Beckhoff EM7004 Documentation
Documentation
EM7004
4 Axis Interface, 16 Digital Inputs, 16 Digital Outputs, 4 Analog
Outputs, 4 Encoder Inputs
Version:
Date:
2.0
2016-09-21
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................4
1.1 Notes on the documentation............................................................................................................... 4
1.2 Safety instructions .............................................................................................................................. 5
1.3 Documentation issue status................................................................................................................ 6
1.4 Version identification of EtherCAT devices......................................................................................... 6
2 Product overview.....................................................................................................................................10
2.1 Terminal Modules – System Overview ............................................................................................. 10
2.2 Introduction ....................................................................................................................................... 13
2.3 Technical data .................................................................................................................................. 14
2.4 Basic function principles ................................................................................................................... 14
2.4.1 Analog process data ..............................................................................................................15
2.4.2 Process data equations .........................................................................................................15
3 Mounting and wiring ...............................................................................................................................19
3.1 Recommended mounting rails .......................................................................................................... 19
3.2 Dimensions ....................................................................................................................................... 19
3.3 Mounting and demounting - terminals with traction lever unlocking ................................................. 19
3.4 Installation positions ......................................................................................................................... 21
3.5 Wiring................................................................................................................................................ 24
3.6 Connection technology ..................................................................................................................... 28
4 Commissioning........................................................................................................................................30
4.1 TwinCAT Quick Start ........................................................................................................................ 30
4.1.1 TwinCAT2 .............................................................................................................................32
4.1.2 TwinCAT 3 .............................................................................................................................42
4.2 TwinCAT Development Environment................................................................................................ 54
4.2.1 Installation of the TwinCAT real-time driver ...........................................................................54
4.2.2 Notes regarding ESI device description................................................................................. 60
4.2.3 TwinCAT ESI Updater............................................................................................................ 64
4.2.4 Distinction between Online and Offline ..................................................................................64
4.2.5 OFFLINE configuration creation ............................................................................................65
4.2.6 ONLINE configuration creation ..............................................................................................70
4.2.7 EtherCAT subscriber configuration ........................................................................................78
4.3 General Notes - EtherCAT Slave Application ................................................................................... 88
5 Object description and parameterization..............................................................................................96
5.1 Objects for commissioning................................................................................................................ 97
5.2 Objects for regular operation ............................................................................................................ 98
5.3 Standard objects (0x1000-0x1FFF) .................................................................................................. 98
5.4 Profile-specific objects (0x6000-0xFFFF) ....................................................................................... 107
6 Appendix ................................................................................................................................................113
6.1 Ordering information for EM7004 modules and EM/KM connectors .............................................. 113
6.2 EtherCAT AL Status Codes ............................................................................................................ 114
6.3 Firmware compatibility .................................................................................................................... 114
6.4 Firmware Update EL/ES/EM/EPxxxx.............................................................................................. 114
6.5 Restoring the delivery state ............................................................................................................ 125
6.6 Support and Service ....................................................................................................................... 126
EM7004 3Version: 2.0
Foreword
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 who
are familiar with the applicable national standards.
It is essential that the following notes and explanations are followed when installing and commissioning
these components.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements 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 under
development. For that reason the documentation is not in every case checked for consistency with
performance data, standards or other characteristics. In the event that it contains technical or editorial errors,
we retain the right to make alterations at any time and without warning. No claims for the modification of
products that have already been supplied may be made on the basis of the data, diagrams and descriptions
in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registered
trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications 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 to
others 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 a
patent, utility model or design.
EM70044 Version: 2.0
Foreword
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 the
application. Modifications to hardware or software configurations other than those described in the
documentation 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 are
familiar with the applicable national standards.
Description of symbols
In this documentation the following symbols are used with an accompanying safety instruction or note. The
safety instructions must be read carefully and followed without fail!
Serious risk of injury!
Failure to follow the safety instructions associated with this symbol directly endangers the
DANGER
life and health of persons.
Risk of injury!
Failure to follow the safety instructions associated with this symbol endangers the life and
WARNING
health of persons.
Personal injuries!
Failure to follow the safety instructions associated with this symbol can lead to injuries to
CAUTION
persons.
Damage to the environment or devices
Failure to follow the instructions associated with this symbol can lead to damage to the en-
Attention
vironment or equipment.
