Beckhoff EP4374, EP4374-0002 Documentation

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Documentation

EP4374

EtherCAT Box with analog inputs and outputs

Version: Date:

2.3 2019-07-15

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Safety instructions .............................................................................................................................5

1.2 Notes on the documentation..............................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

2 Product overview.......................................................................................................................................8

2.1 Product group: EtherCAT Box Modules ............................................................................................8

2.2 EP4374 - Introduction........................................................................................................................9

2.3 Technical data .................................................................................................................................10

2.4 Scope of supply ...............................................................................................................................12

2.5 Process image.................................................................................................................................13

3 Mounting and cabling..............................................................................................................................14

3.1 Mounting..........................................................................................................................................14

3.1.1 Dimensions ...................................................................................................................... 14

3.1.2 Fixing ............................................................................................................................... 15

3.2 Cabling ............................................................................................................................................16

3.2.1 Power supply ................................................................................................................... 17

3.2.2 EtherCAT ......................................................................................................................... 20

3.2.3 Analog interfaces ............................................................................................................. 22

3.3 UL Requirements.............................................................................................................................24

3.4 ATEX notes .....................................................................................................................................25

3.4.1 ATEX - Special conditions ............................................................................................... 25

3.4.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 26

3.4.3 ATEX Documentation ...................................................................................................... 27

4 Commissioning and configuration ........................................................................................................28

4.1 Configuration in TwinCAT................................................................................................................28

4.2 Parameterize signal ranges.............................................................................................................28

4.3 Object overview ...............................................................................................................................29

4.4 Object description and parameterization .........................................................................................35

4.4.1 Objects to be parameterized during commissioning........................................................ 35

4.4.2 Objects for regular operation ........................................................................................... 40

4.4.3 Standard objects (0x1000-0x1FFF) ................................................................................. 40

4.4.4 Profile-specific objects (0x6000-0xFFFF) ........................................................................ 45

4.5 Restoring the delivery state .............................................................................................................48

5 Appendix ..................................................................................................................................................49

5.1 General operating conditions...........................................................................................................49

5.2 General note on the introduction of the Beckhoff Identification Code (BIC) ....................................50

5.3 Support and Service ........................................................................................................................52

EP4374 3Version: 2.3

Table of contents

EP43744 Version: 2.3

Foreword

1 Foreword

1.1 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.

EP4374 5Version: 2.3

Foreword

1.2 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.

© 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.

EP43746 Version: 2.3

Foreword

1.3 Documentation issue status

Version Modifications

2.3 • Technical data corrected and sorted

• Optimizations

2.2 • Preliminary version

2.1 • Safety instructions new layout

• EP4374 - Introduction updated

• Chapter Mounting updated

2.0 • Migration

1.1 • Power Connection updated

1.0 • First release

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 Version

2.3 04 08

2.1 04 08

2.0 03 06

1.0 01 00

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

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) [}50].

EP4374-0002

Firmware Hardware

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

EP4374 7Version: 2.3

Product overview

Power

EtherCAT

...

2 Product overview

2.1 Product group: EtherCAT Box Modules

EtherCAT Box modules are I/O modules for industrial controllers.

They comply with protection class IP67 and are intended for use outside the control cabinet in wet, dirty or dusty industrial environments.

EtherCAT Box modules communicate with the controller via the EtherCAT fieldbus. They each have two connections for EtherCAT communication and for the power supply:

• Feed

• Downstream connection

This enables the cabling of EtherCAT Box modules in a line structure:

Fig.1: EtherCAT Box modules: Example of cabling in a line structure

EP43748 Version: 2.3

2.2 EP4374 - Introduction

Product overview

Fig.2: EP4374-0002

EtherCAT Box with analog inputs and outputs

EP4374-0002 has two analog inputs and two analog outputs. The signal range can be individually parameterized for each analog input and output:

• -10 .. +10V

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

Quick links

• Installation [}14]

• Configuration [}28]

• UL requirements [}24]

EP4374 9Version: 2.3

Product overview

2.3 Technical data

Technical data EP4374-0002

Fieldbus

Fieldbus EtherCAT Connection 2 x M8 socket, green Electrical isolation 500V (fieldbus/ IO) Process image Inputs: 2 x 16bit

Outputs: 2 x 16bit

Supply

Connection Feed: 1 x M8 plug, 4-pin

Downstream connection: 1 x M8 socket, 4-pin Current carrying capacity of the connections 4A per US and U Control voltage U

Peripheral voltage U

24VDC (-15% / +20%)

0 .. 30V

Supply of the module electronics from the control voltage U Current consumption of the module

typically 120mA electronics

Sensor supply (Analog input channels)

Actuator supply (Analog output channels)

from the peripheral voltage UP,

not short-circuit protected

from the peripheral voltage UP,

not short-circuit protected

Analog inputs

Number 2 Connection

Signal range

M12 sockets, 5-pin. Pin assignment [}22]

Parameterizable [}28]:

• -10 .. +10V (default)

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

Electrical specifications [}11]

Analog outputs

Number 2 Connection

Output signal range

M12 sockets, 5-pin. Pin assignment [}22]

Parameterizable [}28]:

• -10 .. +10V (default)

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

Electrical specifications [}11]

Environmental conditions

Ambient temperature during operation -25 .. +60°C

0 .. +55°C according to cURus [}24]

0 .. +55°C according to ATEX [}25] Ambient temperature during storage -40 .. +85°C Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27;

see also Additional checks [}12]. EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4 Protection class IP65, IP66, IP67 conforms to EN60529

EP437410 Version: 2.3

Product overview

Technical data EP4374-0002

Mechanics

Weight approx.165g Mounting position variable

Approvals and conformity

Approvals

Analog inputs

The signal range can be switched during operation. The following table shows the electrical specifications depending on the selected signal range.

Technical data Signal range

-10 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA

Input type Differential Input resistance >200kΩ >200kΩ 85Ω typ. + diode

Digital resolution 16-bit 15-bit 15-bit 15-bit Measuring error < 0.3% relative to full scale value Conversion time approx. 100µs Input filter limit frequency 5kHz Value of the least significant

bit

approx. 305µV approx. 305µV approx. 610µA approx. 488µA

CE, cURus [}24], ATEX [}25]

voltage

85Ω typ. + diode voltage

The analog inputs and outputs have a common analog ground potential. The analog ground potential is electrically isolated from all other ground potentials in the box.

Analog outputs

The output signal range can be switched during operation. The following table shows the electrical specifications depending on the selected output signal range.

Technical data Output signal range

-10 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA

Load resistor / load >5kΩ >5kΩ <500Ω <500Ω Digital resolution 16-bit 15-bit 15-bit 15-bit Output error < 0.1 % (ambient temperature 0 °C ... +55 °C)

< 0.2 % (ambient temperature < 0 °C or > 55 °C)

related to the final value. Conversion time approx. 40µs Value of the least significant

bit

The analog inputs and outputs have a common analog ground potential. The analog ground potential is electrically isolated from all other ground potentials in the box.

approx. 305µV approx. 305µV approx. 610µA approx. 488µA

EP4374 11Version: 2.3

Product overview

Additional checks

The boxes have been subjected to the following checks:

Verification Explanation

Vibration 10 frequency sweeps in 3 axes

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

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

Shocks 1000 shocks in each direction, in 3 axes

35g, 11ms

2.4 Scope of supply

Make sure that the following components are included in the scope of delivery:

• 1x EP4374-0002 EtherCAT Box

• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)

• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)

• 1x protective cap for supply voltage output, M8, black (pre-assembled)

• 10x labels, blank (1 strip of 10)

Pre-assembled protective caps do not ensure IP67 protection

Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.

Ensure that the protective caps are correctly seated to ensure IP67 protection.

EP437412 Version: 2.3

2.5 Process image

AI Inputs Channel1

Product overview

The data for the first analog channel can be found under AI Inputs Channel1.

• Underrange: Value of the analog input is less than 0/4mA or -10/0V

• Overrange: Value of the analog input is greater than 20mA or +10V

• Limit1: with activated limit 1 (object 0x80x0:07 [}37]= 1) means 1: value less than limit 1 (set in object 0x80x0:13 [}37]) 2: value greater than limit 1 (set in object 0x80x0:13 [}37]) 3: value equal to limit 1 (set in object 0x80x0:13 [}37])

• Limit2: with activated limit 2 (object 0x80x0:08 [}37]= 1) means 1: value less than limit 2 (set in object 0x80x0:14 [}37]) 2: value greater than limit 2 (set in object 0x80x0:14 [}37]) 3: value equal to limit 2 (set in object 0x80x0:14 [}37])

• Error: This bit is set if overrange or underrange was detected.

AI Inputs Channel2

The data of the second analog channelhave the same structure as those of the first channel.

AO Outputs Channel3

The data for the third analog channel can be found under AO Outputs Channel3.

AO Outputs Channel4

The data of the forth analog channelhave the same structure as those of the third channel.

EP4374 13Version: 2.3

Mounting and cabling

119

126

3026.5

13.5

Ø 3.5

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

Fig.3: 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 Power feed through max. 4A Mounting 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

EP437414 Version: 2.3

Mounting and cabling

3.1.2 Fixing

NOTE

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.

