already been added work in the same way. In the
following chapter both processes are shown graphically.
To guarantee stable functioning of the module package, the total power re-
quirement of the appended modules must not exceed the performance val-
ues of the supplying modules (CP, BL, ...) (see "Technical data").
Information
To calculate the number of modules that can be appended, the perfor-
mance values specified for the "Power consumption 5 V on the KeBus" and
"Power consumption 24 V on the KeBus” in the technical data of the re-
spective project engineering manual must be used.
Information
For adding and removing the DI 570 the assembly package may already be
mounted on the mounting rail, see 5.5 Installing the module.
5.7.1 Setting the module address

The module is addressed automatically. The module address does not have
to be set manually. Details about available EtherCAT adress mechanism see
chap. "Configuration".
5.7.2 Adding input/output modules

To add input/output modules, proceed as follows:
3) Release the lock on the right side of the module to which the input/out-
put module is to be added by pushing it up.

© KEBA 2021
Fig. 5-9: Releasing the lock
4) Install the input/output module to be added on the mounting rail and lock
it, see 5.5 Installing the module.
5) Slide the input/output module to be added to the left until the hooks are
fully engaged in the recesses of the already installed module.
Caution
If the input/output module is installed improperly, its function may be im-
paired. When adding input/output modules, make sure that the hooks are
engaged.

© KEBA 2021
Fig. 5-10: Adding input/output modules
6) Secure the lock on the right side of the already mounted module by
pushing it down.

© KEBA 2021
Fig. 5-11: Securing the lock
7) Secure the end bracket on the mounting rail.

The input/output module is added.

© KEBA 2021
5.7.3 Removing input/output modules

To remove input/output modules, proceed as follows:
3) Release the lock on the right side of the module from which the input/
output module is to be removed by pushing up.
Fig. 5-12: Releasing the lock
4) Slide the input/output module to the right until the hooks have disen-
gaged from the recesses of the module to the left.

© KEBA 2021
Fig. 5-13: Removing input/output modules
5) To dismantle the input/output module from the mounting rail, release the
lock of the mounting rail, see 5.6 Removing the module.
6) Secure the end bracket on the mounting rail.
The input/output module is removed.
5.8 Air conditioning and ventilation

The module housing has ventilation slots for heat dissipation. No external
fan is required if the permissible ambient temperature is observed. Make
sure the ventilation slots are not covered (see the "Space requirement"
chapter).

© KEBA 2021
Caution
High temperatures can destroy the module!
● The module may only be operated in the specified ambient conditions.
● The specified space requirement above and below the module must be
maintained to ensure heat dissipation.
5.8.1 Use of air filters

The DI 570 must be installed in a dust-free, closed control cabinet so that
there is no contamination greater than contamination level 2 (according to
EN 61010-1). The ventilation holes of the control cabinet must be equipped
with air filters. The filter elements must be cleaned or replaced regularly.
Information
Contamination level 2, description according to standard EN 61010-1:
Normally only nonconductive pollution occurs. Occasionally a temporary
conductivity caused by condensation must be expected.

© KEBA 2021
DI 570 Connections and wiring
6 Connections and wiring
6.1 Power supply

Logic and digital inputs are supplied by the K-Bus.
WARNING!
Danger of personal injury due to electric shock!
● Supply the device exclusively from power sources that have a safety ex-
tralow voltage or protective low voltage (e.g. SELV or PELV according to
EN 61131-2).
● When using a SELV power source it can become PELV due to the archi-
tecture of the module and the connectors (grounding!).
● Protective low voltage circuits must always be installed safely insulated
separated from circuits with dangerous voltage.
CAUTION!
Fire hazard during module failure!
External line fuse with maximum 10 A must be connected upstream in the fi-
nal application.
6.2 EMC and wiring guidelines

Pay attention from the outset to careful wiring and shielding according to the
given guidelines.
Further information: See system manual.
6.3 Digital inputs

For the processing of external digital signals, 19 digital inputs are available.
They share a common ground potential.

© KEBA 2021
Connections and wiring DI 570
6.3.1 Connection example
Fig. 6-14: Connection example for digital inputs
Information
● The reference potential for the digital inputs is the 0 V terminal located
on the front side.
● For operation of the digital inputs, the 0 V terminal must be connected
on the front side.
6.3.2 Connection diagram
Fig. 6-15: Connection diagram
1 ... Logic

© KEBA 2021
DI 570 Connections and wiring
6.4 Velocity inputs

The digital inputs I00 and I01 can also be used as velocity inputs. The usage
can be set in the configuration tool.
A velocity input represents the time distance between two rising pulse edges
of the respective digital inputs. This distance, also called period, is deter-
mined by a hardware counter with a specified counting frequency that is con-
verted into a time value.
It is also determined whether a new value has become available since the
last inquiry (if the distance between the pulses gets too large a new value
can not be available).
This information is transmitted to the application for appropriate evaluation
(e.g. determination of velocity or rotational speed, reaction on certain results
as stillstand of the transducer).
6.4.1 Connection example
Velocity inputs
Fig. 6-16: Connection example velocity inputs

© KEBA 2021
Connections and wiring DI 570
6.4.2 Connection diagram
Fig. 6-17: Connection diagram
1 ... Logic