Tip or pointer
This symbol indicates information that contributes to better understanding.
Note
EM7004 5Version: 2.0
Foreword
1.3 Documentation issue status
Version Comment
2.0 • Migration
• Update structure
1.9 • Update chapter "Basic function principles"
1.8 • Update chapter "Wiring"
1.7 • Update chapter "Firmware"
1.6 • New safety and trademark notes added
1.5 • Object description added
1.4 • Technical data added
1.3 • Correction wiring description
1.2 • Update description added
1.1 • Technical data added
1.0 • Object description added, PLS function added
0.2 • Object description added
0.1 • First preliminary documentation for EM7004
1.4 Version identification of EtherCAT devices
Designation
A Beckhoff EtherCAT device has a 14-digit designation, made up of
• family key
• type
• version
• revision
Example Family Type Version Revision
EL3314-0000-0016 EL terminal
(12 mm, nonpluggable
connection level)
CU2008-0000-0000CU device 2008 (8-port fast
ES3602-0010-0017 ES terminal
(12 mm, pluggable
connection level)
Notes
• The elements mentioned above result in the technical designation. EL3314-0000-0016 is used in the
example below.
• EL3314-0000 is the order identifier, in the case of “-0000” usually abbreviated to EL3314. “-0016” is the
EtherCAT revision.
• The order identifier is made up of
- family key (EL, EP, CU, ES, KL, CX, etc.)
- type (3314)
- version (-0000)
• The revision -0016 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
3314 (4-channel
thermocouple
terminal)
ethernet switch)
3602 (2-channel
voltage
measurement)
0000 (basic type) 0016
0000 (basic type) 0000
0010 (highprecision version)
0017
EM70046 Version: 2.0
Foreword
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff website.
From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal,
standard IP20 IO device with batch number and revision ID (since 2014/01)”.
• The type, version and revision are read as decimal numbers, even if they are technically saved in
hexadecimal.
Identification number
Beckhoff EtherCAT devices from the different lines have different kinds of identification numbers:
Production lot/batch number/serial number/date code/D number
The serial number for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker.
The serial number indicates the configuration in delivery state and therefore refers to a whole production
batch, without distinguishing the individual modules of a batch.
Structure of the serial number: KKYYFFHH
KK - week of production (CW, calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with
Ser. no.: 12063A02: 12 - production week 12 06 - production year 2006 3A - firmware version 3A 02 hardware version 02
Exceptions can occur in the IP67 area, where the following syntax can be used (see respective device
documentation):
Syntax: D ww yy x y z u
D - prefix designation
ww - calendar week
yy - year
x - firmware version of the bus PCB
y - hardware version of the bus PCB
z - firmware version of the I/O PCB
u - hardware version of the I/O PCB
Example: D.22081501 calendar week 22 of the year 2008 firmware version of bus PCB: 1 hardware version
of bus PCB: 5 firmware version of I/O PCB: 0 (no firmware necessary for this PCB) hardware version of I/O
PCB: 1
Unique serial number/ID, ID number
In addition, in some series each individual module has its own unique serial number.
See also the further documentation in the area
• IP67: EtherCAT Box
• Safety: TwinSafe
• Terminals with factory calibration certificate and other measuring terminals
EM7004 7Version: 2.0
Foreword
Examples of markings:
Fig.1: EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)
Fig.2: EK1100 EtherCAT coupler, standard IP20 IO device with batch number
Fig.3: CU2016 switch with batch number
EM70048 Version: 2.0
Fig.4: EL3202-0020 with batch numbers 26131006 and unique ID-number 204418
Foreword
Fig.5: EP1258-00001 IP67 EtherCAT Box with batch number 22090101 and unique serial number 158102
Fig.6: EP1908-0002 IP76 EtherCAT Safety Box with batch number 071201FF and unique serial number
00346070
Fig.7: EL2904 IP20 safety terminal with batch number/date code 50110302 and unique serial number
00331701
EM7004 9Version: 2.0
Product overview
2 Product overview
2.1 Terminal Modules – System Overview
Fig.8: Terminal Modules – System Overview
Better sensor and actuator functionality makes machines and systems more and more powerful. The Bus
Terminal reliably meets increased requirements for I/O signals through its modularity and compact design.
