Documentation EPP1xxx - Beckhoff€¦ · Product-specific safety instructions can be found on ......
61
Documentation EPP1xxx EtherCAT P Box Modules with digital inputs 1.1 2019-09-19 Version: Date:
Transcript of Documentation EPP1xxx - Beckhoff€¦ · Product-specific safety instructions can be found on ......
Documentation
EPP1xxx
EtherCAT P Box Modules with digital inputs
1.12019-09-19
Version:Date:
Table of contents
EPP1xxx 3Version: 1.1
Table of contents1 Foreword .................................................................................................................................................... 5
1.1 Notes on the documentation.............................................................................................................. 51.2 Safety instructions ............................................................................................................................. 61.3 Documentation issue status .............................................................................................................. 7
2 Product overview....................................................................................................................................... 82.1 EtherCAT P Box Introduction ............................................................................................................ 82.2 Module overview EPP1xxx ................................................................................................................ 92.3 EPP10xx.......................................................................................................................................... 10
2.3.1 Introduction ...................................................................................................................... 102.3.2 Technical data ................................................................................................................. 122.3.3 Scope of supply ............................................................................................................... 132.3.4 Process image ................................................................................................................. 14
2.4 EPP1258 ......................................................................................................................................... 162.4.1 Introduction ...................................................................................................................... 162.4.2 Technical data ................................................................................................................. 182.4.3 Scope of supply ............................................................................................................... 192.4.4 Process image ................................................................................................................. 20
2.5 EPP18xx.......................................................................................................................................... 222.5.1 Introduction ...................................................................................................................... 222.5.2 Technical data ................................................................................................................. 252.5.3 Status LEDs..................................................................................................................... 272.5.4 Process image ................................................................................................................. 28
3 Mounting and cabling.............................................................................................................................. 323.1 Mounting.......................................................................................................................................... 32
3.1.1 Dimensions ...................................................................................................................... 323.1.2 Mounting .......................................................................................................................... 353.1.3 Connector ........................................................................................................................ 35
3.2 EtherCAT P ..................................................................................................................................... 363.2.1 Connection....................................................................................................................... 363.2.2 Status LEDs..................................................................................................................... 373.2.3 Cabling............................................................................................................................. 383.2.4 Conductor losses ............................................................................................................. 39
3.3 Digital inputs .................................................................................................................................... 403.3.1 M8 sockets....................................................................................................................... 403.3.2 M12 sockets..................................................................................................................... 413.3.3 D-sub sockets, 25-pin ...................................................................................................... 42
3.4 UL Requirements............................................................................................................................. 43
4 Commissioning/Configuration ............................................................................................................... 444.1 Configuration in TwinCAT................................................................................................................ 444.2 Timestamp inputs (EPP1258).......................................................................................................... 454.3 Accelerometers (EPP1816-3008) .................................................................................................... 46
4.3.1 Parameters ...................................................................................................................... 474.4 Undervoltage detection (EPP1816-3008)........................................................................................ 48
Table of contents
EPP1xxx4 Version: 1.1
4.5 EPP1816-0008 - Object description and parameterization ............................................................. 494.6 Restoring the delivery state ............................................................................................................. 544.7 Decommissioning ............................................................................................................................ 55
5 Appendix .................................................................................................................................................. 565.1 General operating conditions........................................................................................................... 565.2 EtherCAT Box- / EtherCAT P Box - Accessories ............................................................................ 575.3 General note on the introduction of the Beckhoff Identification Code (BIC) .................................... 585.4 Support and Service ........................................................................................................................ 60
Foreword
EPP1xxx 5Version: 1.1
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering whoare familiar with the applicable national standards.It is essential that the documentation and the following notes and explanations are followed when installingand commissioning these components.It is the duty of the technical personnel to use the documentation published at the respective time of eachinstallation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all therequirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly underdevelopment.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of thedata, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCAT G®, EtherCAT G10®, EtherCAT P®, Safety over EtherCAT®,TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff AutomationGmbH. Other designations used in this publication may be trademarks whose use by third parties for theirown purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with correspondingapplications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.The reproduction, distribution and utilization of this document as well as the communication of its contents toothers without express authorization are prohibited.Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of apatent, utility model or design.
Foreword
EPP1xxx6 Version: 1.1
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for theapplication. Modifications to hardware or software configurations other than those described in thedocumentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who arefamiliar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used. These instructions must be read carefully and followed without fail!
DANGERSerious risk of injury!Failure to follow this safety instruction directly endangers the life and health of persons.
WARNINGRisk of injury!Failure to follow this safety instruction endangers the life and health of persons.
CAUTIONPersonal injuries!Failure to follow this safety instruction can lead to injuries to persons.
NOTEDamage to environment/equipment or data lossFailure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointerThis symbol indicates information that contributes to better understanding.
Foreword
EPP1xxx 7Version: 1.1
1.3 Documentation issue statusVersion Modifications1.1 Modules added: EPP1004, EPP1008-0022, EPP1111, EPP1258, EPP1518, EPP1809,
EPP18191.0.3 • EtherCAT P - Calculating cable length, voltage and current added
• Cabling updated• Additional checks added
1.0.2 • Signal connection updated1.0.1 • EtherCAT P connection updated1.0.0 • First release0.5 • First preliminary version
Firmware and hardware versions
This documentation refers to the firmware and hardware version that was applicable at the time thedocumentation was written.
The module features are continuously improved and developed further. Modules having earlier productionstatuses cannot have the same properties as modules with the latest status. However, existing propertiesare retained and are not changed, so that older modules can always be replaced with new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed onthe side of the EtherCAT Box.
Syntax of the batch number (D-number)
D: WW YY FF HHWW - week of production (calendar week)YY - year of productionFF - firmware versionHH - hardware version
Example with D no. 29 10 02 01:29 - week of production 2910 - year of production 201002 - firmware version 0201 - hardware version 01
Beckhoff Identification Code (BIC)
The Beckhoff Identification Code contains additional information about the delivery state of the module:General note on the introduction of the Beckhoff Identification Code (BIC) [} 58].
Product overview
EPP1xxx8 Version: 1.1
2 Product overview
2.1 EtherCAT P Box Introduction
EtherCAT P
EtherCAT P supplements the EtherCAT technology with a process in which communication and supplyvoltages are transmitted on a common line. All EtherCAT properties are retained with this process.
Two supply voltages are transmitted per EtherCAT P line. The supply voltages are electrically isolated fromeach other and can therefore be switched individually. The nominal supply voltage for both is 24 VDC.
EtherCAT P uses the same cable structure as EtherCAT, i.e. a four-wire Ethernet cable with M8 connectors.The connectors are mechanically coded so that EtherCAT connectors and EtherCAT P connectors cannotbe interchanged.
EtherCAT P Box modules
EtherCAT P Box modules are EtherCAT P slaves with IP67 protection. They are designed for operation inwet, dirty or dusty industrial environments.
Fig. 1: EtherCAT P
Basic EtherCAT documentationYou will find a detailed description of the EtherCAT system in the Basic System Documentation forEtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.
