Beckhoff EP4174-0002 Documentation
Documentation
EP4174-0002
EtherCAT Box with configurable analog outputs
Version:
Date:
1.1.0
2018-12-06
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 Product overview.......................................................................................................................................8
2.1 EtherCAT Box - Introduction..............................................................................................................8
2.2 EP4174-0002 - Introduction.............................................................................................................10
2.3 EP4174-0002 - Technical data ........................................................................................................11
2.4 EP4174 - Status LEDs.....................................................................................................................12
2.5 EP4174-0002 - Process image........................................................................................................13
3 Mounting and connection.......................................................................................................................14
3.1 Mounting..........................................................................................................................................14
3.1.1 Dimensions ...................................................................................................................... 14
3.1.2 Fixing ............................................................................................................................... 15
3.1.3 Nut torque for connectors ................................................................................................ 16
3.1.4 Additional checks............................................................................................................. 17
3.2 Connection ......................................................................................................................................18
3.2.1 EtherCAT connection....................................................................................................... 18
3.2.2 EtherCAT - Fieldbus LEDs .............................................................................................. 20
3.2.3 Power Connection ........................................................................................................... 21
3.2.4 Power cables ................................................................................................................... 24
3.2.5 Power cable conductor losses M8 ................................................................................... 26
3.2.6 EP4174-0002 - Signal connection ................................................................................... 27
3.3 UL Requirements.............................................................................................................................28
3.4 ATEX notes .....................................................................................................................................30
3.4.1 ATEX - Special conditions ............................................................................................... 30
3.4.2 BG2000-0000 - EtherCAT Box protection enclosure....................................................... 31
3.4.3 ATEX Documentation ...................................................................................................... 32
4 Commissioning/Configuration ...............................................................................................................33
4.1 Inserting into the EtherCAT network................................................................................................33
4.2 Configuration via TwinCAT..............................................................................................................36
4.3 Object overview ...............................................................................................................................44
4.4 Object description and parameterization .........................................................................................47
4.4.1 Objects to be parameterized during commissioning........................................................ 47
4.4.2 Objects for regular operation ........................................................................................... 52
4.4.3 Standard objects (0x1000-0x1FFF) ................................................................................. 52
4.4.4 Profile-specific objects (0x6000-0xFFFF) ........................................................................ 55
4.5 Restoring the delivery state .............................................................................................................57
5 Appendix ..................................................................................................................................................59
5.1 General operating conditions...........................................................................................................59
5.2 EtherCAT Box- / EtherCATPBox - Accessories ............................................................................60
5.3 Support and Service ........................................................................................................................61
EP4174-0002 3Version: 1.1.0
Table of contents
EP4174-00024 Version: 1.1.0
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 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®, EtherCATP®, SafetyoverEtherCAT®, 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.
EP4174-0002 5Version: 1.1.0
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 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.
EP4174-00026 Version: 1.1.0
Foreword
1.3 Documentation issue status
Version Modifications
1.1.0 • Update Safety instructions
• Correction chapter Power cable
• Update chapter Mounting
1.0.0 • Migration
0.5 • 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 arecontinuously 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
Version
1.1.0 02 11
1.0.0 02 10
0.5 01 00
The firmware and hardware version (delivery state) can be found in the serial number printed on the side of
the EtherCATBox.
Syntax of the serial number
Structure of the serial number: WWYYFFHH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with ser. no.: 55 09 01 00:
55 - week of production 55
09 - year of production 2009
01 - firmware version 01
00 - hardware version 01
EP4174-0002
Firmware Hardware
EP4174-0002 7Version: 1.1.0
Product overview
2 Product overview
2.1 EtherCAT Box - Introduction
The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. 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 126x30x26.5 mm (hxw xd) 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 M8connectors.
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 M12connectors.
The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:
• digital inputs with different filters (3.0ms or 10μs)
• digital outputs with 0.5 or 2A output current
• analog inputs and outputs with 16bit resolution
• Thermocouple and RTD inputs
• Stepper motor modules
XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.
EP4174-00028 Version: 1.1.0
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
Product overview
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.
EP4174-0002 9Version: 1.1.0
Product overview
2.2 EP4174-0002 - Introduction
Fig.4: EP4174-0002
EtherCAT Box with four configurable analog outputs
The EP4174-0002 EtherCAT Box has four analog outputs which can be individually parameterized, so that
they generate signals either in the -10 to +10V range or the 0/4…20mA range.