The existing Beckhoff Bus Terminal system is complemented by the new version of the EMxxxx / KMxxxx
Terminal Modules with increased packing density. In many areas of application, cost benefits can be realized
through lower overall installed size and application-specific signal mix.
The new Terminal Modules are fully system-compatible. Like the Bus Terminals, they are bus-neutral and
can therefore be operated with any Beckhoff Bus Coupler and Bus Terminal Controller. Like the standard
Bus Terminals, the EM / KM modules are integrated in the I/O system and connected with the internal
terminal bus (K-bus). Bus Terminals and terminal modules can be combined without restriction.
Connector
Like for the Bus Terminals, no tools are required for the wiring. Spring-loaded technology is used, however
the connection layer is pluggable (fixed wiring).
Fig.9: Terminal modules - pluggable connection
Connection technology
Plug connectors are available for single and triple conductor connection methods.
EM700410 Version: 2.0
Product overview
Fig.10: Terminal module with plug connector for single conductor connection method (ZS2001-0002)
Fig.11: Terminal module with connector for three-wire connection (ZS2001-0004)
Packing density
The Terminal Modules combine 16, 32 or 64 digital inputs or outputs on a very small area. This compact and
slimline design enables very high packing densities, leading to smaller control cabinets and terminal boxes.
EM7004 11Version: 2.0
Product overview
Fig.12: Terminal module with 16 channels
Fig.13: Terminal module with 32 channels
Fig.14: Terminal module with 64 channels
EM700412 Version: 2.0
2.2 Introduction
Product overview
Fig.15: EM7004
Terminal module axis interface
The EtherCAT module EM7004 is an interface that is optimized for direct connection of 4 servo drives,
whose "encoder simulation" feeds the module with RS485 signals. The compact module features 4
integrated incremental encoders, 16 digital 24VDC inputs and outputs, and 4 analog ±10 V outputs. For fast
preprocessing the digital outputs can be connected directly via the 4 encoders (PLS). This function is
parameterizable. All inputs and outputs operate with a 24 V supply. Connectors X4, X5, X6 and X7 each
feature an encoder input and an analog output. The connectors are galvanically isolated from each other and
from the supply voltage. Connectors X0 and X1 with 16 digital inputs and X2 and X3 with 16 digital outputs
enable 3-wire connection.
See also section Ordering information for EM/KM connector [}113].
EM7004 13Version: 2.0
Product overview
2.3 Technical data
Technical data EM7004
Digital inputs 16, 24V
Digital outputs 16, 24V
Max. output current
Digital outputs
Max. sum current (24 V supply voltage) 10 A
Analog outputs 4 x ±10V (2mA)
Encoder inputs 4x(A,/A,B,/B,gate,latch,ground); A B – insulated
Minimum cycle time 1ms
Power supply for the electronics via the E-bus
Current consumption via E-bus typ. 280 mA
Electrical isolation 500 V (E-bus/signal voltage)
Dimensions with connector (W x H x D) approx. 147 mm x 100 mm x 55 mm (width aligned:
Weight (without connector) approx. 260 g
Weight of a connector ZS2001-0004 (three-pole) approx. 20 g
Weight of a connector ZS2001-0005 (single-pole) approx. 10 g
Permissible ambient temperature range during
operation
Permissible ambient temperature range during
storage
Permissible relative humidity 95%, no condensation
Mounting [}19]
Vibration/shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP20
Installation position variable
Approval CE
X2.0 - X2.3: 0.5 A
X2.4 - X2.7: 1.5 A
X3.0 - X3.3: 0.5 A
X3.4 - X3.7: 1.5 A
RS485 inputs (RS422); 4 x 16bit, quadrature encoder;
< 400kHz
PLS function (Programmable Limit Switch) [}14]
145 mm), see dimensional drawing [}19]
0°C ... + 55°C
-25°C ... + 85°C
on 35 mm mounting rail conforms to EN 60715
DC
DC
2.4 Basic function principles
The 4-axis interface terminal module EM7004 integrates 4 Incremental encoder, 4 analog outputs with
+/-10V and 16 digital 24V inputs and outputs. The digital inputs and outputs can be connected in single, two
or three wire connection mode.