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

EP4374 15Version: 2.3

Mounting and cabling

X60 X61

X40 X41

3.2 Cabling

Guidelines

Follow these guidelines to ensure IP67 protection:

• Mount plugs with the torque values specified below. Use a torque wrench, e.g. Beckhoff ZB8801.

• Seal unused connectors with protective caps.

• Ensure the correct seating of pre-assembled protective caps. Protective caps are pre-assembled at the factory to protect connectors during transport. They may not be tight enough to ensure IP67 protection.

Connector overview

Fig.4: Connector overview

Name Connector

type

Tightening torque

1 M12 0.6Nm 2 3 M12 0.6Nm 4 X40 M8 0.4Nm X41 X60 M8 0.4Nm X61

Function

Analog inputs [}22]

Analog outputs [}22]

EtherCAT [}20]

Power supply [}17]

EP437416 Version: 2.3

Mounting and cabling

3.2.1 Power supply

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

• The control voltage US is the supply voltage for:

◦ processor logic

◦ fieldbus logic

◦ analog inputs and outputs

• The peripheral voltage UP is the supply voltage for:

◦ External sensors: M12 sockets 1 and 2

◦ External actuators: M12 sockets 3 and 4

3.2.1.1 Connection

NOTE

Supply voltages can destroy EtherCAT interfaces

Connectors for supply voltages have the same design as connectors for EtherCAT. They are not protected against mismating.

Avoid mismating.

Observe the color coding of the connectors: Power supply: black EtherCAT: green

Two M8 connectors at the low-end of the modules are used for feeding and routing the supply voltages:

• IN: left M8 connector for feeding the supply voltages

• OUT: right M8 connector for forwarding the supply voltages

Fig.5: Connections for power supply

Pin assignment

Fig.6: M8 connector

Pin Voltage Core colors

1 Control voltage U 2 Peripheral voltage U 3 GND 4 GND

The core colors apply to Beckhoff ZK2020-xxxx-xxxx cables

Brown White Blue Black

EP4374 17Version: 2.3

Mounting and cabling

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!

3.2.1.2 Status LEDs

Fig.7: Status LEDs for the power supply

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

EP437418 Version: 2.3

Mounting and cabling

3.2.1.3 Power cable conductor losses M8

The ZK2020-xxxx-yyyy power cables should not exceed the total length of 15m at 4A (with continuation). When planning the cabling, note that at 24V nominal voltage, the functionality of the module can no longer be assured if the voltage drop reaches 6V. Variations in the output voltage from the power supply unit must also be taken into account.

Fig.8: Power cable conductor losses

Example

8m power cable with 0.34mm² cross-section has a voltage drop of 3.2V at 4A.

EP92x4 Power Distribution Modules

With EP9214 and EP9224 Power Distribution Modules intelligent concepts for voltage supply are available. Further information may be found under www.beckhoff.com/EP9224.

EP4374 19Version: 2.3

Mounting and cabling

3.2.2 EtherCAT

For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least category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 used between Beckhoff EtherCAT.

Detailed recommendations for the cabling of EtherCAT devices can be found at https://infosys.beckhoff.com/content/1033/ethernetcabling/index.html?id=1661412216745722148.

3.2.2.1 Connection

EtherCAT Box modules have two green M8 sockets for the incoming and outgoing EtherCAT connection.

Fig.9: EtherCAT connection

Pin assignment

Fig.10: M8 socket

EtherCAT M8 connector Core colors

Signal Pin ZB9010, ZB9020, ZB9030, ZB9032,

Tx + 1 Yellow

Tx - 4 Orange

Rx + 2 White

Rx - 3 Blue

Shield Housing Shield Shield Shield

Core colors according to EN61918

ZK1090-6292, ZK1090-3xxx-xxxx

ZB9031 and old versions of ZB9030, ZB9032, ZK1090-3xxxxxxx

orange/white white/orange

Orange orange

blue/white white/green

Blue green

TIA-568B

Adaptation of core colors for cables ZB9030, ZB9032 and ZK1090-3xxxx-xxxx

For standardization purposes, the core colors of the cables ZB9030, ZB9032 and ZK1090-3xxxxxxx have been changed to the core colors of EN61918: yellow, orange, white, blue. So there are different color codes in circulation. The electrical properties of the cables have been retained when the core colors were changed.

EP437420 Version: 2.3

Mounting and cabling

3.2.2.2 Status LEDs

Fig.11: EtherCAT Status LEDs

L/A (Link/Act)

A green LED labelled "L/A" is located next to each EtherCAT socket. The LED indicates the communication state of the respective socket:

LED Meaning

off no connection to the connected EtherCAT device lit LINK: connection to the connected EtherCAT device flashes 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 the EtherCAT network:

LED Meaning

off Slave is in "Init" state flashes uniformly Slave is in "Pre-Operational“ state flashes sporadically Slave is in "Safe-Operational" state lit Slave is in "Operational" state

A description of the EtherCAT slave states can be found under https://infosys.beckhoff.com/content/1033/ethercatsystem/1036980875.html?id=8582353789396071752.

EP4374 21Version: 2.3

Mounting and cabling

3.2.3 Analog interfaces

3.2.3.1 Connection

Fig.12: M12 socket

Pin Inputs 1 and 2 Outputs 3 and 4

Symbol Description Symbol Description

1 U

2 In+ Analog input + U 3 GND

4 In- Analog input - GND 5 Shield Shield

Sensor supply + Out Analog output

Actuator supply +

Sensor supply Ground Out GND Analog ground

Actuator supply Ground

3.2.3.2 Status LEDs

Fig.13: Status LEDs at the M12 connections

Status LEDs at M12 connections 1 and 2 (inputs)

Connection LED Display Meaning

M12 socket no. 1 and 2 R

left

E right

off No data transfer to the D/A converter green Data transfer to the D/A converter off Function OK red Error: Open circuit or measured value outside of the

measuring range (smaller than 3.5mA/-11V or larger than 21mA/11V)

Correct function is indicated if the green Run LED is on and the red Error LED is off.

Status LEDs at M12 connections 3 and 4 (outputs)

Connection LED Display Meaning

M12 socket no. 3 and 4 R

left

off No data transfer to the D/A converter green Data transfer to the D/A converter

EP437422 Version: 2.3

Mounting and cabling

3.2.3.3 Samples

Analog inputs

Fig.14: Signal connection - Analog inputs

The sensor is connected via In+ and In-. The sensor can optionally be operated/supplied with 24VDC.

Analog outputs

Fig.15: Signal connection - Analog outputs

The actuator is connected via output+/- and outputGND. The actuator can optionally be operated/supplied with 24VDC.

EP4374 23Version: 2.3

Mounting and cabling

3.3 UL Requirements

The installation of the EtherCAT Box Modules certified by UL has to meet the following requirements.

Supply voltage

CAUTION

CAUTION!

This UL requirements are valid for all supply voltages of all marked EtherCAT Box Modules! For the compliance of the UL requirements the EtherCAT Box Modules should only be supplied

• by a 24 VDC supply voltage, supplied by an isolating source and protected by means of a fuse (in accordance with UL248), rated maximum 4 Amp, or

• by a 24 VDC power source, that has to satisfy NEC class 2. A NEC class 2 power supply shall not be connected in series or parallel with another (class 2) power source!

CAUTION

CAUTION!

To meet the UL requirements, the EtherCAT Box Modules must not be connected to unlimited power sources!

Networks

CAUTION

CAUTION!

To meet the UL requirements, EtherCAT Box Modules must not be connected to telecommunication networks!

Ambient temperature range

CAUTION

CAUTION!

To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature range of 0 to 55°C!

Marking for UL

All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label.

Fig.16: UL label

EP437424 Version: 2.3

Mounting and cabling

3.4 ATEX notes

3.4.1 ATEX - Special conditions

WARNING

Observe the special conditions for the intended use of EtherCAT Box modules in potentially explosive areas – directive 94/9/EU.

• The certified components are to be installed with a BG2000-0000 or BG2000-0010 protection enclosure [}26] that guarantees a protection against mechanical hazards!

• If the temperatures during rated operation are higher than 70°C at the feed-in points of cables, lines or pipes, or higher than 80°C at the wire branching points, then cables must be selected whose temperature data correspond to the actual measured temperature values!

• Observe the permissible ambient temperature range of 0 to 55°C for the use of EtherCAT Box modules in potentially explosive areas!

• Measures must be taken to protect against the rated operating voltage being exceeded by more than 40% due to short-term interference voltages!

• The connections of the certified components may only be connected or disconnected if the supply voltage has been switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0: 2006

• EN 60079-15: 2005

Marking

The EtherCAT Box modules certified for potentially explosive areas bear the following marking:

II 3 GEx nA II T4DEKRA 11ATEX0080 XTa: 0 - 55°C

II 3 GEx nA nC IIC T4DEKRA 11ATEX0080 XTa: 0 - 55°C

Batch number (D number)

The EtherCAT Box modules bear a batch number (D number) that is structured as follows:

D: WW YY FF HH

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

Example with batch number 29 10 02 01:

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

EP4374 25Version: 2.3

Mounting and cabling

3.4.2 BG2000 - EtherCAT Box protection enclosures

WARNING

Risk of electric shock and damage of device!

