Beckhoff EP3752-0000 User Manual

Documentation | EN

EP3752-0000

2 x 3-axis accelerometers

2020-08-20 | Version: 1.2

Table of contents

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Notes on the documentation..............................................................................................................5

1.2 Safety instructions .............................................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

2 EtherCAT Box - Introduction ....................................................................................................................8

3 Product overview.....................................................................................................................................10

3.1 Introduction......................................................................................................................................10

3.2 Technical data .................................................................................................................................11

3.3 Process image.................................................................................................................................13

4 Mounting and cabling..............................................................................................................................14

4.1 Mounting..........................................................................................................................................14

4.1.1 Dimensions ...................................................................................................................... 14

4.1.2 Fixing ............................................................................................................................... 15

4.1.3 Nut torque for connectors ................................................................................................ 15

4.2 Supply voltages ...............................................................................................................................16

4.2.1 Connectors ...................................................................................................................... 16

4.2.2 Status LEDs..................................................................................................................... 17

4.2.3 Conductor losses ............................................................................................................. 17

4.3 EtherCAT.........................................................................................................................................18

4.3.1 Connectors ...................................................................................................................... 18

4.3.2 Status LEDs..................................................................................................................... 19

4.3.3 Cables.............................................................................................................................. 19

4.4 UL Requirements.............................................................................................................................20

5 Commissioning/Configuration ...............................................................................................................21

5.1 Integration in TwinCAT ....................................................................................................................21

5.2 Acceleration sensors .......................................................................................................................22

5.2.1 Settings............................................................................................................................ 23

5.2.2 Filter................................................................................................................................. 25

5.2.3 Inclination measurement.................................................................................................. 26

5.3 Restoring the delivery state .............................................................................................................28

5.4 Decommissioning ............................................................................................................................29

6 CoE parameters .......................................................................................................................................30

6.1 Object overview ...............................................................................................................................30

6.2 Object description and parameterization .........................................................................................34

7 Appendix ..................................................................................................................................................45

7.1 General operating conditions...........................................................................................................45

7.2 Accessories .....................................................................................................................................46

7.3 Version identification of EtherCAT devices .....................................................................................47

7.3.1 Beckhoff Identification Code (BIC)................................................................................... 51

7.4 Support and Service ........................................................................................................................53

EP3752-0000 3Version: 1.2

Table of contents

EP3752-00004 Version: 1.2

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 documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.

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.

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 the
data, 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 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, EP1456722, EP2137893, DE102015105702 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.

EP3752-0000 5Version: 1.2

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 instructions

In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow this safety instruction endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow this safety instruction can lead to injuries to persons.

NOTE

Damage to environment/equipment or data loss

Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer

This symbol indicates information that contributes to better understanding.

EP3752-00006 Version: 1.2

Foreword

1.3 Documentation issue status

Version Comment

1.2 • Technical data updated

• Structure update

1.1 • Corrections

• "Resolution" section added ("Technical data" chapter)

1.0 • First release

0.3 • Corrections

0.2 • Corrections

0.1 • First preliminary version

Firmware and hardware versions

This documentation refers to the firmware and hardware version that was applicable at the time the
documentation was written.

The module features are continuously improved and developed further. Modules having earlier production
statuses cannot have the same properties as modules with the latest status. However, existing properties
are retained and are not changed, so that older modules can always be replaced with new ones.

Documentation Firmware Hardware

1.2 02 05

1.1 02 03

1.0 01 02

The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on
the side of the EtherCAT Box.

Syntax of the batch number (D-number)

D: WW YY FF HH

WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version

Further information on this topic: Version identification of EtherCAT devices [}47].

Example with D no. 29 10 02 01:

29 - week of production 29
10 - year of production 2010
02 - firmware version 02
01 - hardware version 01

EP3752-0000 7Version: 1.2

EtherCAT Box - Introduction

2 EtherCAT Box - Introduction

The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through
the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an
additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.

The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus
Box extension modules. They are thus particularly suitable for use where space is at a premium. The small
mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The
EtherCAT connection is established via screened M8connectors.