© KEBA 2021
DI 570 Configuration
7 Configuration
A KEBA automation system requires data for the configuration of the system
behavior, its input and output devices and the interfaces. This data is read
out during startup and transmitted to the components and devices to be con-
figured.
We suggest using the project planning and configuration tool KeStudio to
configure the DI 570.
7.1 EtherCAT configuration

An EtherCAT network can be configured using a configuration tool. This in-
cludes the definition of the network topology and specification of the parame-
ters for the network participants (EtherCAT Master and EtherCAT Slave).
The KeStudio configuration tool uses device description files (either in terms
of a DeviceDescription or in terms of an ESI file (EtherCAT Slave Information
file)) of the EtherCAT slaves, which provide correct interaction between the
devices and full access to the respective functionality. The description files
are stored in a library that can be expanded and updated. The EtherCAT de-
vice description files are provided by KEBA on request.
7.1.1 Address settings (explicit device identification)

A module address is set to ensure the unique identification of the EtherCAT
slave by the EtherCAT master in the system. It is also used to connect slave
modules to form a HotConnect group. The group can be defined in the con-
figuration tool as long as the HotConnect group configuration tool is sup-
ported.
There is the possibility to assign a unique adress to the EtherCAT slave
modules with the EtherCAT station alias.
The adress used for the identification must be set in the configuration tool
and transmitted to the module.
EtherCAT Station Alias

The EtherCAT station alias is set in the configuration tool and entered in the
module EEPROM (slave information interface) via a download

© KEBA 2021
Operating behavior DI 570
8 Operating behavior
8.1 Operating statuses

The DI 570 has various operating states. The current operating state is dis-
played via the RUN-LED (see 4.1 Module status LEDs).
State Description
Following activation, the EtherCAT slave is in the INIT state.
INIT
Mailbox and process data communication are not possible.
In the PRE-OPERATIONAL state, mailbox communication
(CoE) is possible but no process data communication. Further-
PRE-OPERATIONAL more, the settings for the process data and, if necessary, mod-
ule-specific parameters that deviate from the default settings
are transmitted in this state.
Mailbox and process data communication are possible in the
SAFE-OPERATIONAL state, although the EtherCAT slave
SAFE-OPERATIONAL
maintains its outputs in a defined state (OFF state). The input
data are updated cyclically.
Before the EtherCAT master switches the EtherCAT slave from
the SAFE-OPERATIONAL state to the OPERATIONAL state, it
must already be transmitting valid output data. In the OPERA-
OPERATIONAL
TIONAL state, the slave also transmits the output data of the
master to its outputs. Process data and mailbox communication
are possible.
8.2 Watchdog
Serious error states during ongoing operation are recorded by a watchdog.
Onboard CPU watchdog

The DI 570 has a watchdog to monitor the onboard CPU. The CPU is reset
in the event of a watchdog timeout.
8.3 Response in the event of module errors

If a module error occurs, a changeover to a lower operating state is imple-
mented. The RUN-LED indicates which operating state has been selected.
The INFO-LED indicates the error using the corresponding flashing code.
Once the module error has been removed the system must be reinitialized
(restart).
8.4 Debouncing
The debouncing of the digital inputs can be activated or deactivated via the
object. DI Despike Time, whereby it is deactivated by default. The input
signal is sampled cyclically and the duration of the input signal is determined

© KEBA 2021
DI 570 Operating behavior
by this sampling. An input signal, whose determined application time is

shorter than the debounce time, is suppressed and therefore does not lead
to a change of the DI input value.
The following table indicates the minimum time the input signal must be
present for the new value to be accepted by the system. The minimum sig-
nal duration depends on the set debounce time, where n = 1, 2, ...
Cycle time Debounce time Min. signal duration
(n+1) * cycle time
≤ 1 ms n * Zykluszeit
Minimum: 250 µs
> 1 ms n * 1 ms (n+1) * 1 ms
All signals at the input that are shorter than the debouncing time plus sam-
pling interval are filtered out.

© KEBA 2021
Diagnosis DI 570
9 Diagnosis
9.1 Error codes

The following table shows the messages that are sent via the EtherCAT
emergency service in the event of an error.
Error code (hex) Description
SyncManager Error: Invalid process data SyncManager configura-
tion.
0xA000
The EtherCAT slave state changes depending on whether the output
or input data of the Sync Manager is configured incorrectly.
Transmit buffer (TX) overflow:
0x5011 An error message is issued. The EtherCAT slave remains in the OP-
ERATIONAL state.
Receive buffer (RX) overflow:
0x5010 An error message is issued. The EtherCAT slave remains in the OP-
ERATIONAL state.
Internal hardware error: Module can no longer be addressed.
0x500F A power cycle is required to reinitialize the module. The error mes-
sage is issued following the reinitialization in the PRE-OPERA-
TIONAL state.
Hardware (watchdog) error: Reset CPU, switch to INIT.
0x500D The EtherCAT master must reinitialize the module. The error mes-
sage is issued during the next changeover following the PRE-OPER-
ATIONAL state.
9.2 AL status codes

AL status codes are reported by the slave in accordance with the EtherCAT
specification.
AL status code Description according to specification
0x0000 No error
0x0001 Unspecified error
0x0002 No memory
0x0003 Invalid device setup
0x0006 SII/EEPROM information does not match firmware
0x0007 Firmware update not successful. Old firmware still running
0x000E License error
0x0011 Invalid requested state change
0x0012 Unknown requested state
0x0013 Bootstrap not supported
0x0014 No valid firmware