Bring the EtherCAT system into a safe, powered down state before starting installation, disassembly or wiring of the modules!

ATEX

WARNING

Mount a protection enclosure!

To fulfill the special conditions according to ATEX [}25], a BG2000-0000 or BG2000-0010 protection enclosure has to be mounted over the EtherCAT Box.

Installation

Put the cables for EtherCAT, power supply and sensors/actuators through the hole of the protection enclosure.

Fig.17: BG2000 - putting the cables

Fix the wires for EtherCAT, power supply and sensors/actuators to the EtherCAT Box.

EP437426 Version: 2.3

Fig.18: BG2000 - fixing the cables

Mount the protection enclosure over the EtherCAT Box.

Mounting and cabling

Fig.19: BG2000 - mounting the protection enclosure

3.4.3 ATEX Documentation

Notes about operation of EtherCAT Box Modules (EPxxxx-xxxx) in potentially explosive areas (ATEX)

Pay also attention to the continuative documentationNotes about operation of EtherCAT Box Modules (EPxxxx-xxxx) in potentially explosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!

EP4374 27Version: 2.3

Commissioning and configuration

4 Commissioning and configuration

4.1 Configuration in TwinCAT

An EtherCAT Box must be configured in TwinCAT so that its functions can be used in a PLC program.

The following link will take you to a quick start guide describing the configuration of an EtherCAT Box in TwinCAT:

https://infosys.beckhoff.com/content/1033/epioconfiguration/index.html?id=6991403443235907429

4.2 Parameterize signal ranges

NoteAn incorrect signal range can cause damage to devices. Parameterize the signal ranges

according to the specifications of connected devices.

The signal range can be individually parameterized for each analog input and output. The parameters that define the signal range are located in the CoE directory:

Interface CoE Index

Analog input "1" F800:01 Analog input "2" F800:02 Analog output "3" F800:03 Analog output "4" F800:04

TwinCAT

Proceed as follows to change the signal range of an analog channel in TwinCAT:

1. Double-click the IO module EP4374-0002 in the IO tree.

2. Click on the "CoE - Online" tab.

ð The CoE directory is displayed

3. Search the CoE directory for the index F800:0.

4. Click on the "+" symbol to the left of Index F800:0.

ð The sub-indices of F800:0 are displayed.

5. Double-click on the subindex of the interface whose signal range you want to change.

ð A dialog box "Set Value Dialog" opens.

6. Select the signal range from the "Enum" drop-down menu.

EP437428 Version: 2.3

Commissioning and configuration

4.3 Object overview

EtherCAT XML Device Description

The display matches that of the CoE objects from the EtherCAT XML Device Description. We recommend downloading the latest XML file from the download area of the Beckhoff website and installing it according to installation instructions.

Index (hex) Name Flags Default value

1000 [}40]

1008 [}40]

1009 [}40]

100A [}40]

1011:0 [}35]

1018:0 [}40]

10F0:0 [}40]

1600:0 [}40]

1601:0 [}41]

1800:0 [}41]

1801:0 [}41]

1802:0 [}41]

1803:0 [}41]

1A00:0 [}41]

Subindex Restore default parameters RO 0x01 (1

1011:01 SubIndex 001 RW 0x00000000 (0

Subindex Identity RO 0x04 (4

1018:01 Vendor ID RO 0x00000002 (2

1018:02 Product code RO 0x11164052 (286670930

1018:03 Revision RO 0x00110002 (1114114

1018:04 Serial number RO 0x00000000 (0

Subindex Backup parameter handling RO 0x01 (1

10F0:01 Checksum RO 0x00000000 (0

Subindex AO Outputs Ch.3 RO 0x01 (1

1600:01 SubIndex 001 RO 0x7020:11, 16

Subindex AO Outputs Ch.4 RO 0x01 (1

1601:01 SubIndex 001 RO 0x7030:11, 16

Subindex AI Inputs Ch.1 RO 0x06 (6

1800:06 Exclude TxPDOs RO 01 1A

Subindex AI Inputs Compact Ch.1 RO 0x06 (6

1801:06 Exclude TxPDOs RO 00 1A

Subindex AI Inputs Ch.2 RO 0x06 (6

1802:06 Exclude TxPDOs RO 03 1A

Subindex AI Inputs Compact Ch.2 RO 0x06 (6

1803:06 Exclude TxPDOs RO 02 1A

Subindex AI Inputs Ch.1 RO 0x0B (11

1A00:01 SubIndex 001 RO 0x6000:01, 1

1A00:02 SubIndex 002 RO 0x6000:02, 1

1A00:03 SubIndex 003 RO 0x6000:03, 2

1A00:04 SubIndex 004 RO 0x6000:05, 2

1A00:05 SubIndex 005 RO 0x6000:07, 1

1A00:06 SubIndex 006 RO 0x0000:00, 1

1A00:07 SubIndex 007 RO 0x0000:00, 5

1A00:08 SubIndex 008 RO 0x6000:0E, 1

1A00:09 SubIndex 009 RO 0x6000:0F, 1

1A00:0A SubIndex 010 RO 0x6000:10, 1

1A00:0B SubIndex 011 RO 0x6000:11, 16

Device type RO 0x00001389 (5001

Device name RO EP4374-0002

Hardware version RO 00

Software version RO 02

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EP4374 29Version: 2.3

Commissioning and configuration

Index (hex) Name Flags Default value

1A01:0 [}42]

1A02:0 [}42]

1A03:0 [}42]

1C00:0 [}42]

1C12:0 [}42]

1C13:0 [}43]

1C32:0 [}43]

Subindex AI Inputs Compact Ch.1 RO 0x01 (1

1A01:01 SubIndex 001 RO 0x6000:11, 16

Subindex AI Inputs Ch.2 RO 0x0B (11

1A02:01 SubIndex 001 RO 0x6010:01, 1

1A02:02 SubIndex 002 RO 0x6010:02, 1

1A02:03 SubIndex 003 RO 0x6010:03, 2

1A02:04 SubIndex 004 RO 0x6010:05, 2

1A02:05 SubIndex 005 RO 0x6010:07, 1

1A02:06 SubIndex 006 RO 0x0000:00, 1

1A02:07 SubIndex 007 RO 0x0000:00, 5

1A02:08 SubIndex 008 RO 0x6010:0E, 1

1A02:09 SubIndex 009 RO 0x6010:0F, 1

1A02:0A SubIndex 010 RO 0x6010:10, 1

1A02:0B SubIndex 011 RO 0x6010:11, 16

Subindex AI Inputs Compact Ch.2 RO 0x01 (1

1A03:01 SubIndex 001 RO 0x6010:11, 16

Subindex Sync manager type RO 0x04 (4

1C00:01 SubIndex 001 RO 0x01 (1

1C00:02 SubIndex 002 RO 0x02 (2

1C00:03 SubIndex 003 RO 0x03 (3

1C00:04 SubIndex 004 RO 0x04 (4

Subindex RxPDO assign RW 0x02 (2

1C12:01 SubIndex 001 RW 0x1600 (5632

1C12:02 SubIndex 002 RW 0x1601 (5633

Subindex TxPDO assign RW 0x02 (2

1C13:01 SubIndex 001 RW 0x1A00 (6656

1C13:02 SubIndex 002 RW 0x1A02 (6658

Subindex SM output parameter RO 0x20 (32

1C32:01 Sync mode RW 0x0001 (1

1C32:02 Cycle time RW 0x000F4240 (1000000

1C32:03 Shift time RO 0x00002710 (10000

1C32:04 Sync modes supported RO 0xC007 (49159

1C32:05 Minimum cycle time RO 0x0007A120 (500000

1C32:06 Calc and copy time RO 0x00001388 (5000

1C32:07 Minimum delay time RO 0x00001388 (5000

1C32:08 Command RW 0x0000 (0

1C32:09 Maximum delay time RO 0x00001388 (5000

1C32:0B SM event missed counter RO 0x0000 (0

1C32:0C Cycle exceeded counter RO 0x0000 (0

1C32:0D Shift too short counter RO 0x0000 (0

1C32:20 Sync error RO 0x00 (0

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EP437430 Version: 2.3

Commissioning and configuration

Index (hex) Name Flags Default value

1C33:0 [}44]

6000:0 [}45]

6010:0 [}45]