Product overview
EPP1xxx 9Version: 1.1
2.2 Module overview EPP1xxx
Digital input modules
Module Signal connection Number of inputs
Input filter Special features
EPP1004-0061 [} 10] 4 x M8 4 3.0 ms -
EPP1008-0001 [} 10] 8 x M8 8 3.0 ms -
EPP1008-0002 [} 10] 4 x M12 8 3.0 ms -
EPP1008-0022 [} 10] 8 x M12 8 3.0 ms -
EPP1018-0001 [} 10] 8 x M8 8 10 µs -
EPP1018-0002 [} 10] 4 x M12 8 10 µs -
EPP1258-0001 [} 16] 8 x M8 8 10 µs 1) Two timestamp inputs
EPP1258-0002 [} 16] 4 x M12 8 10 µs 1) Two timestamp inputs
EPP1809-0021 [} 22] 16 x M8 16 3.0 ms -
EPP1809-0022 [} 22] 8 x M12 16 3.0 ms -
EPP1816-0008 [} 22] 1 x D-sub 25 16 10 µs -
EPP1816-3008 [} 22] 1 x D-sub 25 16 10 µs Accelerometers,undervoltage detection
EPP1819-0021 [} 22] 16 x M8 16 10 µs -
EPP1819-0022 [} 22] 8 x M12 16 10 µs -
1) Timestamp inputs have no input filter
Product overview
EPP1xxx10 Version: 1.1
2.3 EPP10xx
2.3.1 Introduction
Fig. 2: EPP1004-0061
Fig. 3: EPP10x8-0001
Product overview
EPP1xxx 11Version: 1.1
Fig. 4: EPP10x8-0002
Fig. 5: EPP1008-0022
EtherCAT P Box modules with digital inputs
The EPP10xx EtherCAT P Box modules log binary control signals from the process level and transfer themelectrically isolated to the controller.
The signal status is indicated by LEDs. M8 connectors (EPP1008-0001, EPP1018-0001) or M12 connectors(EPP1008-0002, EPP1008-0022, EPP1018-0002) are used for the signal connection. These versions haveinput filters of different speeds.
Quick links
Installation [} 32]
Product overview
EPP1xxx12 Version: 1.1
2.3.2 Technical dataAll values are typical values at 25 °C, unless otherwise stated.
Technical data EPP1004-0061 EPP1008-0001 EPP1008-0002 EPP1008-0022 EPP1018-0001 EPP1018-0002Fieldbus Fieldbus EtherCAT Connection EtherCAT P [} 36]: Combined connection for EtherCAT and power supply
Power supply: 1 x M8 socket, shielded, 4-pole, EtherCAT P-codedDownstream connection: 1 x M8 socket, shielded, 4-pole, EtherCAT P-coded
Process image 4 input bits 8 input bitsPower supply Connection See technical data of the fieldbus connection Control voltage US
Nominal voltage 24 VDC (-15 % / +20 %) Sum current 1) max. 3 A Consumers • Module electronics: 100 mA at 24 VDC
• Sensors 2)
Peripheral voltage UP
Nominal voltage 24 VDC (-15 % / +20 %) Sum current 1) max. 3 A Consumers Module electronics: 5 mA at 24 VDC
Inputs Number 4 8 Connection 4 x
M8 socket8 xM8 socket
4 xM12 socket
8 xM12 socket
8 xM8 socket
4 xM12 socket
Characteristics Type 3 according to EN 61131-2, compatible with type 1 Input filter 3.0 ms 10 µs Signal voltage "0" -3 .. +5 V Signal voltage "1" +11 .. +30 V Input current 6 mA at 24 VDC
Sensor supply voltage US1 4)
from the control voltage US,max. 0.5 A in total, short-circuit proof
Environmental conditions Ambient temperature during operation
-25 .. +60 °C
Ambient temperature during storage
-40 .. +85 °C
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27; see also Additional checks [} 13] EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP65, IP66, IP67 (conforms to EN 60529)Mechanics Installation position variableApprovals and conformity Approvals CE, cURus
1) Sum current of consumers and power transmission.2) "Sensors": devices connected to the input connections.3) Supply voltage available at the input connections.
Product overview
EPP1xxx 13Version: 1.1
Additional checks
The boxes have been subjected to the following checks:
Verification ExplanationVibration 10 frequency sweeps in 3 axes
5 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes35 g, 11 ms
2.3.3 Scope of supplyMake sure that the following components are included in the scope of delivery:
EPP1004• 1x EtherCAT P Box EPP1004• 2x protective cap for EtherCAT P socket, M8, red (pre-assembled)• 4x protective cap for M8 socket, black (pre-assembled)• 10x labels, blank (1 strip of 10)
EPP10x8• 1x EtherCAT P Box EPP10x8• 2x protective cap for EtherCAT P socket, M8, red (pre-assembled)• 10x labels, blank (1 strip of 10)
Product overview
EPP1xxx14 Version: 1.1
2.3.4 Process image
2.3.4.1 Assignment of connector contacts to variables
EPP1004
Process image in TwinCAT Connector Contact Input variableX01 4
Channel 1 Input
X02 4 Channel 2
Input
X03 4 Channel 3
Input
X04 4 Channel 4
Input
EPP10x8-0001, EPP1008-0022
Process image in TwinCAT Connector Contact Input variableX01 4
Channel 1 Input
X02 4 Channel 2
InputX03 4
Channel 3 Input
X04 4 Channel 4
InputX05 4
Channel 5 Input
X06 4 Channel 6
InputX07 4
Channel 7 Input
X08 4 Channel 8
Input
Product overview
EPP1xxx 15Version: 1.1
EPP10x8-0002
Process image in TwinCAT Connector Contact Input variableX01 / X02 2
Channel 2 Input
4 Channel 1
InputX03 / X04 2
Channel 4 Input
4 Channel 3
InputX05 / X06 2
Channel 6 Input
4 Channel 5
InputX07 / X08 2
Channel 8 Input
4 Channel 7
Input
Product overview
EPP1xxx16 Version: 1.1
2.4 EPP1258
2.4.1 Introduction
Fig. 6: EPP1258-0001
Fig. 7: EPP1258-0002
Product overview
EPP1xxx 17Version: 1.1
EtherCAT P Box modules with timestamp inputs
The EPP1258 EtherCAT P Box logs fast binary control signals from the process level and transfers themelectrically isolated to the controller. Two input signals are assigned a timestamp that indicates the time ofthe last edge change with a resolution of 1 ns. With this technology, signal characteristics can be tracedexactly in time and correlated with the distributed clocks system-wide. With this technology, machine-wideparallel hardware wiring of digital inputs or encoder signals for synchronization purposes is often no longerrequired. As a result, responses with equidistant time intervals, independent of the bus cycle time, are to alarge extent possible.
Quick links
Installation [} 32]
Timestamp inputs [} 45]
Product overview
EPP1xxx18 Version: 1.1
2.4.2 Technical dataAll values are typical values at 25 °C, unless otherwise stated.
Technical data EPP1258-0001 EPP1258-0002Fieldbus Fieldbus EtherCAT Connection EtherCAT P [} 36]: Combined connection for EtherCAT and power supply
Power supply: 1 x M8 socket, shielded, 4-pole, EtherCAT P-codedDownstream connection: 1 x M8 socket, shielded, 4-pole, EtherCAT P-coded
Distributed Clocks yes Process image 8 input bits
36 bytes timestampPower supply Connection see technical data of the fieldbus connection Control voltage US
Nominal voltage 24 VDC (-15 % / +20 %) Sum current 1) max. 3 A Consumers • Module electronics: 100 mA at 24 VDC
• Sensors 2)
Peripheral voltage UP
Nominal voltage 24 VDC (-15 % / +20 %) Sum current 1) max. 3 A Consumers Module electronics: 5 mA at 24 VDC
Inputs Number 8, of which 2 are timestamp inputs Connection 8 x M8 socket 4 x M12 socket Characteristics Type 3 according to EN 61131-2, compatible with type 1
Timestamp inputs: similar to type 3 according to EN 61131-2, compatible with type 1 Input filter 10 µs
Timestamp inputs: no filter Signal voltage "0" -3 .. +5 V Signal voltage "1" +11 .. +30 V Input current 6 mA at 24 VDC
Timestamp inputs: 3 mA at 24 VDC
Sensor supply voltage 4)
US1, branched off from the control voltage US,max. 0.5 A in total, short-circuit proof
Time stamp function Resolution 1 ns Accuracy Timestamp: 10 ns + input delay
Distributed Clocks: 100 nsEnvironmental conditions Ambient temperature during operation -25 .. +60 °C Ambient temperature during storage -40 .. +85 °C Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27; see also Additional checks [} 19] EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP65, IP66, IP67 (conforms to EN 60529)Mechanics Dimensions 126 x 30 x 26.5 mm without connector Weight approx. 165 g Installation position variableApprovals and conformity Approvals CE, cURus
1) Sum current of consumers and power transmission.2) "Sensors": devices connected to the input connections.3) Supply voltage available at the input connections.