© KEBA 2021
DI 570 Diagnosis

0x0015 Invalid mailbox configuration
0x0016 Invalid mailbox configuration
0x0017 Invalid sync manager configuration
0x0018 No valid inputs available
0x0019 No valid outputs available
0x001A Synchronization error
0x001B Sync manager watchdog
0x001C Invalid sync manager types
0x001D Invalid output configuration
0x001E Invalid output configuration
0x001F Invalid watchdog configuration
0x0020 Slave needs cold start
0x0021 Slave needs INIT
0x0022 Slave needs PREOP
0x0023 Slave needs SAFEOP
0x0024 Invalid input mapping
0x0025 Invalid output mapping
0x0026 Inconsistent settings
0x0027 Freerun not supported
0x0028 Synchronization not supported
0x0029 Freerun needs 3 buffer mode
0x002A Background watchdog
0x002B No valid inputs and outputs
0x002C Fatal sync error
0x002D No sync error
0x002E Cycle time too small
0x0030 Invalid DC SYNC configuration
0x0031 Invalid DC latch configuration
0x0032 PLL error
0x0033 DC sync IO error
0x0034 DC sync timeout error
0x0035 DC invalid sync cycle time
0x0036 DC Sync0 cycle time
0x0037 DC Sync1 cycle time
0x0041 MBX_AOE
0x0042 MBX_EOE
0x0043 MBX_COE
0x0044 MBX_FOE
0x0045 MBX_SOE

© KEBA 2021
Diagnosis DI 570

0x004F MBX_VOE
0x0050 EEPROM no access
0x0051 EEPROM error
0x0052 External hardware not ready
0x0060 Slave restarted locally
0x0061 Device identification value updated
0x0070 Detected module ident list does not match
0x00F0 Application controller available
9.3 FoE error codes

The FoE error codes are reported according to the EtherCAT specification.
Error code (hex) Description according to specification
0x8000 Not defined
The file requested by an FoE upload service could not be found on
0x8001
the server.
Read or write access to this file not allowed (e.g. due to local con-
0x8002
trol).
0x8003 Disk to store file is full or memory allocation exceeded.
0x8004 Illegal FoE operation, e.g. service identifier invalid.
0x8005 FoE packet number invalid.
0x8006 The file which is requested to be downloaded does already exist.
0x8007 No user.
0x8008 FoE only supported in Bootstrap.
0x8009 This file may not be accessed in BOOTSTRAP state.
0x800A Password invalid.
Generic programming error. Should only be returned if error reason
0x800B
cannot be distinguished.
0x800C A checksum included in the file is invalid.
0x800D The hardware does not support the downloaded firmware.
0x800F Do not use (identical with 0x8001).
0x8010 Missing file header of error in file header.
0x8011 Flash cannot be accessed.

© KEBA 2021
DI 570 Maintenance
10 Maintenance
This chapter contains information on executing maintenance activities.
10.1 Firmware update

There is the option of executing a firmware update for the DI 570. A new ver-
sion may be made available by KEBA.
Further information: See system manual.
Caution
Interrupting the voltage supply during the firmware update can render the DI
570 unusable (it will then be necessary to send the module in to KEBA).

© KEBA 2021
Disposal DI 570
11 Disposal
11.1 Disposal of the module
Caution
Please observe the regulations regarding disposal of electric appliances and
electronic devices!
Electrical and electronic devices including their accessories must be dis-

posed properly. The materials are recyclable in accordance with their label-
ing. You can make an important contribution to protecting our environment
by reusing, renewing and recycling materials and old appliances.

© KEBA 2021
DI 570 Technical data
12 Technical data
12.1 General
Overvoltage category: II
Protection class: III as per EN 61010-2-201:2013
12.2 Power supply

Power Supply:
● From KeBus: 5 V DC
● From KeBus: 24 V DC
Power consumption KeBus 5 V: Max. 0.9 W
Power consumption KeBus 24 V: Max. 0.4 W
Supply connection terminals: Open terminals, grid dimensions 3.81 mm
12.3 Environmental conditions

Operating temperature: 0 °C to +55 °C
Storage temperature: -40 °C to +70 °C
Relative air humidity: 10 % to 95 % (non-condensing)
Vibration resistance: In accordance with EN 61131-2:2007
Shock resistance: In accordance with EN 61131-2:2007
Operating height: Max. 2,000 m
12.4 Digital inputs

Quantity: 19
Data
Input type: Type 1 (according to EN 61131-2:2007)
Voltage range for HIGH: 15 V ≤ UH ≤ 30 V
Voltage range for LOW: -3 V ≤ UL ≤ 5 V
Status display: Green LED
Galvanic isolation toward the control elec-
No
tronics:
Galvanic isolation of the input groups: No
Cycle time (processing time): 250 µs
Debouncing: Configurable (via software)
Filter: Digital inputs: 500 Hz
Wiring: Sink