Subindex SM input parameter RO 0x20 (32

1C33:01 Sync mode RW 0x0022 (34

1C33:02 Cycle time RW 0x000F4240 (1000000

1C33:03 Shift time RO 0x00001388 (5000

1C33:04 Sync modes supported RO 0xC007 (49159

1C33:05 Minimum cycle time RO 0x0007A120 (500000

1C33:06 Calc and copy time RO 0x00002710 (10000

1C33:07 Minimum delay time RO 0x00001388 (5000

1C33:08 Command RW 0x0000 (0

1C33:09 Maximum delay time RO 0x00001388 (5000

1C33:0B SM event missed counter RO 0x0000 (0

1C33:0C Cycle exceeded counter RO 0x0000 (0

1C33:0D Shift too short counter RO 0x0000 (0

1C33:20 Sync error RO 0x00 (0

Subindex AI Inputs Ch.1 RO 0x11 (17

6000:01 Underrange RO 0x00 (0

6000:02 Overrange RO 0x00 (0

6000:03 Limit 1 RO 0x00 (0

6000:05 Limit 2 RO 0x00 (0

6000:07 Error RO 0x00 (0

6000:0E Sync error RO 0x00 (0

6000:0F TxPDO State RO 0x00 (0

6000:10 TxPDO Toggle RO 0x00 (0

6000:11 Value RO 0x0000 (0

Subindex AI Inputs Ch.2 RO 0x11 (17

6010:01 Underrange RO 0x00 (0

6010:02 Overrange RO 0x00 (0

6010:03 Limit 1 RO 0x00 (0

6010:05 Limit 2 RO 0x00 (0

6010:07 Error RO 0x00 (0

6010:0E Sync error RO 0x00 (0

6010:0F TxPDO State RO 0x00 (0

6010:10 TxPDO Toggle RO 0x00 (0

6010:11 Value RO 0x0000 (0

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EP4374 31Version: 2.3

Commissioning and configuration

Index (hex) Name Flags Default value

7020:0 [}45]

7030:0 [}45]

8000:0 [}36]

800E:0 [}45]

800F:0 [}46]

8010:0 [}37]

Subindex AO Outputs Ch.3 RO 0x11 (17

7020:11 Analog output RO 0x0000 (0

Subindex AO Outputs Ch.4 RO 0x11 (17

7030:11 Analog output RO 0x0000 (0

Subindex AI Settings Ch.1 RW 0x18 (24

8000:01 Enable user scale RW 0x00 (0

8000:02 Presentation RW 0x00 (0

8000:05 Siemens bits RW 0x00 (0

8000:06 Enable filter RW 0x00 (0

8000:07 Enable limit 1 RW 0x00 (0

8000:08 Enable limit 2 RW 0x00 (0

8000:0A Enable user calibration RW 0x00 (0

8000:0B Enable vendor calibration RW 0x01 (1

8000:0E Swap limit bits RW 0x00 (0

8000:11 User scale offset RW 0x0000 (0

8000:12 User scale gain RW 0x00010000 (65536

8000:13 Limit 1 RW 0x0000 (0

8000:14 Limit 2 RW 0x0000 (0

8000:15 Filter settings RW 0x0000 (0

8000:17 User calibration offset RW 0x0000 (0

8000:18 User calibration gain RW 0x4000 (16384

Subindex AI Internal data Ch.1 RO 0x01 (1

800E:01 ADC raw value RO 0x0000 (0

Subindex AI Vendor data Ch.1 RW 0x06 (6

800F:01 R0 offset RW 0x0000 (0

800F:02 R0 gain RW 0x4000 (16384

800F:03 R1 offset RW 0x0000 (0

800F:04 R1 gain RW 0x4000 (16384

800F:05 R2 offset RW 0x0000 (0

800F:06 R2 gain RW 0x4000 (16384

Subindex AI Settings Ch.2 RW 0x18 (24

8010:01 Enable user scale RW 0x00 (0

8010:02 Presentation RW 0x00 (0

8010:05 Siemens bits RW 0x00 (0

8010:06 Enable filter RW 0x00 (0

8010:07 Enable limit 1 RW 0x00 (0

8010:08 Enable limit 2 RW 0x00 (0

8010:0A Enable user calibration RW 0x00 (0

8010:0B Enable vendor calibration RW 0x01 (1

8010:0E Swap limit bits RW 0x00 (0

8010:11 User scale offset RW 0x0000 (0

8010:12 User scale gain RW 0x00010000 (65536

8010:13 Limit 1 RW 0x0000 (0

8010:14 Limit 2 RW 0x0000 (0

8010:15 Filter settings RW 0x0000 (0

8010:17 User calibration offset RW 0x0000 (0

8010:18 User calibration gain RW 0x4000 (16384

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EP437432 Version: 2.3

Commissioning and configuration

Index (hex) Name Flags Default value

801E:0 [}46]

801F:0 [}46]

8020:0 [}38]

802E:0 [}46]

802F:0 [}46]

Subindex AI Internal data Ch.2 RO 0x01 (1

801E:01 ADC raw value RO 0x0000 (0

Subindex AI Vendor data Ch.2 RW 0x06 (6

801F:01 R0 offset RW 0x0000 (0

801F:02 R0 gain RW 0x4000 (16384

801F:03 R1 offset RW 0x0000 (0

801F:04 R1 gain RW 0x4000 (16384

801F:05 R2 offset RW 0x0000 (0

801F:06 R2 gain RW 0x4000 (16384

Subindex AO Settings Ch.3 RW 0x16 (22

8020:01 Enable user scale RW 0x00 (0

8020:02 Presentation RW 0x00 (0

8020:05 Watchdog RW 0x00 (0

8020:07 Enable user calibration RW 0x00 (0

8020:08 Enable vendor calibration RW 0x01 (1

8020:11 User scale offset RW 0x0000 (0

8020:12 User scale gain RW 0x00010000 (65536

8020:13 Default output RW 0x0000 (0

8020:14 Default output ramp RW 0xFFFF (65535

8020:15 User calibration offset RW 0x0000 (0

8020:16 User calibration gain RW 0x4000 (16384

Subindex AO Internal data Ch.3 RO 0x01 (1

802E:01 DAC raw value RO 0x0000 (0

Subindex AO Vendor data Ch.3 RW 0x06 (6

802F:01 R0 Calibration Offset RW 0x0000 (0

802F:02 R0 Calibration Gain RW 0x4000 (16384

802F:03 R1 Calibration Offset RW 0x0000 (0

802F:04 R1 Calibration Gain RW 0x4000 (16384

802F:05 R2 Calibration Offset RW 0x0000 (0

802F:06 R2 Calibration Gain RW 0x4000 (16384

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EP4374 33Version: 2.3

Commissioning and configuration

Index (hex) Name Flags Default value

8030:0 [}39]

803E:0 [}46]

803F:0 [}47]

F000:0 [}47]

F008 [}47]

F010:0 [}47]

F800:0 [}39]

Subindex AO Settings Ch.4 RW 0x16 (22

8030:01 Enable user scale RW 0x00 (0

8030:02 Presentation RW 0x00 (0

8030:05 Watchdog RW 0x00 (0

8030:07 Enable user calibration RW 0x00 (0

8030:08 Enable vendor calibration RW 0x01 (1

8030:11 User scale offset RW 0x0000 (0

8030:12 User scale gain RW 0x00010000 (65536

8030:13 Default output RW 0x0000 (0

8030:14 Default output ramp RW 0xFFFF (65535

8030:15 User calibration offset RW 0x0000 (0

8030:16 User calibration gain RW 0x4000 (16384

Subindex AO Internal data Ch.4 RO 0x01 (1

803E:01 DAC raw value RO 0x0000 (0

Subindex AO Vendor data Ch.4 RW 0x06 (6

803F:01 R0 Calibration Offset RW 0x0000 (0

803F:02 R0 Calibration Gain RW 0x4000 (16384

803F:03 R1 Calibration Offset RW 0x0000 (0

803F:04 R1 Calibration Gain RW 0x4000 (16384

803F:05 R2 Calibration Offset RW 0x0000 (0

803F:06 R2 Calibration Gain RW 0x4000 (16384

Subindex Modular device profile RO 0x02 (2

F000:01 Module index distance RO 0x0010 (16

F000:02 Maximum number of modules RO 0x0004 (4

Code word RW 0x00000000 (0

Subindex Module list RW 0x04 (4

F010:01 SubIndex 001 RW 0x0000012C (300

F010:02 SubIndex 002 RW 0x0000012C (300

F010:03 SubIndex 003 RW 0x00000190 (400

F010:04 SubIndex 004 RW 0x00000190 (400

Subindex AIAO Range settings RW 0x04 (4

F800:01 Input type Ch1 RW 0x0000 (0

F800:02 Input type Ch2 RW 0x0000 (0

F800:03 Output type Ch3 RW 0x0000 (0

F800:04 Output type Ch4 RW 0x0000 (0

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Legend

Flags: RO (Read Only): this object can be read only RW (Read/Write): this object can be read and written to

EP437434 Version: 2.3

Commissioning and configuration

4.4 Object description and parameterization

EtherCAT XML Device Description

Parameterization via the CoE list (CAN over EtherCAT)

The EtherCAT device is parameterized via the CoE - Online tab (double-click on the respective object) or via the Process Data tab (allocation of PDOs).

Introduction

The CoE overview contains objects for different intended applications:

• Objects required for parameterization [}35] during commissioning

• Objects intended for regular operation [}40], e.g. through ADS access.

• Objects for indicating internal settings [}40] (may be fixed)

• Further profile-specific objects [}45] indicating inputs, outputs and status information

The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.

4.4.1 Objects to be parameterized during commissioning

Index 1011 Restore default parameters

Index (hex) Name Meaning Data type Flags Default

1011:0 Restore default pa-

rameters

1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dia-

Restore default parameters UINT8 RO 0x01 (1

log, all backup objects are reset to their delivery state.