For the incremental encoder a 16-bit counter with quadrature decoder and a 16-bit latch can be read, set or
enabled. In addition to encoder inputs A, /A, B, /B, an additional latch input L (24V) and a gate input G
(24V) for disabling the counter are available. The "Value" input value represents a 16-bit "position counter".
The PLS function (Programmable Limit Switch) can be used to control digital outputs automatically
depending on the encoder counter value (up to 75 entries).
Reference
An object description and an overview of adjustable encoder parameters can be found in chapter "TwinCAT
System Manager - Object overview [}96]".
EM700414 Version: 2.0
2.4.1 Analog process data
Product overview
In the delivery state the process data are shown in two's complement form (-1
corresponds to 0xFFFF).
dez
The feature object 0x8020:02 [}97] (channel 1), 0x8030:02 [}97] (channel 2), 0x8040:02 [}97] (channel
3), 0x8050:02 [}97] (channel 4) can be used to select other presentation types (e.g. magnitude sign format,
absolute value).
Output value Output voltage
hexadecimal decimal
0x8001 -32769 -10V
0xC001 -16383 -5V
0x0000 0 0V
0x3FFF +16383 +5V
0x7FFF +32767 +10V
2.4.2 Process data equations
Calculation
The process data, which are transferred to the Bus Terminal, are calculated based on the following
equations:
YH = X x AK + B
K
YA = YH x AW x 2
-16
+ B
Output value after manufacturer calibration (the feature object user scaling
[0x8020:01 [}97] (channel 1), 0x8030:01 [}97] (channel 2), 0x8040:01
[}97] (channel 3), 0x8050:01 [}97] (channel 4) is inactive]
Output value following user scaling
W
EM7004 15Version: 2.0
Product overview
Legend
Name Name Object index
Y
H
Y
A
X Controller process data B
K
A
K
B
W
A
W
Process data to D/A converter after manufacturer calibration Process data to D/A converter after user scaling -
Manufacturer calibration offset (can only be changed if the producer code word
(object 0xF008 [}112]) is set)
Manufacturer calibration gain (can only be changed if the Producer codeword
(object 0xF008 [}112]) is set)
User scaling offset (can be activated via feature object user scaling [0x8020:01
[}97] (channel1), 0x8030:01 [}97] (channel 2), 0x8040:01 [}97] (channel
3), 0x8050:01 [}97] (channel 4)]
User scaling gain (can be activated via feature object user scaling [0x8020:01
[}97] (channel1), 0x8030:01 [}97] (channel 2), 0x8040:01 [}97] (channel
3), 0x8050:01 [}97] (channel 4)]
0x802F:01
[}98],
0x803F:01
[}98],
0x804F:01
[}98],
0x805F:01
[}98]
0x802F:02
[}98],
0x803F:02
[}98],
0x804F:02
[}98],
0x805F:02
[}98]
0x8020:11
[}97],
0x8030:11
[}97],
0x8040:11
[}97],
0x8050:11
[}97]
0x8020:12
[}97],
0x8030:12
[}97],
0x8040:12
[}97],
0x8050:12
[}97]
EM700416 Version: 2.0
Product overview
Sample: Limitation of the output range from -5V to +5V, calculation of the user
scaling GAIN factor
YA = 16383
dec
corresponds to the desired upper limit value of +5
V
YH = 32767
BW = 0
YA = YH x AW x 2
Û (YA - BW ) / (YH x 2
dec
dec
-16
+ B
-16
(16383 - 0) / 32767 x 2
W
) =A
-16
corresponds to the upper limit value of +10 V
corresponds to the offset of the user scaling
Calculation of the GAIN value for an upper limit value of +5V
(corresponds to a lower limit value of -5V through cancelling the sign)
W
corresponds to the user scaling gain factor (factor 0.5)
=A W =32767
Sample: Shifting of the output range from -3V to +10V, calculation of the user
scaling OFFSET value
YA = (- 9831
YH = (-32769
AW = 65536
YA = YH x AW x 2
Û YA - YH x AW x 2
) corresponds to the desired lower limit value of -3 V
dec
) corresponds to the lower limit value of -10 V
dec
dec
-16
+ B
-16
W
= B
W
corresponds to the gain factor of the user scaling (factor 1)
Calculation of the OFFSET value for the shifting of the lower limit value
to -3 V
(- 9831) - (- 32769 x 65536 x 2
-16
)
corresponds to the offset value of the user scaling of +7 V
= B W = 22938
OFFSET value
Shifting of the output value through the OFFSET is linear up to the lower (- 10V) or upper
limit value (+ 10V).