Product overview
EPP1xxx 19Version: 1.1
Additional checks
The boxes have been subjected to the following checks:
Verification ExplanationVibration 10 frequency sweeps in 3 axes
5 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes35 g, 11 ms
2.4.3 Scope of supplyMake sure that the following components are included in the scope of delivery:
• 1x EtherCAT P Box EPP1258• 2x protective cap for EtherCAT P socket, M8, red (pre-assembled)• 10x labels, blank (1 strip of 10)
Product overview
EPP1xxx20 Version: 1.1
2.4.4 Process imageThe Latch process data object contains variables for the evaluation of the timestamp inputs [} 45].
2.4.4.1 Assignment of connector contacts to variables
EPP1258-0001
Process image in TwinCAT Connector Contact Input variableX01 4
Channel 1 Input
Latch Status0 LatchPos0 LatchNeg0
X02 4 Channel 2
Input
Latch Status1 LatchPos1 LatchNeg1
X03 4 Channel 3
InputX04 4
Channel 4 Input
X05 4 Channel 5
InputX06 4
Channel 6 Input
X07 4 Channel 7
InputX08 4
Channel 8 Input
Product overview
EPP1xxx 21Version: 1.1
EPP1258-0002
Process image in TwinCAT Connector Contact Input variableX01 / X02 2
Channel 2 Input
Latch Status1 LatchPos1 LatchNeg1
4 Channel 1
Input
Latch Status0 LatchPos0 LatchNeg0
X03 / X04 2 Channel 4
Input4
Channel 3 Input
X05 / X06 2 Channel 6
Input4
Channel 5 Input
X07 / X08 2 Channel 8
Input4
Channel 7 Input
Product overview
EPP1xxx22 Version: 1.1
2.5 EPP18xx
2.5.1 Introduction
Fig. 8: EPP1816-0008
Fig. 9: EPP1816-3008
Product overview
EPP1xxx 23Version: 1.1
Fig. 10: EP18x9-0021
Fig. 11: EPP18x9-0022
Product overview
EPP1xxx24 Version: 1.1
EtherCAT P Box modules with 16 digital inputs
The EPP18xx EtherCAT P Box logs binary control signals from the process level and transfers themelectrically isolated to the controller. The signal state is indicated by means of LEDs.
The -3008 version has two internal 3-axis accelerometers with adjustable measuring range. Possibleapplications include the recording of vibrations and shocks/oscillations, but inclination measurements in allthree axes are also possible. Undervoltage detection (US and UP) is integrated and is signaled to thecontroller.
Quick links
Installation [} 32]
Accelerometers [} 46] (EPP1816-3008)
Undervoltage detection [} 48] (EPP1816-3008)
Product overview
EPP1xxx 25Version: 1.1
2.5.2 Technical dataAll values are typical values at 25 °C, unless otherwise stated.
Technical data EPP1809-0021 EPP1809-0022 EPP1816-0008 EPP1816-3008 EPP1819-0021 EPP1819-0022Fieldbus Fieldbus EtherCAT Connection EtherCAT P [} 36]: Combined connection for EtherCAT and power supply
Power supply: 1 x M8 socket, shielded, 4-pole, EtherCAT P-codedDownstream connection: 1 x M8 socket, shielded, 4-pole, EtherCAT P-coded
Distributed Clocks - yes -Power supply Connection See technical data of the fieldbus connection Control voltage US
Nominal voltage 24 VDC (-15 % / +20 %) Sum current 1) max. 3 A Consumers • Module electronics: 100 mA at 24 VDC
• Sensors 2)
Undervoltage detection
- yes -
Peripheral voltage UP
Nominal voltage 24 VDC (-15 % / +20 %) Sum current 1) max. 3 A Consumers Module electronics: 5 mA at 24 VDC
Undervoltage detection
- yes -
Inputs Number 16 Connection 16 x M8 socket 8 x M12 socket D-sub socket, 25-pin 16 x M8 socket 8 x M12 socket Characteristics Type 3 according to EN 61131-2, compatible with type 1 Input filter 3.0 ms 10 µs Signal voltage "0" -3 .. +5 V Signal voltage "1" +11 .. +30 V Input current typically 6 mA at 24 VDC
Sensor supply voltage 4)
US1, derived from the control voltage US,max. 0.5 A in total, short-circuit proof
Environmental conditions Ambient temperature during operation
-25 .. +60 °C
Ambient temperature during storage
-40 .. +85 °C
Vibration / shock resistance
conforms to EN 60068-2-6 / EN 60068-2-27; see also Additional checks [} 19]
EMC immunity / emission
conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP65, IP66, IP67 (conforms to EN 60529)Mechanics Installation position variableApprovals and conformity Approvals CE, cURus
1) Sum current of consumers and power transmission.2) "Sensors": devices connected to the input connections.3) Supply voltage available at the input connections.
Product overview
EPP1xxx26 Version: 1.1
Additional checks
The boxes have been subjected to the following checks:
Verification ExplanationVibration 10 frequency sweeps in 3 axes
5 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes35 g, 11 ms
2.5.2.1 Acceleration measurement (EPP1816-3008)Technical data Acceleration measurement Inclination measurement
Raw values Measured valuesMeasuring range 1) Parameterizable:
• ±2 g• ±4 g• ±8 g• ±16 g
±180°
Resolution 1) 10 Bit • Measuring range ±2 g: 4 mg• Measuring range ±4 g: 8 mg• Measuring range ±8 g: 16 mg• Measuring range ±16 g: 48 mg
1°
Representation 1) 10-bit in 16-bit(left aligned)
1 mg / LSB 1° / LSB
Sampling rate 1 .. 5000 Hz
1) Unit of measurement: 1 g = 9.81 m/s2 (acceleration of gravity). 1 mg = 1/1000 g
Product overview
EPP1xxx 27Version: 1.1
2.5.3 Status LEDs
Fig. 12: Status LEDs of EPP1816
LED Displays
LED Display MeaningSTATUS 1-8 green illuminated a signal (24 V) is present at one or more inputs of channels 1 to 8STATUS 9-16 green illuminated a signal (24 V) is present at one or more inputs of channels 9 to 16US off Supply voltage US is not present
green illuminated Supply voltage US is presentUP off Supply voltage UP is not present
green illuminated Supply voltage UP is present
Product overview
EPP1xxx28 Version: 1.1
2.5.4 Process image
2.5.4.1 Assignment of connector contacts to variables
EPP1816-0008
Process image in TwinCAT Connector Contact Input variableX01 1
DIG Inputs Channel 1 Input 1
2 DIG Inputs Channel 1
Input 23
DIG Inputs Channel 1 Input 3
4 DIG Inputs Channel 1
Input 45
DIG Inputs Channel 1 Input 5
6 DIG Inputs Channel 1
Input 67
DIG Inputs Channel 1 Input 7
8 DIG Inputs Channel 1
Input 89
DIG Inputs Channel 2 Input 1
10 DIG Inputs Channel 2
Input 211
DIG Inputs Channel 2 Input 3
12 DIG Inputs Channel 2
Input 413
DIG Inputs Channel 2 Input 5
14 DIG Inputs Channel 2
Input 615
DIG Inputs Channel 2 Input 7
16 DIG Inputs Channel 2
Input 8
Product overview
EPP1xxx 29Version: 1.1
EPP1816-3008
Process image in TwinCAT Connector Contact Input variableX01 3
DIG Inputs Channel 1 Input 1
4 DIG Inputs Channel 1
Input 25
DIG Inputs Channel 1 Input 3
6 DIG Inputs Channel 1
Input 47
DIG Inputs Channel 1 Input 5
8 DIG Inputs Channel 1
Input 69
DIG Inputs Channel 1 Input 7
10 DIG Inputs Channel 1
Input 811
DIG Inputs Channel 2 Input 1
12 DIG Inputs Channel 2
Input 213
DIG Inputs Channel 2 Input 3
14 DIG Inputs Channel 2
Input 415
DIG Inputs Channel 2 Input 5
16 DIG Inputs Channel 2
Input 617
DIG Inputs Channel 2 Input 7
18 DIG Inputs Channel 2
Input 8
AI Inputs Channel n: process data objects for the evaluation of the accelerometers [} 46].