UINT32 RW 0x00000000

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EP4374 35Version: 2.3

Commissioning and configuration

Index 8000 AI Settings Ch.1

Index (hex) Name Meaning Data type Flags Default

8000:0 AI Settings Ch.1 Maximum subindex UINT8 RO 0x18 (24

8000:01 Enable user scale 0

8000:02 Presentation 0

8000:05 Siemens bits BOOLEAN RW 0x00 (0

8000:06 Enable filter 0

8000:07 Enable limit 1 0

8000:08 Enable limit 2 0

8000:0A Enable user calibra-

tion

8000:0B Enable vendor cali-

bration

8000:0E Swap limit bits 1

8000:11 User scale offset User scaling: Offset INT16 RW 0x0000 (0

8000:12 User scale gain User scaling: Gain

8000:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0

8000:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0

8000:15 Filter settings This object determines the digital filter settings, if it is ac-

8000:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8000:18 User calibration gain User calibration: Gain INT16 RW 0x4000

User scaling is not active. BOOLEAN RW 0x00 (0

bin

User scale is active.

bin

Signed presentation BIT3 RW 0x00 (0

dec

Unsigned presentation

dec

Absolute value with MSB as sign (signed amount

dec

representation)

Filter not enabled BOOLEAN RW 0x00 (0

bin

Filter enabled, which makes PLC-cycle-synchro-

bin

nous data exchange unnecessary

Limit 1 not enabled BOOLEAN RW 0x00 (0

bin

Limit 1 enabled

bin

Limit 2 not enabled BOOLEAN RW 0x00 (0

bin

Limit 2 enabled

bin

User calibration not enabled BOOLEAN RW 0x00 (0

bin

User calibration enabled

bin

Vendor calibration not enabled BOOLEAN RW 0x01 (1

bin

Vendor calibration enabled

bin

Limit bits swapped BOOLEAN RW 0x00 (0

bin

INT32 RW 0x00010000

The gain is represented in fixed-point format, with the

-16

factor 2 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFF

(0x00010000

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UINT16 RW 0x0000 (0

tive via Enable filter (index 0x80n0:06 [}36]). The possible settings are sequentially numbered.

50Hz FIR

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60Hz FIR

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IIR 1

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IIR 2

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IIR 3

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IIR 4

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IIR 5

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IIR 6

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IIR 71

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IIR 8

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(65536

(16384

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EP437436 Version: 2.3

Commissioning and configuration

Index 8010 AI Settings Ch.2

Index (hex) Name Meaning Data type Flags Default

8010:0 AI Settings Ch.2 Maximum subindex UINT8 RO 0x18 (24

8010:01 Enable user scale 0

8010:02 Presentation 0

8010:05 Siemens bits BOOLEAN RW 0x00 (0

8010:06 Enable filter 0

8010:07 Enable limit 1 0

8010:08 Enable limit 2 0

8010:0A Enable user calibra-

tion

8010:0B Enable vendor cali-

bration

8010:0E Swap limit bits 1

8010:11 User scale offset User scaling: Offset INT16 RW 0x0000 (0

8010:12 User scale gain User scaling: Gain

8010:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0

8010:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0

8010:15 Filter settings This object determines the digital filter settings, if it is ac-

8010:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8010:18 User calibration gain User calibration: Gain INT16 RW 0x4000

User scaling is not active. BOOLEAN RW 0x00 (0

bin

User scale is active.

bin

Signed presentation BIT3 RW 0x00 (0

dec

Unsigned presentation

dec

Absolute value with MSB as sign (signed amount

dec

representation)

Filter not enabled BOOLEAN RW 0x00 (0

bin

Filter enabled, which makes PLC-cycle-synchro-

bin

nous data exchange unnecessary

Limit 1 not enabled BOOLEAN RW 0x00 (0

bin

Limit 1 enabled

bin

Limit 2 not enabled BOOLEAN RW 0x00 (0

bin

Limit 2 enabled

bin

User calibration not enabled BOOLEAN RW 0x00 (0

bin

User calibration enabled

bin

Vendor calibration not enabled BOOLEAN RW 0x01 (1

bin

Vendor calibration enabled

bin

Limit bits swapped BOOLEAN RW 0x00 (0

bin

INT32 RW 0x00010000

The gain is represented in fixed-point format, with the

-16

factor 2 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFF

(0x00010000

dec

)

hex

UINT16 RW 0x0000 (0

tive via Enable filter (index 0x80n0:06 [}36]). The possible settings are sequentially numbered.

50Hz FIR

dec

60Hz FIR

dec

IIR 1

dec

IIR 2

dec

IIR 3

dec

IIR 4

dec

IIR 5

dec

IIR 6

dec

IIR 71

dec

IIR 8

dec

(65536

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP4374 37Version: 2.3

Commissioning and configuration

Index 8020 AO Settings Ch.3

Index (hex) Name Meaning Data type Flags Default

8020:0 AO Settings Ch.3 Maximum subindex UINT8 RO 0x16 (22

8020:01 Enable user scale 0

8020:02 Presentation 0

8020:05 Watchdog 0

8020:07 Enable user calibra-

tion

8020:08 Enable vendor cali-

bration

8020:11 User scale offset User scaling: Offset INT16 RW 0x0000 (0

8020:12 User scale gain User scaling: Gain

8020:13 Default output Default output value INT16 RW 0x0000 (0

8020:14 Default output ramp This value defines the ramps for the ramp-down to the

8020:15 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8020:16 User calibration gain User calibration: Gain UINT16 RW 0x4000

User scaling not active BOOLEAN RW 0x00 (0

bin

User scaling active

bin

Signed presentation

dec

The output value range 0x7pp1:11 is shown as

BIT3 RW 0x00 (0

16bit signed integer. For unipolar terminals (0-10Vor 0-20mA) the negative range is set to zero.

Unsigned presentation

dec

The output value range 0x7pp1:11 is shown as 16bit unsigned integer. Negative values are not possible.

Absolute value with MSB as sign

dec

Signed amount representation is active.

Absolute value

dec

The absolute value of the signed representation is formed.

Default watchdog value

dec

The default value (0x8pp0:13) is active.

Watchdog ramp

dec

The ramp (0x8pp0:14) for moving to the default

BIT2 RW 0x00 (0

value ((0x8pp0:13)) is active.

Last output value

dec

In the event of an error (triggering of the watchdog) the last process data is output.

User calibration not active BOOLEAN RW 0x00 (0

bin

User calibration active

bin

Manufacturer calibration not active BOOLEAN RW 0x01 (1

bin

Vendor calibration active

bin

INT32 RW 0x00010000 This is the user scaling gain. The gain is represented in fixed-point format, with the factor 2

-16

. The value one cor-

responds to 65535 (0x00010000).

UINT16 RW 0xFFFF default value. The value is specified in digits/ms.

If the entry is 100 and the default value 0, for example, it takes 327 ms (32767/100) for the output value to change from the maximum value (32767) to the default value in the event of a fault.

(65536

(65535

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP437438 Version: 2.3

Commissioning and configuration

Index 8030 AO Settings Ch.4

Index (hex) Name Meaning Data type Flags Default

8030:0 AO Settings Ch.4 Maximum subindex UINT8 RO 0x16 (22

8030:01 Enable user scale 0

8030:02 Presentation 0

8030:05 Watchdog 0

8030:07 Enable user calibra-

tion

8030:08 Enable vendor cali-

bration

8030:11 User scale offset User scaling: Offset INT16 RW 0x0000 (0

8030:12 User scale gain User scaling: Gain

8030:13 Default output Default output value INT16 RW 0x0000 (0

8030:14 Default output ramp This value defines the ramps for the ramp-down to the

8030:15 User calibration offset User calibration: Offset INT16 RW 0x0000 (0

8030:16 User calibration gain User calibration: Gain UINT16 RW 0x4000

User scaling not active BOOLEAN RW 0x00 (0

bin

User scaling active

bin

Signed presentation

dec

The output value range 0x7pp1:11 is shown as

BIT3 RW 0x00 (0

16 bit signed integer. For unipolar terminals (0-10Vor 0-20mA) the negative range is set to zero.

Unsigned presentation

dec

The output value range 0x7pp1:11 is shown as 16 bit unsigned integer. Negative values are not possible.

Absolute value with MSB as sign

dec

Signed amount representation is active.

Absolute value

dec

The absolute value of the signed representation is formed.

Default watchdog value

dec

The default value (0x8pp0:13) is active.

Watchdog ramp

dec

The ramp (0x8pp0:14) for moving to the default

BIT2 RW 0x00 (0

value ((0x8pp0:13)) is active.

Last output value

dec

In the event of an error (triggering of the watchdog) the last process data is output.

User calibration not active BOOLEAN RW 0x00 (0

bin

User calibration active

bin

Manufacturer calibration not active BOOLEAN RW 0x01 (1

bin

Vendor calibration active

bin

INT32 RW 0x00010000 This is the user scaling gain. The gain is represented in fixed-point format, with the factor 2

-16

. The value one cor-

responds to 65535 (0x00010000).