© KEBA 2021
Technical data DI 570
12.5 Velocity inputs

Quantity: 2 (I00, I01) of the digital inputs
Data
Signal input frequency: Min. 0.5 Hz
Signal input frequency: Max. 100 Hz
Counter resolution: 16 Bit (LSB 50 µs)
12.6 Interfaces
KeBus
System bus (Module bus) KeBus (EtherCAT) pluged-in laterally
12.7 Dimensions, weight
Fig. 12-18: Dimensions
Height:
● With lock (H1): 108.6 mm
● Without lock (H2): 106 mm
Width:
● With connector socket (W1): 18.8 mm
● Without connector socket (W2): 13.8 mm
Depth:
● Total depth (D1): 82.5 mm
● Connecting height (D2): 77.5 mm
Weight: 70 g

© KEBA 2021
DI 570 Directives, standards and regulations
13 Directives, standards and regulations
13.1 EU Directives
2014/30/EU EMC Directive
2011/65/EU RoHS Directive
13.2 Standards for checking the conformity

The following legally non-binding European standards were applied to
checking conformity with the directives.
Check of the conformity with the EMC Directive

Programmable controllers - Part 2: Equip-
EN 61131-2:2007
ment requirements and tests
Electromagnetic compatibility (EMC) - Part
EN IEC 61000-6-2:2019 6-2: Generic standards - Immunity standard
for industrial environments
Electromagnetic compatibility (EMC) - Part
EN IEC 61000-6-4:2019 6-4: Generic standards - Emission standard
for industrial environments
Check of the conformity with the RoHS Directive

Technical documentation for the assessment
of electrical and electronic products with re-
EN IEC 63000:2018
spect to the restriction of hazardous sub-
stances
13.3 Other standards

In addition, the following legally non-binding European standards were con-
sulted in partial aspects during the development of the safety concept.
General procedure and safety principles

Programmable controllers - Part 1: General
EN 61131-1:2003
information
Information
This product is designed for use in industrial environments and may cause
radio interference in residential areas.

© KEBA 2021
Directives, standards and regulations DI 570
Environmental conditions
EN 61131-2:2007
Electrical safety and fire protection

EN 61131-2:2007
Safety requirements for electrical equipment
EN 61010-1:2010 for measurement, control, and laboratory use
- Part 1: General requirements
Safety requirements for electrical equipment
for measurement, control, and laboratory use
EN IEC 61010-2-201:2018
- Part 2-201: Particular requirements for con-
trol equipment
13.4 Regulations
Regulation (EG) No. 1907/2006 REACH EU chemicals regulation
Information
Information obligation from REACH regulation
To meet the information obligation according to article 33 of REACH regula-
tion, detailed information to substances / SVHC are provided on our home-
page. You can download the document directly from www.keba.com → Lo-
gin (under "Regulations") using your login data.
13.5 Standards for the American market

For the American market, the following standards were taken into account.
UL test for industrial control equipment

STANDARD FOR SAFETY
Electrical Equipment For Measurement, Con-
UL 61010-1, 3rd Edition
trol, and Laboratory Use; Part 1: General Re-
quirements
STANDARD FOR SAFETY
Requirements for Electrical Equipment for
UL 61010-2-201, 1st Edition Measurement, Control, and Laboratory Use -
Part 2-201: Particular Requirements for Con-
trol Equipment

© KEBA 2021
DI 570 EU Declaration of conformity
14 EU Declaration of conformity
The declaration of conformity of this product is available on request from
KEBA.

© KEBA 2021
UKCA DI 570
15 UKCA
UKCA (UK Conformity Assessed) is the UK product marking required for cer-
tain products placed on the market in the UK (England, Wales and Scot-
land).
Authorised representative is:
KEBA Ltd.
Aston Court
Frederick Place
Kingsmead Business Park
High Wycombe
HP11 1JU
UK
Authorised person to compile the technical file is Ian Hanton, KEBA Ltd.
15.1 Directives, Standards and Regulations

The table below provides a mapping of the EU Directives met to the applica-
ble Directives in the UK.
EU UK
Supply of Machinery (Safety) Regulations
2006/42/EC - Machinery
2008
Electromagnetic Compatibility Regulations
2014/30/EU - Electromagnetic Compatibility
2016
2011/65/EU - Restriction of Hazardous Sub- The Restriction of the Use of Certain Haz-
stances in Electrical and Electronic Equip- ardous Substances in Electrical and Elec-
ment tronic Equipment Regulations 2012
15.2 UKCA Declaration of Conformity

The declaration of conformity of this product is available on request from
KEBA.

© KEBA 2021
DI 570 Appendix: Object descriptions
16 Appendix: Object descriptions

This chapter contains detailed information about the individual objects for the
data transmission via EtherCAT fieldbus. Beginning with a legend of the
most important concepts, first of all a rough overview of the object directory
is provided and then a detailed consideration of the most important areas.
Legend
Index: 16 bit entry
Sub-Index: 8 bit entry
Access via SDO transfer. The following at-
tributes are possible:
Attribute: ● ro ... read only
● rw ... read/write
● const ... constant
Size of the used datatypes
Data type Size