DIG Inputs Device: process data object for the undervoltage detection [} 48].
Product overview
EPP1xxx30 Version: 1.1
EPP18x9-0021
Process image in TwinCAT Connector Contact Input variableX01 4
Channel 1 Input
X02 4 Channel 2
InputX03 4
Channel 3 Input
X04 4 Channel 4
InputX05 4
Channel 5 Input
X06 4 Channel 6
InputX07 4
Channel 7 Input
X08 4 Channel 8
InputX09 4
Channel 9 Input
X10 4 Channel 10
InputX11 4
Channel 11 Input
X12 4 Channel 12
InputX13 4
Channel 13 Input
X14 4 Channel 14
InputX15 4
Channel 15 Input
X16 4 Channel 16
Input
Product overview
EPP1xxx 31Version: 1.1
EPP18x9-0022
Process image in TwinCAT Connector Contact Input variableX01 / X02 2
Channel 2 Input
4 Channel 1
InputX03 / X04 2
Channel 4 Input
4 Channel 3
InputX05 / X06 2
Channel 6 Input
4 Channel 5
InputX07 / X08 2
Channel 8 Input
4 Channel 7
InputX09 / X10 2
Channel 10 Input
4 Channel 9
InputX11 / X12 2
Channel 12 Input
4 Channel 11
InputX13 / X14 2
Channel 14 Input
4 Channel 13
InputX15 / X16 2
Channel 16 Input
4 Channel 15
Input
Mounting and cabling
EPP1xxx32 Version: 1.1
3 Mounting and cabling
3.1 Mounting
3.1.1 Dimensions
Housing -000x and -0010
119
126
23
3026.5
14
Ø 3.5 13.5
Fig. 13: Dimensions
All dimensions are given in millimeters.
Housing features
Housing material PA6 (polyamide)Sealing compound polyurethaneMounting two fastening holes Ø 3.5 mm for M3Metal parts brass, nickel-platedContacts CuZn, gold-platedInstallation position variableProtection class IP65, IP66, IP67 (conforms to EN 60529) when screwed togetherDimensions (H x W x D) approx. 126 x 30 x 26.5 mmWeight approx. 165 g
Mounting and cabling
EPP1xxx 33Version: 1.1
Housing -002x
117
6014
26.5
126
Ø 4.5 13.5
Fig. 14: Dimensions
All dimensions are given in millimeters.
Housing features
Housing material PA6 (polyamide)Sealing compound polyurethaneMounting two fastening holes Ø 4.5 mm for M4Metal parts brass, nickel-platedContacts CuZn, gold-platedInstallation position variableProtection class IP65, IP66, IP67 (conforms to EN 60529) when screwed togetherDimensions (H x W x D) approx. 126 x 60 x 26.5 mmWeight approx. 250 g
Mounting and cabling
EPP1xxx34 Version: 1.1
Housing -0061
79 86
23
3022
7
Ø 3.5 6.5
Fig. 15: Dimensions
All dimensions are given in millimeters.
Housing features
Housing material PA6 (polyamide)Sealing compound polyurethaneMounting two fastening holes Ø 3.5 mm for M3Metal parts brass, nickel-platedContacts CuZn, gold-platedInstallation position variableProtection class IP65, IP66, IP67 (conforms to EN 60529) when screwed togetherDimensions (H x W x D) approx. 86 x 30 x 22 mmWeight approx. 90 g
Mounting and cabling
EPP1xxx 35Version: 1.1
3.1.2 MountingNOTE
Protect connectors against soiling!Protection class IP67 can only be guaranteed if all cables and connectors are connected.Protect the connections against soiling during mounting.
Housing -000x, -0010, -0061
Mount the module with two M3 screws on the fastening holes in the corners of the module. The fasteningholes have no thread.
Housing -002x
Mount the module with two M4 screws in the centrally located fastening holes.
3.1.3 Connector
M8 connector
Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)Torque: 0.4 Nm.
M12 connector
Screw M12 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)Torque: 0.6 Nm.
Mounting and cabling
EPP1xxx36 Version: 1.1
3.2 EtherCAT P
3.2.1 ConnectionNOTE
Risk of damage to the device!Bring the EtherCAT/EtherCAT P system into a safe, powered down state before starting installation, disas-sembly or wiring of the modules!
EtherCAT P is supplied and forwarded via two EtherCAT P-coded M8 connectors at the upper end of themodules:
• IN: left M8 connector in EtherCAT P coding for EtherCAT P power supply• OUT: right M8 connector in EtherCAT P coding for EtherCAT P forwarding
Fig. 16: EtherCAT P interfaces
Fig. 17: M8 socket for EtherCAT P
Pin assignment
The contacts of the EtherCAT P-coded M8 connectors have a maximum current capacity of 3 A.
Contact Signal Voltage Core colors1)
1 Tx + GNDS yellow2 Rx + GNDP white3 Rx - UP: Peripheral voltage, +24 VDC blue4 Tx - US: control voltage +24 VDC orangeHousing Shield Shield Shield
1) The core colors apply to EtherCAT P cables and ECP cables from Beckhoff.
NOTEPay attention to the maximum permissible current!Pay attention also for the redirection of EtherCAT P, the maximum permissible current for M8 connectors of3 A must not be exceeded!
Mounting and cabling
EPP1xxx 37Version: 1.1
3.2.2 Status LEDs
3.2.2.1 Power supply
Fig. 18: Status LEDs for power supply
LED Display MeaningUS (Control voltage) off The power supply voltage US is not present
green illuminated The power supply voltage US is presentred illuminated Because of overload (current > 0.5 A) the sensor supply
generated from power supply voltage US was switched off forall sensors fed from this.
UP (Auxiliary voltage) off The power supply voltage UP is not presentgreen illuminated The power supply voltage UP is present
3.2.2.2 EtherCAT
Fig. 19: Status LEDs for EtherCAT
L/A (Link/Act)
A green LED labelled "L/A" or “Link/Act” is located next to each EtherCAT/EtherCAT P socket. The LEDindicates the communication state of the respective socket:
LED Meaningoff no connection to the connected EtherCAT devicelit LINK: connection to the connected EtherCAT deviceflashes ACT: communication with the connected EtherCAT device
Run
Each EtherCAT slave has a green LED labelled "Run". The LED signals the status of the slave in theEtherCAT network:
LED Meaningoff Slave is in "Init" stateflashes uniformly Slave is in "Pre-Operational“ stateflashes sporadically Slave is in "Safe-Operational" statelit Slave is in "Operational" state
Description of the EtherCAT slave states
Mounting and cabling
EPP1xxx38 Version: 1.1
3.2.3 CablingFor connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at leastcategory 5 (CAT5) according to EN 50173 or ISO/IEC 11801 should be used.