UINT16 RW 0xFFFF default value. The value is specified in digits/ms. If the entry is 100 and the default value 0, forexample, it takes 327ms (32767/100) for the output value to change from the maximum value (32767) to the default value in the event of a fault.

(65536

(65535

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index F800 AIAO Range settings

Index (hex) Name Meaning Data type Flags Default

F800:0 AIAO Range settings Maximum subindex UINT8 RO 0x04 (4

F800:01 Input type Ch1 Input signal range for channel 1 UINT16 RW 0x0000 (0

-10…+10V

dec

0...20mA

dec

4...20mA

dec

0...10V

dec

F800:02 Input type Ch2 Input signal range for channel 2 (values see channel1) UINT16 RW 0x0000 (0

F800:03 Output type Ch3 Output signal range for channel 3 UINT16 RW 0x0000 (0

-10…+10V

dec

0...20mA

dec

4...20mA

dec

0...10V

dec

F800:04 Output type Ch4 Output signal range for channel 4 (values see channel3) UINT16 RW 0x0000 (0

EP4374 39Version: 2.3

)

dec

)

dec

)

dec

)

dec

)

dec

Commissioning and configuration

4.4.2 Objects for regular operation

The EP4374 has no such objects.

4.4.3 Standard objects (0x1000-0x1FFF)

The standard objects have the same meaning for all EtherCAT slaves.

Index 1000 Device type

Index (hex) Name Meaning Data type Flags Default

1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-

tains the CoE profile used (5001). The Hi-Word contains the module profile according to the modular device profile.

Index 1008 Device name

Index (hex) Name Meaning Data type Flags Default

1008:0 Device name Device name of the EtherCAT slave STRING RO EP4374-0002

UINT32 RO 0x00001389

(5001

)

dec

Index 1009 Hardware version

Index (hex) Name Meaning Data type Flags Default

1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 00

Index 100A Software version

Index (hex) Name Meaning Data type Flags Default

100A:0 Software version Firmware version of the EtherCAT slave STRING RO 02

Index 1018 Identity

Index (hex) Name Meaning Data type Flags Default

1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4

1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002

1018:02 Product code Product code of the EtherCAT slave UINT32 RO 0x11164052

1018:03 Revision Revision numberof the EtherCAT slave; the low word (bit

0-15) indicates the special terminal number, the high word (bit 16-31) refers to the device description

1018:04 Serial number Serial number of the EtherCAT slave; the low byte (bit

0-7) of the low word contains the year of production, the high byte (bit 8-15) of the low word contains the week of production, the high word (bit 16-31) is 0

UINT32 RO 0x00110002

UINT32 RO 0x00000000

dec

)

dec

(286670930 )

(1114114

)

dec

)

dec

)

dec

Index 10F0 Backup parameter handling

Index (hex) Name Meaning Data type Flags Default

10F0:0 Backup parameter

handling

10F0:01 Checksum Checksum across all backup entries of the EtherCAT

Information for standardized loading and saving of backup entries

slave

UINT8 RO 0x01 (1

UINT32 RO 0x00000000

)

dec

Index 1600 AO Outputs Ch.3

Index (hex) Name Meaning Data type Flags Default

1600:0 AO Outputs Ch.3 PDO Mapping RxPDO 1 UINT8 RO 0x01 (1

1600:01 SubIndex 001 1. PDO Mapping entry (object 0x7020 (AO outputs Ch.3),

entry 0x11 (Analog output))

UINT32 RO 0x7020:11, 16

)

dec

)

dec

EP437440 Version: 2.3

Commissioning and configuration

Index 1601 AO Outputs Ch.4

Index (hex) Name Meaning Data type Flags Default

1601:0 AO Outputs Ch.4 PDO Mapping RxPDO 2 UINT8 RO 0x01 (1

1601:01 SubIndex 001 1. PDO Mapping entry (object 0x7030 (AO outputs Ch.4),

UINT32 RO 0x7030:11, 16 entry 0x11 (Analog output))

Index 1800 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1800:0 AI Inputs Ch.1 PDO Parameter TxPDO 1 UINT8 RO 0x06 (6

1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 1

OCTET-

STRING[2]

RO 01 1A

Index 1801 AI Inputs Compact Ch.1

Index (hex) Name Meaning Data type Flags Default

1801:0 AI Inputs Compact

PDO Parameter TxPDO 2 UINT8 RO 0x06 (6

Ch.1

1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 2

OCTET-

STRING[2]

RO 00 1A

Index 1802 AI Inputs Ch.2

)

dec

)

dec

)

dec

Index (hex) Name Meaning Data type Flags Default

1802:0 AI Inputs Ch.2 PDO Parameter TxPDO 3 UINT8 RO 0x06 (6

1802:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

that must not be transferred together with TxPDO 3

OCTET-

STRING[2]

RO 03 1A

)

dec

Index 1803 AI Inputs Compact Ch.2

Index (hex) Name Meaning Data type Flags Default

1803:0 AI Inputs Compact

Ch.2

1803:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping objects)

PDO Parameter TxPDO 4 UINT8 RO 0x06 (6

that must not be transferred together with TxPDO 4

OCTET-

STRING[2]

RO 02 1A

)

dec

Index 1A00 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

1A00:0 AI Inputs Ch.1 PDO Mapping TxPDO 1 UINT8 RO 0x0B (11

1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:01, 1 0x01 (Underrange))

1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:02, 1 0x02 (Overrange))

1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:03, 2 0x03 (Limit 1))

1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:05, 2 0x05 (Limit 2))

1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:07, 1 0x07 (Error))

1A00:06 SubIndex 006 6. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1

1A00:07 SubIndex 007 7. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5

1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:0E, 1 0x0E (Sync error))

1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:0F, 1 0x0F (TxPDO State))

1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:10, 1 0x10 (TxPDO Toggle))

1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x6000 (AI Inputs), entry

UINT32 RO 0x6000:11, 16 0x11 (Value))

dec

)

EP4374 41Version: 2.3

Commissioning and configuration

Index 1A01 AI Inputs Compact Ch.1

Index (hex) Name Meaning Data type Flags Default

1A01:0 AI Inputs Compact

Ch.1

1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry

PDO Mapping TxPDO 2 UINT8 RO 0x01 (1

UINT32 RO 0x6000:11, 16

)

dec

0x11 (Value))

Index 1A02 AI Inputs Ch.2

Index (hex) Name Meaning Data type Flags Default

1A02:0 AI Inputs Ch.2 PDO Mapping TxPDO 3 UINT8 RO 0x0B (11

1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:01, 1 0x01 (Underrange))

1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:02, 1 0x02 (Overrange))

1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:03, 2 0x03 (Limit 1))

1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:05, 2 0x05 (Limit 2))

1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:07, 1 0x07 (Error))

1A02:06 SubIndex 006 6. PDO Mapping entry (1bits align) UINT32 RO 0x0000:00, 1

1A02:07 SubIndex 007 7. PDO Mapping entry (5bits align) UINT32 RO 0x0000:00, 5

1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:0E, 1 0x0E (Sync error))

1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:0F, 1 0x0F (TxPDO State))

1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:10, 1 0x10 (TxPDO Toggle))

1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:11, 16 0x11 (Value))

dec

)

Index 1A03 AI Inputs Compact Ch.2

Index (hex) Name Meaning Data type Flags Default

1A03:0 AI Inputs Compact

PDO Mapping TxPDO 4 UINT8 RO 0x01 (1

Ch.2

1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry

UINT32 RO 0x6010:11, 16 0x11 (Value))

Index 1C00 Sync manager type

Index (hex) Name Meaning Data type Flags Default

1C00:0 Sync manager type Using the sync managers UINT8 RO 0x04 (4

1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1

1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2

1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write

UINT8 RO 0x03 (3 (Outputs)

1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In-

UINT8 RO 0x04 (4 puts)

Index 1C12 RxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x02 (2

1C12:01 Subindex 001 1stallocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

1C12:02 Subindex 002 2ndallocated RxPDO (contains the index of the associ-

ated RxPDO mapping object)

UINT16 RW 0x1600

(5632

UINT16 RW 0x1601

(5633

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP437442 Version: 2.3

Commissioning and configuration

Index 1C13 TxPDO assign

Index (hex) Name Meaning Data type Flags Default

1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x02 (2

1C13:01 Subindex 001 1stallocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A00 ated TxPDO mapping object)

1C13:02 Subindex 002 2ndallocated TxPDO (contains the index of the associ-

UINT16 RW 0x1A02 ated TxPDO mapping object)