Note
User-specific output value (user default output)
The analog output value can, e.g. in the case of a failure of communication with the controller, be set to a
user-specific value. The objects 0x8020:06 [}97] (channel 1), 0x8030:06 [}97] (channel 2), 0x8040:06
[}97] (channel 3), 0x8050:06 [}97] (channel 4) activate this option (value: TRUE); the output values are
determined with the objects 0x8020:13 [}97] (channel 1), 0x8030:13 [}97] (channel 2), 0x8040:13 [}97]
(channel 3), 0x8050:13 [}97] (channel 4). If this function is disabled (value of object 0x8020:06 [}97]
(channel 1), 0x8030:06 [}97] (channel 2), 0x8040:06 [}97] (channel 3), 0x8050:06 [}97] (channel 4) is
FALSE), the manufacturer default value (0V) is output.
If the watchdog timer is deactivated (value of object 0x8020:05 [}97] (channel 1), 0x8030:05 [}97]
(channel 2), 0x8040:05 [}97] (channel 3), 0x8050:05 [}97] (channel 4) is TRUE), no default value is
output.
PLS function (Programmable Limit Switch)
The PLS function enables a certain value ("PLS output data", object 0x80A2 [}111]) to be assigned to the
digital outputs when the assigned encoder ("Encoder as PLS source", object 0x80A0:01 [}98]) has reached
a particular switch value ("PLS switch value", object 0x80A1 [}111]). Object 0x80A0:11 [}98] ("output
mask") is used to specify which of the digital outputs are allocated to the PLS function.
EM7004 17Version: 2.0
Product overview
Sample
Value in object 0x80A0:11 [}98] = 0x00FF, outputs 0-7 are assigned to the PLS function, outputs 8-15 are
not linked to the function.
If no valid table entry is available (counter reading >=0, but less than the first table entry), the value in object
0x80A0:12 [}98] ("default output") is output.
Object 0x80A1 [}111] contains up to 75 switch values ("PLS switch values"); object 0x80A2 [}111] contains
up to 75 output data ("PLS output data"). The PLS function can only be activated if the subindex :0 (number
of following subindices) for objects 0x80A1 [}111] and 0x80A2 [}111] is identical.
PLS function: Response time for triggering the outputs
The internal processing time of the terminal from reaching the PLS switch value to switch-
Note
ing of the digital outputs is specified with less than 365µs.
Code Word
Code word
The vendor reserves the authority for the basic calibration of the terminals. The code word
Note
is therefore at present reserved.
EM700418 Version: 2.0
Mounting and wiring
3 Mounting and wiring
3.1 Recommended mounting rails
Terminal Modules and EtherCAT Modules of KMxxxx and EMxxxx series, same as the terminals of the
EL66xx and EL67xx series can be snapped onto the following recommended mounting rails:
• DIN Rail TH 35-7.5 with 1 mm material thickness (according to EN 60715)
• DIN Rail TH 35-15 with 1,5 mm material thickness
Pay attention to the material thickness of the DIN Rail
Terminal Modules und EtherCAT Modules of KMxxxx and EMxxxx series, same as the ter-
Note
3.2 Dimensions
EM7004
minals of the EL66xx and EL67xx series does not fit to the DIN Rail TH 35-15 with 2,2 to
2,5 mm material thickness (according to EN 60715)!
Fig.16: EM7004 dimensions
3.3 Mounting and demounting - terminals with traction lever unlocking
The terminal modules are fastened to the assembly surface with the aid of a 35 mm mounting rail (e.g.
mounting rail TH 35-15).
Fixing of mounting rails
The locking mechanism of the terminals and couplers extends to the profile of the mounting
Note
EM7004 19Version: 2.0
rail. At the installation, the locking mechanism of the components must not come into conflict with the fixing bolts of the mounting rail. To mount the recommended mounting rails under the terminals and couplers, you should use flat mounting connections (e.g. countersunk
screws or blind rivets).
Mounting and wiring
Risk of electric shock and damage of device!
Bring the bus terminal system into a safe, powered down state before starting installation,
WARNING
disassembly or wiring of the Bus Terminals!