EtherCAT uses four wires for signal transmission.Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be usedbetween Beckhoff EtherCAT.
Detailed recommendations for the cabling of EtherCAT devices
A list of EtherCAT P cables, EtherCAT cables, power cables, sensor cables, Ethernet/EtherCAT connectorsand field-configurable connectors can be found under the following link: https://beckhoff.de/english/ethercat-box/ethercat_box_cables.htm?id=690338951657421
Mounting and cabling
EPP1xxx 39Version: 1.1
3.2.4 Conductor lossesWhen planning a system, consider the voltage drop at EtherCAT P cables. Avoid the voltage drop being sohigh that the supply voltage at the box lies below the minimum permissible value.
Variations in the voltage of the power supply unit must also be taken into account.
The voltage calculation tool integrated in TwinCAT can be used to calculate the cable lengths.
The EPP9022-0060 box with diagnostics can be used for checking during operation.
The following graph illustrates the dependence of the voltage drop on the core cross-section, current andcable length:
Conductor losses on EtherCAT P cables
Fig. 20: Conductor losses on EtherCAT P cables
Example
A 10 meter-long EtherCAT P cable with a cross section of 0.34 mm² has a voltage drop of ∼3.0 V with a loadof 3 A.
Mounting and cabling
EPP1xxx40 Version: 1.1
3.3 Digital inputsNOTE
Supply and connection of sensor/actuator to the EPP boxesThe connected sensors/actuators must be powered by an EPP box! GNDS and GNDP from an M8/M12 sig-nal connection of an EPP box must not be connected to the machine bed!
Supply of remote powered sensors/actuatorsIf the sensors/actuators cannot be supplied from the EPP box the supply of remote powered sen-sors/actuators must be galvanically isolated!
3.3.1 M8 sockets
1
3 4
Fig. 21: M8 socket, 3-pin
Contact Function Core color 1)
1 US1 2) brown3 GNDS blue4 Input black
1) The core colors apply to 3-wire M8 sensor cables from Beckhoff: ZK2000-2xxx2) US1 serves as sensor supply voltage. It is branched off from the US supply voltage.
Mounting and cabling
EPP1xxx 41Version: 1.1
3.3.2 M12 sockets
1
23
45
Fig. 22: M12 socket
Contact EPP1xxx-0001EPP1819-0022
EPP1008-0022 Core color 1)
1 US1 2) US1 2) brown2 Input B - white3 GNDS GNDS blue4 Input A Input black5 - - grey
1) The core colors apply to M12 sensor cables from Beckhoff:
• ZK2000-5xxx• ZK2000-6xxx• ZK2000-7xxx
2) US1 serves as sensor supply voltage. It is branched off from the US supply voltage.
Mounting and cabling
EPP1xxx42 Version: 1.1
3.3.3 D-sub sockets, 25-pin113
1425
Fig. 23: D-sub socket, 25-pin
Contact EPP1816-0008 EPP1816-30081 Channel 1, Input 1 US1 1)
2 Channel 1, Input 2 GNDS
3 Channel 1, Input 3 Channel 1, Input 14 Channel 1, Input 4 Channel 1, Input 25 Channel 1, Input 5 Channel 1, Input 36 Channel 1, Input 6 Channel 1, Input 47 Channel 1, Input 7 Channel 1, Input 58 Channel 1, Input 8 Channel 1, Input 69 Channel 2, Input 1 Channel 1, Input 710 Channel 2, Input 2 Channel 1, Input 811 Channel 2, Input 3 Channel 2, Input 112 Channel 2, Input 4 Channel 2, Input 213 Channel 2, Input 5 Channel 2, Input 314 Channel 2, Input 6 Channel 2, Input 415 Channel 2, Input 7 Channel 2, Input 516 Channel 2, Input 8 Channel 2, Input 617 US1 1) Channel 2, Input 718 US1 1) Channel 2, Input 819 US1 1) US1 1)
20 US1 1) US1 1)
21 US1 1) US1 1)
22 US1 1) US1 1)
23 GNDS GNDS
24 GNDS GNDS
25 GNDS GNDS
1) US1 serves as sensor supply voltage. It is branched off from the US supply voltage.
Mounting and cabling
EPP1xxx 43Version: 1.1
3.4 UL RequirementsThe installation of the UL-certified EtherCAT Box modules / EtherCAT P Box modules must meet thefollowing requirements.
Supply voltage
CAUTIONCAUTION!• from an isolated source protected by a fuse of max. 4 A (according to UL248) or• from a voltage supply complying with NEC class 2.
An NEC class 2 voltage source must not be connected in series or parallel with another NEC class 2voltage source!
CAUTIONCAUTION!In order to comply with UL requirements, the EtherCAT Box modules / EtherCAT P Box modules must notbe connected to unlimited voltage sources!
Networks
CAUTIONCAUTION!In order to comply with UL requirements, the EtherCAT Box modules / EtherCAT P Box modules must notbe connected to telecommunications networks!
Ambient temperature
CAUTIONCAUTION!In order to comply with UL requirements, the EtherCAT Box modules / EtherCAT P Box modules must onlybe operated in an ambient temperature range between 0 and 55 °C!
Marking for UL
All EtherCAT Box modules / EtherCAT P Box modules certified according to UL (Underwriters Laboratories)are labeled with the following mark.
Fig. 24: UL marking
Commissioning/Configuration
EPP1xxx44 Version: 1.1
4 Commissioning/Configuration
4.1 Configuration in TwinCATAn EtherCAT P Box must be configured in TwinCAT to ensure that its functions can be used in a PLCprogram.
Under the following link you will find a quick start guide describing the configuration of an EtherCAT P Box inTwinCAT:
https://infosys.beckhoff.com/content/1033/epioconfiguration/index.html?id=6991403443235907429
Commissioning/Configuration
EPP1xxx 45Version: 1.1
4.2 Timestamp inputs (EPP1258)Timestamp inputs are digital inputs that log the times of signal edges with high temporal resolution.
A timestamp input provides two timestamps in variables:
• Timestamp of the last recorded rising signal edge• Timestamp of the last recorded falling signal edge
At each signal edge the corresponding variable is overwritten with the current timestamp.
Variables are always read in by the PLC at the beginning of a PLC cycle. If several signal edges occur withina PLC cycle, the PLC receives only the timestamps of the last rising and the last falling signal edge at thebeginning of the following PLC cycle.
Application Note DK9222-0211-0021 contains further information on timestamp inputs.
Variables in the process image
Variable ContentsInput X01 Input X02
Channel 1 Input
Channel 2 Input
Signal level that is currently present at the digital input
Latch Status0
Latch Status1
Information as to whether the last recorded signal edge was a risingor a falling signal edge:Bit 3:• Bit 3 is set on rising signal edge• Bit 3 is cleared on falling signal edge
Latch LatchPos0
Latch LatchPos1
Timestamp of the last recorded rising signal edge.Representation: 1 ns / LSB
Latch LatchNeg0
Latch LatchNeg1
Timestamp of the last recorded falling signal edge.Representation: 1 ns / LSB
Commissioning/Configuration
EPP1xxx46 Version: 1.1
4.3 Accelerometers (EPP1816-3008)EPP1816-3008 has two accelerometers. Each accelerometer measures the acceleration in three axes.
The accelerometers are offset by 90°. This enables a plausibility check of the measured values.
EPP1816-3008 can also convert the measured values into inclination angles: Presentation of the measuredvalues [} 47].