(6656

(6658

dec

)

dec

)

dec

Index 1C32 SM output parameter

Index (hex) Name Meaning Data type Flags Default

1C32:0 SM output parameter UINT8 RO 0x20 (32

1C32:01 Sync mode UINT16 RW 0x0001 (1

1C32:02 Cycle time UINT32 RW 0x000F4240

(1000000

1C32:03 Shift time UINT32 RO 0x00002710

(10000

1C32:04 Sync modes sup-

ported

UINT16 RO 0xC007

(49159

1C32:05 Minimum cycle time UINT32 RO 0x0007A120

(500000

1C32:06 Calc and copy time UINT32 RO 0x00001388

(5000

1C32:07 Minimum delay time UINT32 RO 0x00001388

(5000

1C32:08 Command UINT16 RW 0x0000 (0

1C32:09 Maximum delay time UINT32 RO 0x00001388

(5000

1C32:0B SM event missed

UINT16 RO 0x0000 (0

counter

1C32:0C Cycle exceeded

UINT16 RO 0x0000 (0

counter

1C32:0D Shift too short counter UINT16 RO 0x0000 (0

1C32:20 Sync error BOOLEAN RO 0x00 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

EP4374 43Version: 2.3

Commissioning and configuration

Index 1C33 SM input parameter

Index (hex) Name Meaning Data type Flags Default

1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32

1C33:01 Sync mode Current synchronization mode:

UINT16 RW 0x0022 (34

• 0: Free Run

• 1: Synchronous with SM 3 Event (no outputs available)

• 2: DC - Synchron with SYNC0 Event

• 3: DC - Synchron with SYNC1 Event

• 34: Synchronous with SM 2 Event (outputs available)

1C33:02 Cycle time

as 0x1C32:02 [}43]

1C33:03 Shift time Time between SYNC0 event and reading of the inputs (in

ns, only DC mode)

1C33:04 Sync modes sup-

ported

Supported synchronization modes:

• Bit 0: free run is supported

UINT32 RW 0x000F4240

(1000000

UINT32 RO 0x00001388

(5000

UINT16 RO 0xC007

(49159

• Bit 1: Synchronous with SM 2 Event is supported (outputs available)

• Bit 1: Synchronous 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 (no outputs available)

• Bit 14 = 1: dynamic times (measurement through writing of 0x1C32:08 [}43] or 0x1C33:08 [}44])

1C33:05 Minimum cycle time

as 0x1C32:05 [}43]

1C33:06 Calc and copy time Time between reading of the inputs and availability of the

inputs for the master (in ns, only DC mode)

UINT32 RO 0x0007A120

(500000

UINT32 RO 0x00002710

(10000

1C33:07 Minimum delay time UINT32 RO 0x00001388

(5000

1C33:08 Command

as 0x1C32:08 [}43]

1C33:09 Maximum delay time Time between SYNC1 event and reading of the inputs (in

ns, only DC mode)

1C33:0B SM event missed

as 0x1C32:11 UINT16 RO 0x0000 (0

UINT16 RW 0x0000 (0

UINT32 RO 0x00001388

(5000

counter

1C33:0C Cycle exceeded

as 0x1C32:12 UINT16 RO 0x0000 (0

counter

1C33:0D Shift too short counter as 0x1C32:13 UINT16 RO 0x0000 (0

1C33:20 Sync error as 0x1C32:32 BOOLEAN RO 0x00 (0

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

EP437444 Version: 2.3

Commissioning and configuration

4.4.4 Profile-specific objects (0x6000-0xFFFF)

The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.

Index 6000 AI Inputs Ch.1

Index (hex) Name Meaning Data type Flags Default

6000:0 AI Inputs Ch.1 UINT8 RO 0x11 (17

6000:01 Underrange Underrange event active BOOLEAN RO 0x00 (0

6000:02 Overrange Overrange event active BOOLEAN RO 0x00 (0

6000:03 Limit 1 Bit0 = 1

Bit1 = 1

6000:05 Limit 2 Bit0 = 1

Bit1 = 1

6000:07 Error Bit set when Over- or Underrange BOOLEAN RO 0x00 (0

6000:0E Sync error BOOLEAN RO 0x00 (0

6000:0F TxPDO State BOOLEAN RO 0x00 (0

6000:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6000:11 Value INT16 RO 0x0000 (0

Index 6010 AI Inputs Ch.2

Value greater than limit 1 BIT2 RO 0x00 (0

bin

Value less than limit 1

bin

Value greater than limit 2 BIT2 RO 0x00 (0

bin

Value less than limit 2

bin

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index (hex) Name Meaning Data type Flags Default

6010:0 AI Inputs Ch.2 UINT8 RO 0x11 (17

6010:01 Underrange Underrange event active BOOLEAN RO 0x00 (0

6010:02 Overrange Overrange event active BOOLEAN RO 0x00 (0

6010:03 Limit 1 Bit0 = 1

Bit1 = 1

6010:05 Limit 2 Bit0 = 1

Bit1 = 1

Value greater than limit 1 BIT2 RO 0x00 (0

bin

Value less than limit 1

bin

Value greater than limit 2 BIT2 RO 0x00 (0

bin

Value less than limit 2

bin

6010:07 Error Bit set when Over- or Underrange BOOLEAN RO 0x00 (0

6010:0E Sync error BOOLEAN RO 0x00 (0

6010:0F TxPDO State BOOLEAN RO 0x00 (0

6010:10 TxPDO Toggle BOOLEAN RO 0x00 (0

6010:11 Value INT16 RO 0x0000 (0

Index 7020 AO Outputs Ch.3

Index (hex) Name Meaning Data type Flags Default

7020:0 AO Outputs Ch.3 UINT8 RO 0x11 (17

7020:11 Analog output Analog output data INT16 RO 0x0000 (0

Index 7030 AO Outputs Ch.4

Index (hex) Name Meaning Data type Flags Default

7030:0 AO Outputs Ch.4 UINT8 RO 0x11 (17

7030:11 Analog output Analog output data INT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 800E AI Internal data Ch.1

Index (hex) Name Meaning Data type Flags Default

800E:0 AI Internal data Ch.1 UINT8 RO 0x01 (1

800E:01 ADC raw value INT16 RO 0x0000 (0

EP4374 45Version: 2.3

)

dec

)

dec

Commissioning and configuration

Index 800F AI Vendor data Ch.1

Index (hex) Name Meaning Data type Flags Default

800F:0 AI Vendor data Ch.1 UINT8 RO 0x06 (6

800F:01 R0 offset INT16 RW 0x0000 (0

800F:02 R0 gain INT16 RW 0x4000

(16384

800F:03 R1 offset INT16 RW 0x0000 (0

800F:04 R1 gain INT16 RW 0x4000

(16384

800F:05 R2 offset INT16 RW 0x0000 (0

800F:06 R2 gain INT16 RW 0x4000

(16384

Index 801E AI Internal data Ch.2

Index (hex) Name Meaning Data type Flags Default

801E:0 AI Internal data Ch.2 UINT8 RO 0x01 (1

801E:01 ADC raw value INT16 RO 0x0000 (0

Index 801F AI Vendor data Ch.2

Index (hex) Name Meaning Data type Flags Default

801F:0 AI Vendor data Ch.2 UINT8 RO 0x06 (6

801F:01 R0 offset INT16 RW 0x0000 (0

801F:02 R0 gain INT16 RW 0x4000

(16384

801F:03 R1 offset INT16 RW 0x0000 (0

801F:04 R1 gain INT16 RW 0x4000

(16384

801F:05 R2 offset INT16 RW 0x0000 (0

801F:06 R2 gain INT16 RW 0x4000

(16384

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index 802E AO Internal data Ch.3

Index (hex) Name Meaning Data type Flags Default

802E:0 AO Internal data Ch.3 UINT8 RO 0x01 (1

802E:01 DAC raw value This is the raw DAC value. UINT16 RO 0x0000 (0

Index 802F AO Vendor data Ch.3

Index (hex) Name Meaning Data type Flags Default

802F:0 AO Vendor data Ch.3 UINT8 RO 0x06 (6

802F:01 R0 Calibration Offset Vendor calibration: Offset for +/-10V INT16 RW 0x0000 (0

802F:02 R0 Calibration Gain Vendor calibration: Gain for +/-10V UINT16 RW 0x4000

(16384

802F:03 R1 Calibration Offset Vendor calibration: Offset for 0-20mA INT16 RW 0x0000 (0

802F:04 R1 Calibration Gain Vendor calibration: Gain for 0-20mA UINT16 RW 0x4000

(16384

802F:05 R2 Calibration Offset Vendor calibration: Offset for 4-20mA INT16 RW 0x0000 (0

802F:06 R2 Calibration Gain Vendor calibration: Gain for 4-20mA UINT16 RW 0x4000

(16384

Index 803E AO Internal data Ch.4

Index (hex) Name Meaning Data type Flags Default

803E:0 AO Internal data Ch.4 UINT8 RO 0x01 (1

803E:01 DAC raw value This is the raw DAC value. UINT16 RO 0x0000 (0

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

EP437446 Version: 2.3

Commissioning and configuration

Index 803F AO Vendor data Ch.4

Index (hex) Name Meaning Data type Flags Default

803F:0 AO Vendor data Ch.4 UINT8 RO 0x06 (6

803F:01 R0 Calibration Offset Vendor calibration: Offset for +/-10V INT16 RW 0x0000 (0

803F:02 R0 Calibration Gain Vendor calibration: Gain for +/-10V UINT16 RW 0x4000

(16384

803F:03 R1 Calibration Offset Vendor calibration: Offset for 0-20mA INT16 RW 0x0000 (0