Mounting
• Fit the mounting rail to the planned assembly location.
and press (1) the terminal module against the mounting rail until it latches in place on the mounting
rail (2).
• Attach the cables.
Demounting
• Remove all the cables. Thanks to the KM/EM connector, it is not necessary to remove all the cables
separately for this, but for each KM/EM connector simply undo 2 screws so that you can pull them off
(fixed wiring)!
• Lever the unlatching hook on the left-hand side of the terminal module upwards with a screwdriver (3).
As you do this
◦ an internal mechanism pulls the two latching lugs (3a) from the top hat rail back into the
terminal module,
◦ the unlatching hook moves forwards (3b) and engages
EM700420 Version: 2.0
Mounting and wiring
• In the case 32 and 64 channel terminal modules (KMxxx4 and KMxxx8 or EMxxx4 and EMxxx8) you
now lever the second unlatching hook on the right-hand side of the terminal module upwards in the
same way.
• Pull (4) the terminal module away from the mounting surface.
3.4 Installation positions
Constraints regarding installation position and operating temperature range
Please refer to the technical data for a terminal to ascertain whether any restrictions re-
Attention
EM7004 21Version: 2.0
garding the installation position and/or the operating temperature range have been specified. When installing high power dissipation terminals ensure that an adequate spacing is
maintained between other components above and below the terminal in order to guarantee
adequate ventilation!
Mounting and wiring
Optimum installation position (standard)
The optimum installation position requires the mounting rail to be installed horizontally and the connection
surfaces of the EL/KL terminals to face forward (see Fig. “Recommended distances for standard installation
position”). The terminals are ventilated from below, which enables optimum cooling of the electronics through
convection. "From below" is relative to the acceleration of gravity.
Fig.17: Recommended distances for standard installation position
Compliance with the distances shown in Fig. “Recommended distances for standard installation position” is
recommended.
Other installation positions
All other installation positions are characterized by different spatial arrangement of the mounting rail - see
Fig “Other installation positions”.
The minimum distances to ambient specified above also apply to these installation positions.
EM700422 Version: 2.0
Mounting and wiring
Fig.18: Other installation positions
EM7004 23Version: 2.0
Mounting and wiring
3.5 Wiring
Otherwise the device may be damaged
Bring the bus system into a safe, de-energized state before starting installation, disassem-
Attention
Connection of the supply voltages and pin assignment
Version 1: 24Vsupply voltage via clamped joint X8
For power supply of the EM module, connect the clamped joint X8 (see Fig. Clamped joint for power supply)
with the 24V supply voltage.
bly or wiring of the terminal modules!
Fig.19: Clamped joint for power supply
Risk of damage to the module; note sum current!
Regardless of the maximum output current of the individual module channels, the maxi-
Attention
mum sum current flowing via the clamped joint X8 must not exceed 10A (see Technical
data [}14])!
Version 2: Alternative 24V module supply
The diagram shows the alternative connection of the supply voltage for the digital inputs and outputs, and
the further connection of the module.