Assignment of the acceleration axes to variables in the process image
AI Inputs Channel 6
AI Inputs Channel 5 AI Inputs Channel 4
AI Inputs Channel 3
AI Inputs Channel 1
AI Inputs Channel 2
Sensor 2
Sensor 1
Fig. 25: Acceleration axes of EPP1816-3008
Assignment of the inclination axes to variables in the process image
AI Inputs Channel 2AI Inputs Channel 4
g
+
-
AI Inputs Channel 1AI Inputs Channel 5
+
-
Fig. 26: Inclination axes of EPP1816-3008
Commissioning/Configuration
EPP1xxx 47Version: 1.1
4.3.1 Parameters
Measuring range
CoE index 8080:11 "Range“
Value Measuring range03dec +/- 2 g04dec +/- 4 g05dec +/- 8 g06dec +/- 16 g
Sampling rate
CoE index 8080:0D "Mode“
Value Sampling rate04dec 1 Hz05dec 10 Hz06dec 25 Hz07dec 50 Hz08dec 100 Hz09dec 250 Hz10dec 400 Hz11dec 1600 Hz12dec 5000 Hz
Presentation of the measured values
CoE index 8080:1D "Presentation“
Value Format designation Description03dec (default) Raw values The measured acceleration values are output as raw
values.04dec Horizontal off-axis angle The measured acceleration values are converted into
inclination angles.05dec milli G (mG) The measured acceleration values are output in mg.
Analogue specifications [} 26]
Commissioning/Configuration
EPP1xxx48 Version: 1.1
4.4 Undervoltage detection (EPP1816-3008)
Variables in the process image
In case of undervoltage of US or UP, the corresponding bit in the process image is set:
Commissioning/Configuration
EPP1xxx 49Version: 1.1
4.5 EPP1816-0008 - Object description andparameterization
ParameterizationThe terminal/box can be parameterized via the "CoE – Online" tab (by double-clicking on the corre-sponding object) or via the Process Data tab (assignment of PDOs).
EtherCAT XML Device DescriptionThe display matches that of the CoE objects from the EtherCAT XML Device Description. We rec-ommend downloading the latest XML file from the download area of the Beckhoff website (http://beckhoff.de/german/download/elconfg.htm?id=1983920606140) and installing it according to theinstallation instructions.
Introduction
The CoE overview contains objects for different intended applications:
• Objects required for parameterization [} 49] during commissioning
• Objects intended for regular operation [} 49], e.g. through ADS access
• Objects for indicating internal settings [} 49] (may be fixed)
The following section first describes the objects required for normal operation, followed by a completeoverview of missing objects.
Objects to be parameterized during commissioning
Objects to be parameterized during commissioning
Index 1011 Restore default parameters
Index Name Meaning Data type Flags Default1011:0 Restore default
parametersRestore default settings UINT8 RO 0x01 (1dec)
1011:01 SubIndex 001 If this object is set to 0x64616F6C in the set value dia-log, all backup objects are reset to their delivery state.
UINT32 RW 0x00000000 (0dec)
Objects for regular operation
The EPP1816 has no such objects.
Additional objects
Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT P slaves.
Index 1000 Device type
Index Name Meaning Data type Flags Default1000:0 Device type Device type of the EtherCAT P slave: The Lo-Word con-
tains the CoE profile used (5001). The Hi-Word containsthe module profile according to the modular device pro-file.
UINT32 RO 0x01181389(18355081dec)
Index 1008 Device name
Index Name Meaning Data type Flags Default1008:0 Device name Device name of the EtherCAT P slave string RO EPP1816-0008
Commissioning/Configuration
EPP1xxx50 Version: 1.1
Index 1009 Hardware version
Index Name Meaning Data type Flags Default1009:0 Hardware ver-
sionHardware version of the EtherCAT P slave string RO 00
Index 100A Software version
Index Name Meaning Data type Flags Default100A:0 Software version Firmware version of the EtherCAT P slave string RO 01
Index 1018 Identity
Index Name Meaning Data type Flags Default1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4dec)1018:01 Vendor ID Manufacturer ID of the EtherCAT P slave UINT32 RO 0x00000002 (2dec)1018:02 Product code Product code of the EtherCAT P slave UINT32 RO 0x07184052
(119029842dec)1018:03 Revision Revision number of the EtherCAT P slave; the Low
Word (bit 0-15) indicates the special terminal number,the High Word (bit 16-31) refers to the device descrip-tion
UINT32 RO 0x00100008(1048584dec)
1018:04 Serial number Serial number of the EtherCAT P slave; the Low Byte(bit 0-7) of the Low Word contains the year of produc-tion, the High Byte (bit 8-15) of the Low Word containsthe week of production, the High Word (bit 16-31) is 0
UINT32 RO 0x00000000 (0dec)
Index 10F0 Backup parameter handling
Index Name Meaning Data type Flags Default10F0:0 Backup parame-
ter handlingInformation for standardized loading and saving ofbackup entries
UINT8 RO 0x01 (1dec)
10F0:01 Checksum Checksum across all backup entries of the EtherCAT Pslave
UINT32 RO 0x00000000 (0dec)
Index 1A00 DO TxPDO-Map Inputs Ch.1
Index Name Meaning Data type Flags Default1A00:0 DO TxPDO-Map
Inputs Ch.1PDO Mapping TxPDO 1 UINT8 RO 0x0B (11dec)
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x01 (Input 1))
UINT32 RO 0x6000:01, 1
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x02 (Input 2))
UINT32 RO 0x6000:02, 1
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x03 (Input 3))
UINT32 RO 0x6000:03, 1
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x04 (Input 4))
UINT32 RO 0x6000:04, 1
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x05 (Input 5))
UINT32 RO 0x6000:05, 1
1A00:06 SubIndex 006 6. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x06 (Input 6))
UINT32 RO 0x6000:06, 1
1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x07 (Input 7))
UINT32 RO 0x6000:07, 1
1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (DO Inputs Ch.1),entry 0x08 (Input 8))
UINT32 RO 0x6000:08, 1
1A00:09 SubIndex 009 9. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 51A00:0A SubIndex 010 10. PDO Mapping entry (object 0x1C32, entry 0x20) UINT32 RO 0x1C32:20, 11A00:0B SubIndex 011 11. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
Commissioning/Configuration
EPP1xxx 51Version: 1.1
Index 1A01 DO TxPDO-Map Inputs Ch.2
Index Name Meaning Data type Flags Default1A01:0 DO TxPDO-Map
Inputs Ch.2PDO Mapping TxPDO 2 UINT8 RO 0x0B (11dec)
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x01 (Input 1))
UINT32 RO 0x6010:01, 1
1A01:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x02 (Input 2))
UINT32 RO 0x6010:02, 1
1A01:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x03 (Input 3))
UINT32 RO 0x6010:03, 1
1A01:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x04 (Input 4))
UINT32 RO 0x6010:04, 1
1A01:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x05 (Input 5))
UINT32 RO 0x6010:05, 1
1A01:06 SubIndex 006 6. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x06 (Input 6))
UINT32 RO 0x6010:06, 1
1A01:07 SubIndex 007 7. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x07 (Input 7))
UINT32 RO 0x6010:07, 1
1A01:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (DO Inputs Ch.2),entry 0x08 (Input 8))
UINT32 RO 0x6010:08, 1
1A01:09 SubIndex 009 9. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 51A01:0A SubIndex 010 10. PDO Mapping entry (object 0x1C32, entry 0x20) UINT32 RO 0x1C32:20, 11A01:0B SubIndex 011 11. PDO Mapping entry (2 bits align) UINT32 RO 0x0000:00, 2