803F:04 R1 Calibration Gain Vendor calibration: Gain for 0-20mA UINT16 RW 0x4000

(16384

803F:05 R2 Calibration Offset Vendor calibration: Offset for 4-20mA INT16 RW 0x0000 (0

803F:06 R2 Calibration Gain Vendor calibration: Gain for 4-20mA UINT16 RW 0x4000

(16384

Index F000 Modular device profile

Index (hex) Name Meaning Data type Flags Default

F000:0 Modular device profile General information for the modular device profile UINT8 RO 0x02 (2

F000:01 Module index dis-

tance

F000:02 Maximum number of

modules

Index distance of the objects of the individual channels UINT16 RO 0x0010 (16

Number of channels UINT16 RO 0x0004 (4

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

)

dec

Index F008 Code word

Index (hex) Name Meaning Data type Flags Default

F008:0 Code word UINT32 RW 0x00000000

)

dec

Index F010 Module list

Index (hex) Name Meaning Data type Flags Default

F010:0 Module list UINT8 RW 0x04 (4

F010:01 SubIndex 001 UINT32 RW 0x0000012C

(300

F010:02 SubIndex 002 UINT32 RW 0x0000012C

(300

F010:03 SubIndex 003 UINT32 RW 0x00000190

(400

F010:04 SubIndex 004 UINT32 RW 0x00000190

(400

)

dec

)

dec

)

dec

)

dec

)

dec

EP4374 47Version: 2.3

Commissioning and configuration

4.5 Restoring the delivery state

To restore the delivery state for backup objects in ELxxxx terminals / EPxxxx- and EPPxxxx boxes, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode).

Fig.20: Selecting the Restore default parameters PDO

Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK.

All backup objects are reset to the delivery state.

Fig.21: Entering a restore value in the Set Value dialog

Alternative restore value

In some older terminals / boxes the backup objects can be switched with an alternative restore value: Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164

An incorrect entry for the restore value has no effect.

EP437448 Version: 2.3

Appendix

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 and touch guard

0 Non-protected

1 Protected against access to hazardous parts with the back of a hand. Protected against solid

2 Protected against access to hazardous parts with a finger. Protected against solid foreign ob-

3 Protected against access to hazardous parts with a tool. Protected against solid foreign objects

4 Protected against access to hazardous parts with a wire. Protected against solid foreign objects

5 Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not

6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.

Definition

foreign objects of Ø50mm

jects of Ø12.5mm.

Ø2.5mm.

Ø1mm.

totally prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation of the device or to impair safety.

2. Number: water* protection Definition

0 Non-protected

1 Protected against water drops

2 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-

4 Protected against splashing water. Water splashed against the disclosure from any direction

5 Protected against water jets

6 Protected against powerful water jets

7 Protected against the effects of temporary immersion in water. Intrusion of water in quantities

tical shall have no harmful effects.

shall have no harmful effects

causing harmful effects shall not be possible when the enclosure is temporarily immersed in water 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 you will find some typical resistance.

Character Resistance

Steam at temperatures >100°C: not resistant

Sodium base liquor (ph-Value > 12)

Acetic acid not resistant

Argon (technical clean) resistant

at room temperature: resistant > 40°C: not resistant

Key

• resistant: Lifetime several months

• non inherently resistant: Lifetime several weeks

• not resistant: Lifetime several hours resp. early decomposition

EP4374 49Version: 2.3

Appendix

5.2 General note on the introduction of the Beckhoff Identification Code (BIC)

General

In future you will increasingly find machine-readable information on Beckhoff products in the form of a Data Matrix Code (DMC, ECC200). This helps us to improve the quality assurance process, beyond which you can use it for better identification of our products.

The introduction of the Data Matrix Code (called BIC [Beckhoff Identification Code] at Beckhoff) is taking place 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 administration of the products. When scanning the BICs you will find the following information:

Coded information on the BIC

Item no.

1 Beckhoff order number Beckhoff order number

2 Beckhoff Traceability

3 Article description Beckhoff article description, e.g. EL1008

4 Quantity Quantity in packaging unit, e.g. 1, 10, etc.

5 Batch number Optional: Year and week of production 6 ID/serial number Optional: Present-day serial number system, e.g. with safety

7 Variant number Optional: Product variant number on the basis of standard products 8 Datecode Internal 9 Job/batch number Internal 10 Serial number Internal ...

Each item of information is clearly identifiable on the basis of the data identifier (ANSI MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length according to the following table. If the items of information are shorter, they are replaced by spaces. The data under positions 1-4 always exist (temporary restriction, see BTN below).

Type of information Explanation

Unique serial number, see note below

Number (BTN)

products

EP437450 Version: 2.3

Overview of the defined data identifiers with examples

1P072222SBTNk4p562d71KEL1809 Q1 51S6782941041P S 1K Q 51S

Order number BTN Article description IDQuantity

Appendix

Item no.

Type of information Data identifier Number of char-

acters

Sample

1 Beckhoff order number 1P 8 1P072222 2 Beckhoff Traceability Number (BTN) S 12 SBTNk4p562d7 3 Article description 1K 32 1KEL1809 4 Quantity Q 6 Q1 5 Batch number 2P 14 2P401503180016 6 ID/serial number 51S 12 51S678294104 7 Version 30P 32 30PF971 , 2*K183 8 Datecode 9D 8 9DG0118 9 Job/batch number 1T 14 1TFA12345678 10 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 in red for clearer illustration:

BTN

An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique 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 is likewise being introduced gradually, so it may be the case that the BTN is not yet coded in the BIC.

EP4374 51Version: 2.3

Appendix

5.3 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast and 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 Beckhoff products!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages:

http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 20 33415 Verl Germany

Phone: +49 5246 963 0 Fax: +49 5246 963 198 e-mail: info@beckhoff.com

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application of individual 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 963 157 Fax: +49 5246 963 9157 e-mail: support@beckhoff.com

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 963 460 Fax: +49 5246 963 479 e-mail: service@beckhoff.com

EP437452 Version: 2.3

List of illustrations

Fig. 1 EtherCAT Box modules: Example of cabling in a line structure .................................................. 8

Fig. 2 EP4374-0002............................................................................................................................... 9

Fig. 3 Dimensions .................................................................................................................................. 14

Fig. 4 Connector overview ..................................................................................................................... 16

Fig. 5 Connections for power supply ..................................................................................................... 17

Fig. 6 M8 connector ............................................................................................................................... 17

Fig. 7 Status LEDs for the power supply ............................................................................................... 18

Fig. 8 Power cable conductor losses ..................................................................................................... 19

Fig. 9 EtherCAT connection................................................................................................................... 20

Fig. 10 M8 socket .................................................................................................................................... 20

Fig. 11 EtherCAT Status LEDs ................................................................................................................ 21

Fig. 12 M12 socket .................................................................................................................................. 22

Fig. 13 Status LEDs at the M12 connections........................................................................................... 22

Fig. 14 Signal connection - Analog inputs ............................................................................................... 23

Fig. 15 Signal connection - Analog outputs ............................................................................................. 23

Fig. 16 UL label........................................................................................................................................ 24

Fig. 17 BG2000 - putting the cables ........................................................................................................ 26

Fig. 18 BG2000 - fixing the cables........................................................................................................... 27

Fig. 19 BG2000 - mounting the protection enclosure .............................................................................. 27

Fig. 20 Selecting the Restore default parameters PDO........................................................................... 48

Fig. 21 Entering a restore value in the Set Value dialog.......................................................................... 48

EP4374 53Version: 2.3

Beckhoff EP4374, EP4374-0002 Documentation

Specifications and Main Features

Frequently Asked Questions

User Manual

Table of contents

1 Foreword

1.1 Safety instructions

1.2 Notes on the documentation

1.3 Documentation issue status

2 Product overview

2.1 Product group: EtherCAT Box Modules

2.2 EP4374 - Introduction

2.3 Technical data

2.4 Scope of supply

2.5 Process image

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

3.1.2 Fixing

3.2 Cabling

3.2.1 Power supply

3.2.1.1 Connection

3.2.1.2 Status LEDs

3.2.1.3 Power cable conductor losses M8

3.2.2 EtherCAT

3.2.2.1 Connection

3.2.2.2 Status LEDs

3.2.3 Analog interfaces

3.2.3.1 Connection

3.2.3.2 Status LEDs

3.2.3.3 Samples

3.3 UL Requirements

3.4 ATEX notes

3.4.1 ATEX - Special conditions

3.4.2 BG2000 - EtherCAT Box protection enclosures

3.4.3 ATEX Documentation

4 Commissioning and configuration

4.1 Configuration in TwinCAT

4.2 Parameterize signal ranges

4.3 Object overview

4.4 Object description and parameterization

4.4.1 Objects to be parameterized during commissioning

4.4.2 Objects for regular operation

4.4.3 Standard objects (0x1000-0x1FFF)

4.4.4 Profile-specific objects (0x6000-0xFFFF)

4.5 Restoring the delivery state

5 Appendix

5.1 General operating conditions

5.2 General note on the introduction of the Beckhoff Identification Code (BIC)

5.3 Support and Service

List of illustrations