The voltage or output current is fed to the process level, electrically isolated with a resolution of 15bit
(default). The output scaling can be changed if required.
Ground potential for the four output channels is common with the 24VDC supply. The analog actuators are
fed from the load voltage (freely selectable up to 30VDC). The applied load voltage is available for supplying
actuators in further EtherCAT Box modules.
EP4174-000210 Version: 1.1.0
Product overview
2.3 EP4174-0002 - Technical data
Technical data EP4174-0002
Fieldbus EtherCAT
Fieldbus connection 2 x M8 socket (green)
Number of outputs 4
Connection outputs [}27]
Signal type Configurable:
Load > 5kΩ | <500Ω
Resolution 16bit (including sign)
Conversion time <4ms
Measuring error < 0,1% (relative to full scale value)
Supply of the module circuitry From the control voltage Us
Current consumption of the module circuitry typically 120mA
Sensor supply from load supply voltage Up, DC, any value up to 30V
Power supply connection Power supply: 1 x M8 plug, 4-pin
Process image Outputs: 4 x 16bit
Electrical isolation Control voltage/ fieldbus: yes
Permissible ambient temperature during
operation
Permissible ambient temperature during
storage
Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/ emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP65, IP66, IP67 (according to EN 60529)
Approvals
Installation position variable
M12 sockets
0…+10V
-10…+10V
0…20mA
4…20mA
Onward connection: 1 x M8 socket, 4-pin
-25°C ... +60°C
0°C ... +55 °C (according to cULus, see UL requirements
[}28])
0°C ... +55°C (according to ATEX, see special conditions
[}30])
-25°C ... +85°C
CE, cULus [}28], ATEX [}30]
EP4174-0002 11Version: 1.1.0
Product overview
2.4 EP4174 - Status LEDs
Fig.5: EP4174 LEDs
Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 1-4 R
left
E
right
Power supply
LED Display Meaning
Us off the power supply voltage, Us, is not present
green illuminated the power supply voltage, Us, is present
Up off the power supply voltage, Up, is not present
green illuminated The power supply voltage, Up, is present
off No data transfer to the D/A converter
green Data transfer to the D/A converter
off Function OK
red Error: Broken wire or measured value outside the measuring
range
EP4174-000212 Version: 1.1.0
2.5 EP4174-0002 - Process image
Product overview
Fig.6: EP4174-0002 - Process image
AO Outputs Channel1
The data for the first analog channel can be found under AO Outputs Channel1.
AO Outputs Channel2 to 4
The data of analog channels 2 to 4 have the same structure as those of the first channel.
EP4174-0002 13Version: 1.1.0
Mounting and connection
3 Mounting and connection
3.1 Mounting
3.1.1 Dimensions
Fig.7: Dimensions of the EtherCAT Box Modules
All dimensions are given in millimeters.
Housing properties
EtherCAT Box lean body wide bodies
Housing material PA6 (polyamide)
Casting compound Polyurethane
Mounting two fastening holes Ø3mm for M3 two fastening holes Ø3mm for M3
two fastening holes Ø4.5mm for M4
Metal parts Brass, nickel-plated
Contacts CuZn, gold-plated
Power feed through max. 4A (M8)
max. 16A (7/8“)
max. 15.5A (B17 5G 1.5mm2)
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions
(HxWxD)
app. 126 x 30 x 26.5mm app. 126 x 60 x 26,5mm
app. 150 x 60 x 26.5mm (without 7/8", B17)
EP4174-000214 Version: 1.1.0
Mounting and connection
3.1.2 Fixing
Note or pointer
While mounting the modules, protect all connectors, especially the IP-Link, against contamination!
Only with connected cables or plugs the protection class IP67 is guaranteed! Unused connectors
have to be protected with the right plugs! See for plug sets in the catalogue.
Modules with narrow housing are mounted with two M3 bolts.
Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners or
mounted with two M4 bolts to the fixing holes located centrally.
The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.
When assembling, remember that the fieldbus connectors increases the overall height. See chapter
accessories.
Mounting Rail ZS5300-0001
The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.
The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail
has got 5.3 mm slots to mount it via M5 screws to the machine.