BOOL 1 bit
BIT 1 bit
BYTE 1 byte
UINT8 1 byte
UINT16 2 byte
INT16 2 byte
UINT32 4 byte
UINT64 8 byte
SINT32 4 byte
STRING(x) x ASCII symbols, not 0 terminated
ARRAY[0...x] OF BYTE x + 1 byte
ARRAY[0...x] OF UINT8 x + 1 byte
Coarse arrangement of the object dictionary
Index Description
0x1000 - 0x1FFF Communication area
0x6000 - 0x6FFF Input data area
0x8000 - 0x8FFF Configuration area
0xF100 - 0xF1FF State area
0xF900 - 0xF9FF Information area

© KEBA 2021
Appendix: Object descriptions DI 570
16.1 Overview
The folllowing table gives an overview of the most important objects of the
object dictionary of the DI 570. A detailed description of the individual ob-
jects follows in the subsequent chapters.
Communication
Index Designation Data type Description

0x1000 Device Type UINT32 Type of the device
Error register of the
0x1001 Error Register UINT8
device
0x1008 Device Name STRING Name of the device
Hardware version of
0x1009 Hardware Version STRING
the device
Software version of t
0x100A Software Version STRING
he device
0x1018 Identity - Identity
Properties for behav-
0x10F1 Error Settings -
ior case of errors
List of the last "n" di-
0x10F3 Diagnosis History -
agnosis messages
Communication type
Sync Manager Com-
0x1C00 - of the Sync Man-
munication Type
agers
Sync Manager 3 Assignment of Sync
0x1C13 -
PDO Assignment Manager 3 PDO
Sync Manager 3 Syn- Synchronization of
0x1C33 -
chronization Sync Manager 3
Inputs

0x6080 - 0x60FF DI - Digital inputs
Configuration

Configuration of the
0x8080 - 0x80FF DI Config -
digital inputs
State area

0xF000 Modular Device Profile - Modular device profile
0xF120 Version Information - Version information
0xF130 Custom Identifier UINT32 Module specific product code
0xF140 Diagnosis Settings - Settings for the diagnosis
0xF141 Timing - Time statistics
0xF142 CoRout Statistic - Co Routine statistics

© KEBA 2021

0xF143 Error Report - Error message (persistent)
Information about severity of the
0xF144 Hard Fault Information -
programm error (persistent)
Information area

0xF901 Type Plate - Type plate
16.2 Communication area

The communication area contains objects for identification of the DI 570, as
well as objects for configuration of the process data. It conforms to the
EtherCAT standard.
16.2.1 0x1000 Device Type

Sub
Index Designation Type Attr.
index
0x1000 0x00 Device Type UINT32 ro
16.2.2 0x1001 Error Register

Sub
index
0x1001 0x00 Error Register UINT8 ro
16.2.3 0x1008 Device Name

Sub
index
0x1008 0x00 Device Name STRING(31) ro
16.2.4 0x1009 Hardware Version

Sub
index
0x1009 0x00 Hardware Version STRING(31) ro
16.2.5 0x100A Software Version

Sub
index
0x100A 0x00 Software Version STRING(31) ro

© KEBA 2021
16.2.6 0x1018 Identity

Sub
index
0x1018 - Identity - -
- 0x01 Vendor ID UINT32 ro
- 0x02 Product Code UINT32 ro
- 0x03 Revision Number UINT32 ro
- 0x04 Serial Number UINT32 ro
16.2.7 0x10F1 Error Settings

Sub
index
0x10F1 - Error Settings - -
- 0x01 Local Error Reaction UINT32 rw
- 0x02 Sync Error Counter Limit UINT16 rw
16.2.8 0x10F3 Diagnosis History

Sub
index
0x10F3 - Diagnosis History - -
- 0x01 Maximum Messages UINT8 ro
- 0x02 Newest Message UINT8 ro
- 0x03 Newest Acknowledged Message UINT8 rw
- 0x04 New Message Available BOOL ro
- 0x05 Flags UINT16 rw
ARRAY [0..15]
- 0x06 Message 1 ro
OF BYTE
ARRAY [0..15]
- 0x07 Message 2 ro
OF BYTE
ARRAY [0..15]
- 0x08 Message 3 ro
OF BYTE
- ... ... ... ...
ARRAY [0..15]
- 0x15 Message 16 ro
OF BYTE
Diagnosis History Message [x] entry

● Byte 0 to 3: DiagCode (Typ = UINT32)
Diagnosis code to identify the diagnosis message
● Byte 4 to 5: Flags (Typ = UINT16)
● Bit 0 to 3: DiagType (0 = Information, 1 = Warning, 2 = Error, 3 = Reserved)
● Bit 4: Local TimeStamp

© KEBA 2021
● Bit 5 to 7: Reserved
● Bit 8 to 15: Number of parameters in this diagnosis message
● Byte 6 to 7: Text ID (Typ = UINT16)
Text ID reference to the Diagnosis text defined in the ESI
● 0: No text reference
● 1 to 65,535: Reference to the Text ID in the ESI file
● Byte 8 to 15: TimeStamp (Typ = UINT64)
DC Timestamp or 0 if no timestamp is available
● Byte 16 to 17: Flags Parameter 1 (Typ = UINT16)
● Bit 12 to 15 = 0: Std Type
● Bit 0 to 11: DataType (1 = BOOL, 2 = INT8, 3 = INT16, 4 = INT32, 5 = UINT8, 6 =
UINT16, 7 = UINT32)
● Bit 12 to 15 = 1: Byte Array
● Bit 0 to 11: Size of Byte Array
● Bit 12 to 15 = 2: Ascii String
● Bit 0 to 11: Size of Ascii String
● Bit 12 to 15 = 3: Unicode String
● Bit 0 to 11: Size of String in Byte
● Bit 12 to 15 = 4: Text ID
● Bit 0 to 11: Size of Text ID
● Bit 12 to 15 = 5: Reserved
● Bit 0 to 11: DataType
● Byte 18 to 18+(x-1) : Parameter 1 (Typ = X)
Size depends on Data type (see Flags Parameter 1)
● Byte 18+x bis 19+x : Flags Parameter 2 (Typ = UINT16)
See Flags Parameter 1
● Byte 20+x bis 20+x+(y-1): Parameter 2 (Typ = Y)
Size depends on Data type (see Flags Parameter 1)
16.2.9 0x1C00 Sync Manager Communication Type