Fig.1: EtherCAT Box Modules within an EtherCAT network

The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control
cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally
prepared for wet, dirty or dusty conditions.

Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so
that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, field­configurable connectors and cables are available for maximum flexibility. Depending on the application, the
sensors and actuators are connected through M8 or M12connectors.

The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:

• digital inputs with different filters (3.0ms or 10μs)

• digital outputs with 0.5 or 2A output current

• analog inputs and outputs with 16bit resolution

• Thermocouple and RTD inputs

• Stepper motor modules

XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.

EP3752-00008 Version: 1.2

Fig.2: EtherCAT Box with M8 connections for sensors/actuators

EtherCAT Box - Introduction

Fig.3: EtherCAT Box with M12 connections for sensors/actuators

Basic EtherCAT documentation

You will find a detailed description of the EtherCAT system in the Basic System Documentation for
EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.

EtherCAT XML Device Description

You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our web­site (www.beckhoff.com) under Downloads, in the Configuration Files area.

EP3752-0000 9Version: 1.2

Product overview

3 Product overview

3.1 Introduction

2 x 3-axis accelerometers

The EP3752-0000 EtherCAT Box has two internal 3-axis accelerometers with 10-bit resolution and a
selectable measuring range of ±2 g, ±4 g, ±8 g and ±16 g. The maximum sampling rate is 5 kHz. The
measured values can be digitally filtered. Without filters the box operates cycle-synchronously.

Possible applications include the recording of vibrations and shocks/oscillations, but inclination
measurements in all three axes are also possible.

Through the measurement using sensors offset by 90°, the controller can carry out a plausibility check of the
data. Extended integrated filter functions enable the pre-processing and scaling of the acquired data in order
to filter out faults and relieve the controller.

EP3752-000010 Version: 1.2

Product overview

3.2 Technical data

All values are typical values over the entire temperature range, unless stated otherwise.

Technical data EP3752-0000

Fieldbus

Fieldbus EtherCAT
Connection 2x M8 socket, 4-pin, green
Electrical isolation 500V (fieldbus/ IO)
Minimum cycle time 200µs
Distributed Clocks no

Supply voltages

Connection Input: 1 x M8 plug, 4-pin, black

Downstream connection: 1 x M8 socket, 4-pin, black
Control voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 4A
Current consumption from U
Peripheral voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 4A
Current consumption from U

Acceleration sensors

Sensor type Two 3-axis sensors / offset by 90°
Resolution1)

Representation

Measuring range
Sampling rate 200Hz to 5kHz

Environmental conditions

Ambient temperature
during operation

Ambient temperature
during storage

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP65, IP66, IP67 conforms to EN 60529

Mechanics

Dimensions approx. 126x 30x 26.5mm (without connectors)
Weight approx. 165g
Installation position variable

Approvals and conformity

Approvals

S

S

P

P

2)

120mA

None. UP is only forwarded.

Measured values: 4mg (default)

Raw values: 10-bit (default)

1)

Measured values: 1mg/LSB

Raw values: 10-bit in 16-bit (left-aligned)

1)

±2g / ±4g / ±8g / ±16g selectively

-25 .. +60°C

-25 .. +55°C according to cURus

-40.. +85°C

CE, cURus [}20]

1)

Unit of measurement: 1g = 9.81m/s2 (acceleration of gravity). 1mg = 1/1000g.

2)

The resolution depends on the parameterization of the box. See section Resolution [}12].

EP3752-0000 11Version: 1.2

Product overview

Resolution

The resolution of measured values and raw values depends on the parameters "Measuring range" and
"Sampling rate". The table below shows how these parameters influence the resolution:

Measuring range Sampling rate /

EtherCAT cycle time

±2g ≤1kHz /
±4g 8mg
±8g 16mg
±16g 48mg
±2g >1kHz /
±4g 32mg
±8g 64mg
±16g 192mg

The setting of the "Measuring range" and "Sampling rate" parameters is described in the chapter Settings
[}24].