Index 1C00 Sync manager type
Index Name Meaning Data type Flags Default1C00:0 Sync manager
typeUsing the Sync Managers UINT8 RO 0x04 (4dec)
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1dec)1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2dec)1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
(Outputs)UINT8 RO 0x03 (3dec)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-puts)
UINT8 RO 0x04 (4dec)
Index 1C12 RxPDO assign
Index Name Meaning Data type Flags Default1C12:0 RxPDO assign PDO Assign Outputs UINT8 RO 0x00 (0dec)
Index 1C13 TxPDO assign
Index Name Meaning Data type Flags Default1C13:0 TxPDO assign PDO Assign Inputs UINT8 RO 0x02 (2dec)1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)UINT16 RO 0x1A00 (6656dec)
1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ-ated TxPDO mapping object)
UINT16 RO 0x1A01 (6657dec)
Commissioning/Configuration
EPP1xxx52 Version: 1.1
Index 1C33 SM input parameter
Index Name Meaning Data type Flags Default1C33:0 SM input param-
eterSynchronization parameters for the inputs UINT8 RO 0x20 (32dec)
1C33:01 Sync mode Current synchronization mode:
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputsavailable)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputsavailable)
UINT16 RW 0x0022 (34dec)
1C33:02 Cycle time Cycle time (in ns):
• Synchron with SM 2 Event: Master cycle time
• DC mode: SYNC0/SYNC1 Cycle Time
UINT32 RW 0x000186A0(100000dec)
1C33:03 Shift time Time between SYNC0 event and reading of the inputs(in ns, only DC mode)
UINT32 RO 0x00000000 (0dec)
1C33:04 Sync modessupported
Supported synchronization modes:
• Bit 0: free run is supported
• Bit 1: Synchron with SM 2 Event is supported(outputs available)
• Bit 1: Synchron with SM 3 Event is supported(no outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input Shift through local event(outputs available)
• Bit 4-5 = 10: Input Shift with SYNC1 Event (nooutputs available)
• Bit 14 = 1: dynamic times (measurement throughwriting of 1C33:08 [} 52])
UINT16 RO 0xC007 (49159dec)
1C33:05 Minimum cycletime
Minimum cycle time (in ns) UINT32 RO 0x000124F8(75000dec)
1C33:06 Calc and copytime
Time between reading of the inputs and availability ofthe inputs for the master (in ns, only DC mode)
UINT32 RO 0x00000000 (0dec)
1C33:08 Command • 0: Measurement of the local cycle time isstopped
• 1: Measurement of the local cycle time is started
The entries 1C33:03 [} 52], 1C33:06 [} 52], 1C33:07,1C33:09 [} 52] are updated with the maximum mea-sured values.For a subsequent measurement the measured valuesare reset
UINT16 RW 0x0000 (0dec)
1C33:09 Delay time Time between SYNC1 event and reading of the inputs(in ns, only DC mode)
UINT32 RO 0x00000000 (0dec)
1C33:0B SM eventmissed counter
Number of missed SM events in OPERATIONAL (DCmode only)
UINT16 RO 0x0000 (0dec)
1C33:0C Cycle exceededcounter
Number of occasions the cycle time was exceeded inOPERATIONAL (cycle was not completed in time or thenext cycle began too early)
UINT16 RO 0x0000 (0dec)
1C33:0D Shift too shortcounter
Number of occasions that the interval between SYNC0and SYNC1 event was too short (DC mode only)
UINT16 RO 0x0000 (0dec)
1C33:20 Sync error The synchronization was not correct in the last cycle(outputs were output too late; DC mode only)
boolean RO 0x00 (0dec)
Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
Commissioning/Configuration
EPP1xxx 53Version: 1.1
Index 6000 DO Inputs Ch.1
Index Name Meaning Data type Flags Default6000:0 DO Inputs Ch.1 UINT8 RO 0x0E (14dec)6000:01 Input 1 boolean RO 0x00 (0dec)6000:02 Input 2 boolean RO 0x00 (0dec)6000:03 Input 3 boolean RO 0x00 (0dec)6000:04 Input 4 boolean RO 0x00 (0dec)6000:05 Input 5 boolean RO 0x00 (0dec)6000:06 Input 6 boolean RO 0x00 (0dec)6000:07 Input 7 boolean RO 0x00 (0dec)6000:08 Input 8 boolean RO 0x00 (0dec)6000:0E Sync Error boolean RO 0x00 (0dec)
Index 6010 DO Inputs Ch.2
Index Name Meaning Data type Flags Default6010:0 DO Inputs Ch.2 UINT8 RO 0x0E (14dec)6010:01 Input 1 boolean RO 0x00 (0dec)6010:02 Input 2 boolean RO 0x00 (0dec)6010:03 Input 3 boolean RO 0x00 (0dec)6010:04 Input 4 boolean RO 0x00 (0dec)6010:05 Input 5 boolean RO 0x00 (0dec)6010:06 Input 6 boolean RO 0x00 (0dec)6010:07 Input 7 boolean RO 0x00 (0dec)6010:08 Input 8 boolean RO 0x00 (0dec)6010:0E Sync Error boolean RO 0x00 (0dec)
Index F000 Modular device profile
Index Name Meaning Data type Flags DefaultF000:0 Modular device
profileGeneral information for the modular device profile UINT8 RO 0x02 (2dec)
F000:01 Module indexdistance
Index distance of the objects of the individual channels UINT16 RO 0x0010 (16dec)
F000:02 Maximum num-ber of modules
Number of channels UINT16 RO 0x0002 (2dec)
Index F008 Code word
Index Name Meaning Data type Flags DefaultF008:0 Code word UINT32 RW 0x00000000 (0dec)
Index F010 Module list
Index Name Meaning Data type Flags DefaultF010:0 Module list UINT8 RW 0x02 (2dec)F010:01 SubIndex 001 UINT32 RW 0x00000118 (280dec)F010:02 SubIndex 002 UINT32 RW 0x00000118 (280dec)
Commissioning/Configuration
EPP1xxx54 Version: 1.1
4.6 Restoring the delivery stateThe CoE object Restore default parameters, Subindex 001 can be selected in the TwinCAT SystemManager (Config mode) in order to restore the delivery state of the back-up objects for the EPPxxxx Boxes.
Fig. 27: Selecting the PDO restore default parameter
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in the field Dec oralternatively the value 0x64616F6C in the field Hex and confirm with OK.
All backup objects are reset to the delivery state.
Fig. 28: Entering a restore value in the Set Value dialog
Alternative restore valueWith some older modules the backup objects can be changed with an alternative restore value:Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect.
Commissioning/Configuration
EPP1xxx 55Version: 1.1
4.7 Decommissioning WARNING
Risk of electric shock!Bring the bus system into a safe, de-energized state before starting disassembly of the devices!
Disposal
In order to dispose of the device, it must be removed.
In accordance with the WEEE Directive 2012/19/EU, Beckhoff takes back old devices and accessories inGermany for proper disposal. Transport costs will be borne by the sender.
Return the old devices with the note "for disposal" to:
Beckhoff Automation GmbH & Co. KGService DepartmentStahlstraße 31D-33415 Verl
Appendix
EPP1xxx56 Version: 1.1
5 Appendix
5.1 General operating conditions
Protection degrees (IP-Code)
The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.
1. Number: dust protection andtouch guard
Definition
0 Non-protected1 Protected against access to hazardous parts with the back of a hand. Protected against solid
foreign objects of Ø 50 mm2 Protected against access to hazardous parts with a finger. Protected against solid foreign ob-
jects of Ø 12.5 mm.3 Protected against access to hazardous parts with a tool. Protected against solid foreign objects
Ø 2.5 mm.4 Protected against access to hazardous parts with a wire. Protected against solid foreign objects
Ø 1 mm.5 Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not
totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operationof the device or to impair safety.
6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.