Sub
index
0x1C00 - Sync Manager Communication Type - -
- 0x01 Communication Type Sync Manager 0 UINT8 ro
Communication Type Sync Manager 0

● 0: Not used
● 1: Mailbox Write (Master View)
● 2: Mailbox Read (Master View)

© KEBA 2021
● 3: Process Data Output (Master View)

● 4: Process Data Input (Master View)
16.2.10 0x1C13 Sync Manager 3 PDO Assignment

Sub
index
0x1C13 - - - -
PDO Mapping Object Index of assigned
- 0x01+n UINT16 rw
PDO
16.2.11 0x1C33 Sync Manager 3 Synchronization

Sub
index
0x1C33 - SM3 Synchronization - -
- 0x01 Synchronization Type UINT16 rw
- 0x02 Cycle Time [ns] UINT32 ro
- 0x04 Synchronization Types Supported UINT16 ro
- 0x05 Minimum Cycle Time [ns] UINT32 ro
- 0x06 Calc And Copy Time [ns] UINT32 ro
- 0x09 Delay Time [ns] UINT32 ro
- 0x0A Sync0 Cycle Time [ns] UINT32 rw
- 0x0B SM-Event Missed counter UINT16 ro
- 0x0C Cycle Time Too Small UINT16 ro
- 0x0D Shift Time Too Short UINT16 ro
- 0x0E Sync Error BIT ro
Synchronization Type
● 0x00: Free Run
● 0x01: SM Synchronous
● 0x02: DC Sync0
● 0x03: DC Sync1
Cycle Time
Unit: [ns]
Minimum Cycle Time

Unit: [ns]
Calc And Copy Time

Unit: [ns]

© KEBA 2021
Delay Time
Unit: [ns]
Sync0 Cycle Time

Unit: [ns]
16.3 Input data area

The input data area contains objects that refers to the individual inputs of the
module. The variable "n" represents the amount of inputs - 1 of the individual
objects.
16.3.1 0x6080 - 0x60FF DI

Sub
index
0x6080 +
- DI[0...n] - -
[0 ... n]
- 0x01 DI[0...n] Value BIT ro
- 0x02 VI[0...n] Period Ready BIT ro
- 0x03 Reserved - -
- 0x04 VI[0...n] Period UINT32 ro
- 0x05 Reserved - -
- 0x06 Reserved - -
... ... ... ... ...
- 0x0E Reserved - -
VI[0...n] Period
Unit: [µs]; PDO mapping is possible.
16.4 Configuration area

The configuration area contains the configuration parameters. The variable
"n" represents the amount of inputs or outputs - 1 for the individual objects.
16.4.1 0x8080 - 0x80FF DI Config

Sub
index
0x8080 +
- DI[0...n] Config - -
[0 ... n]
- 0x01 DI[0...n] Despike Time UINT32 rw
- 0x02 DI[0...n] Activate VI BIT rw

© KEBA 2021
Sub
index
- 0x03 Reserved - -
- 0x04 Reserved - -
... ... ... ... ...
- 0x0C Reserved - -
- 0x0D Reserved - -
DI[0...n] Despike Time

Unit: [µs]
● 0 - cycle time: No despiking
● Cycle time - 1000 ms: Despiking
The entered value is rounded down to a multiple of the cycle time.
DI[0...n] Activate VI
Only available for DI0 and DI1.
● 0: VI period measurement deactivated
● 1: VI period measurement activated
16.5 State area

The state area contains all objects that refers to the module itself.
16.5.1 0xF000 Modular Device Profile

Sub
index
0xF000 - Modular Device Profile - -
- 0x01 Index Distance UINT16 ro
- 0x02 Maximum Number Of Modules UINT16 ro
Index Distance
Index distance between two modules (maximum number of objects per mod-
ule and area)
16.5.2 0xF120 Version Information

Sub
index
0xF120 - Version Information - -
- 0x01 Bootloader Version STRING(32) ro

© KEBA 2021
Sub
index
- 0x02 Firmware Version STRING(32) ro
- 0x03 FPGA Version STRING(32) ro
- 0x04 ESC EEPROM Version STRING(32) ro
- 0x05 CPLD Version STRING(32) ro
16.5.3 0xF130 Custom Identifier

Sub
index
0xF130 - Custom Identifier - -
- 0x00 Custom Identifier UINT32 rw
The Custom Identifier is used to identify a customer variant in a module.
16.5.4 0xF140 Diagnosis Settings