EM700424 Version: 2.0
Mounting and wiring
Fig.20: Connection of the module with alternative power supply
Alternative 24 V power supply of the EM module
For alternative supply (US) of the EM module, connect connectors X0-X3 (see Fig. Connec-
Note
tion of the module with alternative power supply)
• the positive supply voltage to terminal location +24V
• the negative supply voltage to terminal location 0V
Connection for clamped joints X0 - X1
Digital inputs, channel 0 - 15 (16 channels)
(with connector ZS2001-0002 or ZS2001-0004)
EM7004 25Version: 2.0
Mounting and wiring
Connection Terminal point on EM/KM plug connector
24V 24 X0
Input 0 0 X0
Input 1 1 X0
Input 2 2 X0
Input 3 3 X0
Input 4 4 X0
Input 5 5 X0
Input 6 6 X0
Input 7 7 X0
0V 0V X0
24V 24 X1
Input 8 0 X1
Input 9 1 X1
Input 10 2 X1
Input 11 3 X1
Input 12 4 X1
Input 13 5 X1
Input 14 6 X1
Input 15 7 X1
0V 0V X1
Connection for clamped joints X2 – X3
Digital outputs, channel 0 - 15 (16 channels)
(with connector ZS2001-0002 or ZS2001-0004)
Connection Terminal point on EM/KM plug connector
24V 24 X2
Output 0 0 X2
Output 1 1 X2
Output 2 2 X2
Output 3 3 X2
Output 4 4 X2
Output 5 5 X2
Output 6 6 X2
Output 7 7 X2
0V 0V X2
24V 24 X3
Output 8 8 X3
Output 9 9 X3
Output 10 10 X3
Output 11 11 X3
Output 12 12 X3
Output 13 13 X3
Output 14 14 X3
Output 15 15 X3
0V 0V X3
EM700426 Version: 2.0
Mounting and wiring
Connection for clamped joints X4 – X7
Incremental encoder and analog outputs
(with connector ZS2001-0005)
Connection Terminal point on EM/KM plug connector
Encoder 1, input A 1 X4
Encoder 1, input /A 2 X4
Encoder 1, input B 3 X4
Encoder 1, input /B 4 X4
Encoder 1, Gate 5 X4
Encoder 1, Latch 6 X4
Ground 7 X4
Analog output 1, +10V 8 X4
Analog output 1, -10 V 9 X4
Shield 10 X4
Encoder 2, input A 1 X5
Encoder 2, input /A 2 X5
Encoder 2, input B 3 X5
Encoder 2, input /B 4 X5
Encoder 2, Gate 5 X5
Encoder 2, Latch 6 X5
Ground 7 X5
Analog output 2, +10 V 8 X5
Analog output 2, -10 V 9 X5
Shield 10 X5
Encoder 3, input A 1 X6
Encoder 3, input /A 2 X6
Encoder 3, input B 3 X6
Encoder 3, input /B 4 X6
Encoder 3, Gate 5 X6
Encoder 3, Latch 6 X6
Ground 7 X6
Analog output 3, +10 V 8 X6
Analog output 3, -10 V 9 X6
Shield 10 X6
Encoder 4, input A 1 X7
Encoder 4, input /A 2 X7
Encoder 4, input B 3 X7
Encoder 4, input /B 4 X7
Encoder 4, Gate 5 X7
Encoder 4, Latch 6 X7
Ground 7 X7
Analog output 4, +10 V 8 X7
Analog output 4, -10 V 9 X7
Shield 10 X7
EM7004 27Version: 2.0
Mounting and wiring
3.6 Connection technology
The digital inputs and outputs can be connected in
• single-conductor (see example, terminal point 0),
• two-conductor (see example, terminal point 3), or
• three-conductor mode (see example, terminal point 6)
.
Input circuits
Fig.21: Input circuits single-, two- and three-conductor mode
EM700428 Version: 2.0
Output circuits
Mounting and wiring
Fig.22: Output circuits single-, two- and three-conductor mode
EM7004 29Version: 2.0
Commissioning
4 Commissioning
4.1 TwinCAT Quick Start
TwinCAT is a development environment for real-time control including multi-PLC system, NC axis control,
programming and operation. The whole system is mapped through this environment and enables access to a
programming environment (including compilation) for the controller. Individual digital or analog inputs or
outputs can also be read or written directly, in order to verify their functionality, for example.
For further information please refer to http://infosys.beckhoff.com:
• EtherCAT Systemmanual:
Fieldbus Components → EtherCAT Terminals → EtherCAT System Documentation → Setup in the
TwinCAT System Manager
• TwinCAT2 → TwinCAT System Manager → I/O - Configuration
• In particular, TwinCAT driver installation:
Fieldbus components → Fieldbus Cards and Switches → FC900x – PCI Cards for Ethernet →
Installation
Devices contain the terminals for the actual configuration. All configuration data can be entered directly via
editor functions (offline) or via the "Scan" function (online):
• "offline": The configuration can be customized by adding and positioning individual components.
These can be selected from a directory and configured.
◦ The procedure for offline mode can be found under http://infosys.beckhoff.com:
TwinCAT2 → TwinCAT System Manager → IO - Configuration → Adding an I/O Device
• "online": The existing hardware configuration is read
◦ See also http://infosys.beckhoff.com:
Fieldbus components → Fieldbus cards and switches → FC900x – PCI Cards for Ethernet
→ Installation → Searching for devices
The following relationship is envisaged from user PC to the individual control elements:
EM700430 Version: 2.0