2. Number: water* protection Definition0 Non-protected1 Protected against water drops2 Protected against water drops when enclosure tilted up to 15°.3 Protected against spraying water. Water sprayed at an angle up to 60° on either side of the ver-
tical shall have no harmful effects.4 Protected against splashing water. Water splashed against the disclosure from any direction
shall have no harmful effects5 Protected against water jets6 Protected against powerful water jets7 Protected against the effects of temporary immersion in water. Intrusion of water in quantities
causing harmful effects shall not be possible when the enclosure is temporarily immersed in wa-ter for 30 min. in 1 m depth.
*) These protection classes define only protection against water!
Chemical Resistance
The Resistance relates to the Housing of the IP 67 modules and the used metal parts. In the table below youwill find some typical resistance.
Character ResistanceSteam at temperatures >100°C: not resistantSodium base liquor(ph-Value > 12)
at room temperature: resistant> 40°C: not resistant
Acetic acid not resistantArgon (technical clean) resistant
Key• resistant: Lifetime several months• non inherently resistant: Lifetime several weeks• not resistant: Lifetime several hours resp. early decomposition
Appendix
EPP1xxx 57Version: 1.1
5.2 EtherCAT Box- / EtherCAT P Box - Accessories
Fixing
Ordering information DescriptionZS5300-0001 Mounting rail (500 mm x 129 mm)
Marking material, plugs
Ordering information DescriptionZS5000-0000 Fieldbus Box set M8 (contact labels, plugs)ZS5000-0002 Fieldbus Box set M12 (contact labels, plugs)ZS5000-0010 plugs M8, IP67 (50 pieces)ZS5000-0020 plugs M12, IP67 (50 pieces)ZS5100-0000 marking labels, not printed, 4 stripes at 10 piecesZS5100-xxxx printed marking labels, on request
Tools
Ordering information DescriptionZB8800 torque wrench for M8 cables with knurl, incl. ratchetZB8800-0001 M12 ratchet for torque wrench ZB8800ZB8800-0002 M8 ratchet (field assembly) for torque wrench ZB8800ZB8801-0000 torque wrench for hexagonal plugs, adjustableZB8801-0001 torque cable key, M8/wrench size 9, for torque wrench ZB8801-0000ZB8801-0002 torque cable key, M12/wrench size 13, for torque wrench ZB8801-0000ZB8801-0003 torque cable key, M12 field assembly/wrench size 13, for torque wrench
ZB8801-0000
Further accessoriesFurther accessories may be found at the price list for Beckhoff fieldbus components and at the inter-net under https://www.beckhoff.com
Appendix
EPP1xxx58 Version: 1.1
5.3 General note on the introduction of the BeckhoffIdentification Code (BIC)
General
In future you will increasingly find machine-readable information on Beckhoff products in the form of a DataMatrix Code (DMC, ECC200). This helps us to improve the quality assurance process, beyond which youcan use it for better identification of our products.
The introduction of the Data Matrix Code (called BIC [Beckhoff Identification Code] at Beckhoff) is takingplace gradually across all product groups.
The information in the BICs is oriented to the ANSI standard MH10.8.2-2016
Representation and contents of the BIC
The BIC can be found in the following places, depending on the product:
• on the packaging unit• directly on the product (if space suffices)• on the packaging unit and the product
The BIC is readable and contains information that you can use for your internal handling and administrationof the products. When scanning the BICs you will find the following information:
Coded information on the BIC
Itemno.
Type of information Explanation
1 Beckhoff order number Beckhoff order number2 Beckhoff Traceability
Number (BTN)Unique serial number, see note below
3 Article description Beckhoff article description, e.g. EL10084 Quantity Quantity in packaging unit, e.g. 1, 10, etc.5 Batch number Optional: Year and week of production6 ID/serial number Optional: Present-day serial number system, e.g. with safety
products7 Variant number Optional: Product variant number on the basis of standard products8 Date code Internal9 Job/batch number Internal10 Serial number Internal...
Each item of information is clearly identifiable on the basis of the data identifier (ANSI MH10.8.2-2016). Thedata identifier is followed by a character string. Both together have a maximum length according to thefollowing table. If the items of information are shorter, they are replaced by spaces. The data under positions1-4 always exist (temporary restriction, see BTN below).
Appendix
EPP1xxx 59Version: 1.1
Overview of the defined data identifiers with examples
Itemno.
Type of information Data identifier Number of char-acters
Sample
1 Beckhoff order number 1P 8 1P0722222 Beckhoff Traceability Number (BTN) S 12 SBTNk4p562d73 Article description 1K 32 1KEL18094 Quantity Q 6 Q15 Batch number 2P 14 2P4015031800166 ID/serial number 51S 12 51S6782941047 Version 30P 32 30PF971 , 2*K1838 Date code 9D 8 9DG01189 Job/batch number 1T 14 1TFA1234567810 Serial number 52S 23 52S2304853-1-004...
Structure of the BIC
Example of an item of information made up of positions 1 – 4 and 6. The data identifiers are each marked inred for clearer illustration:
1P072222SBTNk4p562d71KEL1809 Q1 51S6782941041P S 1K Q 51S
Order number BTN Article description IDQuantity
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is aunique 8-character serial number that in future will replace all other serial number systems at Beckhoff (e.g.batch designations on IO components, hitherto serial number circle for safety products, etc.). The BTN islikewise being introduced gradually, so it may be the case that the BTN is not yet coded in the BIC.
Appendix
EPP1xxx60 Version: 1.1
5.4 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 2033415 VerlGermany
Phone: +49 5246 963 0Fax: +49 5246 963 198e-mail: [email protected]
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:
• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components
Hotline: +49 5246 963 157Fax: +49 5246 963 9157e-mail: [email protected]
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service• repair service• spare parts service• hotline service
Hotline: +49 5246 963 460Fax: +49 5246 963 479e-mail: [email protected]
List of figures
EPP1xxx 61Version: 1.1
List of figuresFig. 1 EtherCAT P.................................................................................................................................. 8Fig. 2 EPP1004-0061 ............................................................................................................................ 10Fig. 3 EPP10x8-0001............................................................................................................................. 10Fig. 4 EPP10x8-0002............................................................................................................................. 11Fig. 5 EPP1008-0022 ............................................................................................................................ 11Fig. 6 EPP1258-0001 ............................................................................................................................ 16Fig. 7 EPP1258-0002 ............................................................................................................................ 16Fig. 8 EPP1816-0008 ............................................................................................................................ 22Fig. 9 EPP1816-3008 ............................................................................................................................ 22Fig. 10 EP18x9-0021 ............................................................................................................................... 23Fig. 11 EPP18x9-0022............................................................................................................................. 23Fig. 12 Status LEDs of EPP1816............................................................................................................. 27Fig. 13 Dimensions .................................................................................................................................. 32Fig. 14 Dimensions .................................................................................................................................. 33Fig. 15 Dimensions .................................................................................................................................. 34Fig. 16 EtherCAT P interfaces ................................................................................................................. 36Fig. 17 M8 socket for EtherCAT P ........................................................................................................... 36Fig. 18 Status LEDs for power supply ..................................................................................................... 37Fig. 19 Status LEDs for EtherCAT........................................................................................................... 37Fig. 20 Conductor losses on EtherCAT P cables .................................................................................... 39Fig. 21 M8 socket, 3-pin .......................................................................................................................... 40Fig. 22 M12 socket .................................................................................................................................. 41Fig. 23 D-sub socket, 25-pin.................................................................................................................... 42Fig. 24 UL marking .................................................................................................................................. 43Fig. 25 Acceleration axes of EPP1816-3008 ........................................................................................... 46Fig. 26 Inclination axes of EPP1816-3008............................................................................................... 46Fig. 27 Selecting the PDO restore default parameter.............................................................................. 54Fig. 28 Entering a restore value in the Set Value dialog.......................................................................... 54