Fig.8: Mounting Rail ZS5300-000
The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm
between two modules. The rail can be cut to length for the application.
Mounting Rail ZS5300-0011
The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4
treads to fix 60 mm wide modules via their middle holes.
Up to 14 narrow or 7 wide modules may be mixed mounted.
EP4174-0002 15Version: 1.1.0
Mounting and connection
3.1.3 Nut torque for connectors
M8 connectors
It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque control
screwdriver ZB8800 is also a max. torque of 0.5Nm permissible.
Fig.9: EtherCAT Box with M8 connectors
M12 connectors
It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.
Fig.10: EtherCAT Box with M8 and M12 connectors
EP4174-000216 Version: 1.1.0
7/8" plug connectors
We recommend fastening the 7/8" plug connectors with a torque of 1.5Nm.
Fig.11: 7/8" plug connectors
Torque socket wrenches
Mounting and connection
Fig.12: ZB8801 torque socket wrench
Ensure the right torque
Use the torque socket wrenches available by Beckhoff to pull the connectors tight (ZB8800,
ZB8801-0000)!
3.1.4 Additional checks
The boxes have undergone the following additional tests:
Verification Explanation
Vibration 10 frequency runs in 3 axes
5Hz < f < 60Hz displacement 0.35mm, constant amplitude
60.1Hz < f < 500Hz acceleration 5g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
35g, 11ms
EP4174-0002 17Version: 1.1.0
Mounting and connection
3.2 Connection
3.2.1 EtherCAT connection
For the incoming and ongoing EtherCAT connection,
• the EtherCAT Box (EPxxxx) has two M8 sockets, marked in green
• the Coupler Box (FBB-x110) has two M12 sockets
Fig.13: EtherCAT Box: M8, 30mm housing
Fig.14: EtherCAT Box: M860mm housing (example: EP9214)
Fig.15: Coupler Box: M12
Assignment
There are various different standards for the assignment and colors of connectors and cables for Ethernet/
EtherCAT.
EP4174-000218 Version: 1.1.0
Mounting and connection
Ethernet/EtherCAT Plug connector Cable Standard
Signal Description M8 M12 RJ45
Tx + Transmit Data+ Pin 1 Pin 1 Pin 1 yellow
Tx - Transmit Data- Pin 4 Pin 3 Pin 2 orange
Rx + Receive Data+ Pin 2 Pin 2 Pin 3 white
Rx - Receive Data- Pin 3 Pin 4 Pin 6 blue
Shield Shield Housing Shroud Screen Screen Screen
1
) colored markings according to EN 61918 in the four-pin RJ45 connector ZS1090-0003
2
) wire colors according to EN 61918
3
) wire colors
1
ZB9010, ZB9020,
ZB9030, ZB9032,
ZK1090-6292,
ZK1090-3xxx-xxxx
2
2
2
2
ZB9031 and old versions
of ZB9030, ZB9032,
ZK1090-3xxx-xxxx
orange/white
orange
blue/white
3
blue
3
3
3
TIA-568B
white/orange
orange
white/green
green
Assimilation of color coding for cable ZB9030, ZB9032 and ZK1090-3xxxx-xxxx (with
M8 connectors)
For unification the prevalent cables ZB9030, ZB9032 and ZK1090-3xxx-xxxx this means the pre assembled cables with M8 connectors were changed to the colors of EN61918 (yellow, orange, white,
blue).So different color coding exists. But the electrical properties are absolutely identical.
EtherCAT connector
The following connectors can be supplied for use in Beckhoff EtherCAT systems.
Name Connector Comment
ZS1090-0003 RJ45 four-pole, IP20, field-configurable
ZS1090-0004 M12, male four-pin, IP67, for field assembly
ZS1090-0005 RJ45 eight-pole, IP20, field-configurable, suitable for gigabit Ethernet
ZS1090-0006 M8 plug connector four-pole, IP67, field-configurable, for cable type ZB903x
ZS1090-0007 M8 socket four-pole, IP67, field-configurable, for cable type ZB903x
ZS1090-1006 M8 plug connector four-pole, IP67, field-configurable up to OD=6.5mm
ZS1090-1007 M8 socket four-pole, IP67, field-configurable up to OD=6.5mm
EP4174-0002 19Version: 1.1.0
Loading...