Sub
index
0xF140 - Diagnosis Settings - -
- 0x01 Start Timing BIT rw
- 0x02 Start Trace BIT rw
- 0x03 Start Indication BIT rw
16.5.5 0xF141 Timing

Sub
index
0xF141 - Timing - -
- 0x01 PDI Offset To SYNC0 Hw Int Minimum UINT32 ro
- 0x02 PDI Offset To SYNC0 Hw Int Maximum UINT32 ro
- 0x03 PDI Offset To SYNC0 Hw Int Average UINT32 ro
- 0x04 PDI Offset To SYNC0 Hw Int Jitter UINT32 ro
- 0x05 PDI Update Time Minimum UINT32 ro
- 0x06 PDI Update Time Maximum UINT32 ro
- 0x07 PDI Update Time Average UINT32 ro
- 0x08 PDI Update Time Jitter UINT32 ro
- 0x09 SYNC0 Offset To SYNC0 Hw Int Minimum UINT32 ro
- 0x0A SYNC0 Offset To SYNC0 Hw Int Maximum UINT32 ro
- 0x0B SYNC0 Offset To SYNC0 Hw Int Average UINT32 ro
- 0x0C SYNC0 Offset To SYNC0 Hw Int Jitter UINT32 ro
- 0x0D SYNC0 Update Time Minimum UINT32 ro

© KEBA 2021
Sub
index
- 0x0E SYNC0 Update Time Maximum UINT32 ro
- 0x0F SYNC0 Update Time Average UINT32 ro
- 0x10 SYNC0 Update Time Jitter UINT32 ro
- 0x11 SYNC1 Offset To SYNC0 Hw Int Minimum UINT32 ro
- 0x12 SYNC1 Offset To SYNC0 Hw Int Maximum UINT32 ro
- 0x13 SYNC1 Offset To SYNC0 Hw Int Average UINT32 ro
- 0x14 SYNC1 Offset To SYNC0 Hw Int Jitter UINT32 ro
- 0x15 SYNC1 Update Time Minimum UINT32 ro
- 0x16 SYNC1 Update Time Maximum UINT32 ro
- 0x17 SYNC1 Update Time Average UINT32 ro
- 0x18 SYNC1 Update Time Jitter UINT32 ro
Unit: [μs]
16.5.6 0xF142 CoRout Statistic

Sub
index
0xF142 - CoRout Statistic - -
ARRAY [0..35]
- 0x01 CoRout 1 ro
OF UINT8
ARRAY [0..35]
- 0x02 CoRout 2 ro
OF UINT8
- ... ... ... ...
ARRAY [0..35]
- 0x06 CoRout 6 ro
OF UINT8
CoRout [x]
● Byte 0 - 11: Name (Typ = CHAR[12])
Name of the CoRoutine
● Byte 12 - 15: freeStack (Typ = UINT32)
Free bytes of stack
● Byte 16 - 19: lastSwitchTs (Typ = UINT32)
Timestamp of last switch away from CoRout [µs]
● Byte 20 - 23: runtime (Typ = UINT32)
Run time of this CoRout [one tenth of a percent]
● Byte 24 - 27: maxRunTime (Typ = UINT32)
Maximum run time of this CoRout [us]
● Byte 28 - 31: maxWaitTime (Typ = UINT32)

© KEBA 2021
Maximum time between each call [us]

● Byte 32 - 35: runTimeViolCnt (Typ = UINT32)
Number of times max execution time exceeded
Example for the content of CoRout [x]:
45 74 68 65 72 43 41 54 00 00 00 00 48 01 00 00
9B 48 13 0F 24 03 00 00 14 06 00 00 4A 03 00 00
00 00 00 00
16.5.7 0xF143 Error Report

Sub
index
0xF143 - Error Report - -
ARRAY [0..9] OF
- 0x01 Message 1 ro
UINT8
ARRAY [0..9] OF
- 0x02 Message 2 ro
UINT8
- ... ... ... ...
ARRAY [0..9] OF
- 0x10 Message 16 ro
UINT8
Message [x]
● Byte 0 - 3: RuntimeCounter (Typ = UINT32)
RunTime counter [h] operating hours
● Byte 4 - 5: Eventtype (Typ = UINT16)
● 1: Warning
● 2: Error
● 3: Fatal
● 4: Assert
● Byte 6 - 7: ComponentNumber (Typ = UINT16)
0 (fixed)
● Byte 8 - 9: ErrorNumber (Typ = UINT16)
0 not allowed
16.5.8 0xF144 Hard Fault Information

Sub
index
0xF144 - Hard Fault Information - -
- 0x01 Program Counter UINT32 ro
- 0x02 Link Register UINT32 ro
- 0x03 CoRout Name STRING(12) ro

© KEBA 2021
16.6 Information area
16.6.1 0xF901 Type Plate

Sub
index
0xF901 - Type Plate - -
- 0x01 Name STRING(20) ro
- 0x02 Version UINT8 ro
- 0x03 Hardware Revision UINT8 ro
- 0x04 Function Variant UINT8 ro
- 0x05 Reserved UINT8 ro
- 0x06 Print Number UINT32 ro
- 0x07 Serial Number UINT32 ro
- 0x08 Order Number UINT32 ro
- 0x09 Device Number UINT32 ro
- 0x0A Initiation Time UINT32 ro
- 0x0B Runtime UINT32 ro