Additional checks

The boxes have been subjected to the following checks:

Verification Explanation

Vibration 10 frequency sweeps in 3 axes

Shocks 1000 shocks in each direction, in 3 axes

≥1ms

<1ms

5Hz<f<60Hz displacement 0.35mm, constant amplitude

60.1Hz<f<500Hz acceleration 5g, constant amplitude

35g, 11ms

Raw values Measured values

10-bit 4mg

8-bit 16mg

Resolution

EP3752-000012 Version: 1.2

3.3 Process image

The data for the two accelerometers can be found under AI Inputs Channel.

• Status Error: An error occurred during communication with the accelerometer.

• Value: 16-bit acceleration value

Product overview

The assignment of the process values to the sensor axes can be found in the chapter Acceleration sensors
[}22].

EP3752-0000 13Version: 1.2

Mounting and cabling

119

126

23

3026.5

13.5

4 Mounting and cabling

4.1 Mounting

4.1.1 Dimensions

Fig.4: Dimensions

All dimensions are given in millimeters.

Housing features

Housing material PA6 (polyamide)
Sealing compound polyurethane
Mounting two fastening holes Ø 3.5 mm for M3
Metal parts brass, nickel-plated
Contacts CuZn, gold-plated
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions (H x W x D) approx. 126 x 30 x 26.5 mm (without connectors)
Weight approx. 165g

EP3752-000014 Version: 1.2

Mounting and cabling

4.1.2 Fixing

NOTE

Dirt during assembly

Dirty connectors can lead to malfunctions. Protection class IP67 can only be guaranteed if all cables and
connectors are connected.

• Protect the plug connectors against dirt during the assembly.

Mount the module with two M3 screws on the fastening holes in the corners of the module. The fastening
holes have no thread.

4.1.3 Nut torque for connectors

Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)
Torque: 0.4Nm.

EP3752-0000 15Version: 1.2

Mounting and cabling

Plug

Input

Socket

Forwarding

3 1

24

3 1

24

4.2 Supply voltages

The EtherCAT Box is supplied with two supply voltages. The supply voltages are electrically isolated in the
EtherCAT Box.

• Control voltage U

• Peripheral voltage U

S

P

Redirection of the supply voltages

The IN and OUT power connections are bridged in the module (not IP204x-Bxxx and IE204x). The supply
voltages US and UP can thus easily be transferred from EtherCATBox to EtherCATBox.

NOTE

Pay attention to the maximum permissible current!

Pay attention also for the redirection of the supply voltages US and UP, the maximum permissible current for
M8 connectors of 4A must not be exceeded!

4.2.1 Connectors

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

• Observe the color coding of the connectors:
black: Supply voltages
green: EtherCAT

Fig.5: Connectors for supply voltages

Fig.6: M8 connector

Contact Function Description Core color

1 U
2 U
3 GND
4 GND

1)

The core colors apply to cables of the type: Beckhoff ZK2020-3xxx-xxxx

S

P

S

P

Control voltage Brown
Peripheral voltage White
GND to U
GND to U

S

P

Blue
Black

1)

EP3752-000016 Version: 1.2

Mounting and cabling

Vert. Faktor: 0,45 cm / V

5 10 15 20

2

4

6

8

10

250

0

12

30

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

35

0,25 mm²

0,34 mm²

0,5 mm²
0,75 mm²

I = 2 A

Vert. Faktor: 0,45 cm / V

5 10 15 20

2

4

6

8

10

250

0

12

30

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

35

0,25 mm²

0,34 mm²

0,5 mm²

0,75 mm²

I = 4 A

4.2.2 Status LEDs

Fig.7: Status LEDs for the supply voltages

LED Display Meaning

US (control voltage) off Supply voltage US is not present

green illuminated Supply voltage US is present

UP (peripheral voltage) off Supply voltage UP is not present

green illuminated Supply voltage UP is present

4.2.3 Conductor losses

Take into account the voltage drop on the supply line when planning a system. Avoid the voltage drop being
so high that the supply voltage at the box lies below the minimum nominal voltage.

Variations in the voltage of the power supply unit must also be taken into account.

Voltage drop on the supply line

EP3752-0000 17Version: 1.2