© KEBA 2021
DI 570 Index
Index
A D
Accessories DataMatrix code
Socket plug ......................................... 17 Position ............................................... 14
Add Digital inputs
General ............................................... 24 Connection diagram...................... 32, 34
Input/output modules .......................... 24 Connection example ........................... 32
Ambient conditions Debouncing......................................... 36
Air conditioning ................................... 29 LEDs ................................................... 19
Space requirement ............................. 21 Position ............................................... 14
Technical data .................................... 43 Technical data .................................... 43
Ventilation ........................................... 29 Dimensions, weight
Appending Technical data .................................... 44
General information ............................ 20 Dismantling.............................................. 23
C E
Codes Error
AL status codes .................................. 38 Response............................................ 36
Data matrix code................................. 15 Error case
Erroc codes......................................... 38 AL status codes .................................. 38
FoE error codes .................................. 40 Erroc codes......................................... 38
Connection diagram FoE error codes .................................. 40
Digital inputs ................................. 32, 34 EtherCAT
Connection example AL status codes .................................. 38
Digital inputs ....................................... 32 FoE error codes .................................. 40
Velocity inputs..................................... 33 LEDs ................................................... 18
Cooling .................................................... 21 Operating states ................................. 36
EtherCAT station alias
Configuration ...................................... 35
Explicit device identification..................... 35
G
General technical data ............................ 43

© KEBA 2021
Index DI 570
H M
Heat dissipation ....................................... 21 Module address ....................................... 24
Hook Module bus .............................................. 44
Adding input/output modules .............. 24 Module status LEDs
Removing input/output modules ......... 28 INFO-LED ........................................... 18
Position ............................................... 14
I
RUN-LED ............................................ 18
Input/output modules
Module supply ......................................... 31
Add ..................................................... 24
Mounting rail locking................................ 15
Remove .............................................. 28
Installation R
Add ..................................................... 24 Reference potential
General information ............................ 20 Position ............................................... 14
Space requirement ............................. 21 Removing ................................................ 23
Interfaces Input/output modules .......................... 28
Technical data .................................... 44
S
K Serial number
KeBus ................................................ 15, 44 Position ............................................... 14
Signal indication
L
LEDs ................................................... 18
LEDs
Signal indication LEDs
Digital inputs ....................................... 19
Digital inputs ....................................... 18
Module status LEDs............................ 18
Socket plug
RUN LED ............................................ 18
4-pole .................................................. 17
Signal indication LEDs........................ 18
Symbols printing ...................................... 15
Lock
System bus interface
Release......................................... 24, 28
Technical data .................................... 44
Secure ................................................ 26
Lock of the input/output module .............. 15 T
Type plate................................................ 15
U
Update
Firmware ............................................. 41

© KEBA 2021
DI 570 Index
V Voltage supply
Velocity inputs Technical data .................................... 43
Connection example ........................... 33
Technical data .................................... 44 W
Wiring
Ventilation slots ....................................... 21
Guidelines........................................... 31

© KEBA 2021
Index DI 570

© KEBA 2021

DI570 Manual

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Translation of the original instructions

Project engineering manual V1.03 3

4 Project engineering manual V1.03

2 Safety notes ................................................................................................................ 12

3 Description of the module ......................................................................................... 14

4 Displays and operating elements ............................................................................. 18

5 Mounting and installation instructions .................................................................... 20

Project engineering manual V1.03 5

5.8 Air conditioning and ventilation ........................................................................ 29

6 Connections and wiring............................................................................................. 31

8 Operating behavior .................................................................................................... 36

12 Technical data ............................................................................................................ 43

6 Project engineering manual V1.03

13 Directives, standards and regulations ..................................................................... 45

16 Appendix: Object descriptions ................................................................................. 49

Project engineering manual V1.03 7

8 Project engineering manual V1.03

1.1 Purpose of the document

Project engineering manual V1.03 9

Target group Knowledge and skills pre-requirement

1.3 Intended use

1.4 Notes on this document

10 Project engineering manual V1.03

1.4.1 Contents of the document

1.4.2 Not contained in this document

1.5 Documentation for further reading

1.6 EtherCAT declaration

EtherCAT® is registered trademark and

Project engineering manual V1.03 11

12 Project engineering manual V1.03

2.2 General safety instructions

Project engineering manual V1.03 13

3 Description of the module

3.1 Front view

Fig. 3-1: Front side

1 ... Module status LEDs 2 ... Reference potential

14 Project engineering manual V1.03

3.2 Side view

Fig. 3-2: Side view right

1 ... Recesses for locking 2 ... Lock of the input/output module

3.3 DataMatrix code

3.4 Type plate

Project engineering manual V1.03 15

Fig. 3-3: Example type plate

1 ... Manufacturer's address 2 ... Manufacturer

3.5 Symbol printing

16 Project engineering manual V1.03

3.6.1 Socket plug

Project engineering manual V1.03 17

4 Displays and operating elements

4.1 Module status LEDs

4.2 Signal indication LED

18 Project engineering manual V1.03

LED Digital Input

Project engineering manual V1.03 19

5 Mounting and installation instructions

5.1 General instructions on assembly and removal

5.2 Mounting rail