Beckhoff EP4374, EP4374-0002 Documentation
Documentation
EP4374
EtherCAT Box with analog inputs and outputs
Version:
Date:
2.3
2019-07-15
Table of contents
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®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
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 EtherCATBox.
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 .. +10V
• 0 .. 10V
• 0 .. 20mA
• 4 .. 20mA
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 500V (fieldbus/ IO)
Process image Inputs: 2 x 16bit
Outputs: 2 x 16bit
Supply
Connection Feed: 1 x M8 plug, 4-pin
Downstream connection: 1 x M8 socket, 4-pin
Current carrying capacity of the connections 4A per US and U
Control voltage U
S
Peripheral voltage U
P
24VDC (-15% / +20%)
0 .. 30V
DC
Supply of the module electronics from the control voltage U
Current consumption of the module
typically 120mA
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 .. +10V (default)
• 0 .. 10V
• 0 .. 20mA
• 4 .. 20mA
Electrical specifications [}11]
Analog outputs
Number 2
Connection
Output signal range
M12 sockets, 5-pin. Pin assignment [}22]
Parameterizable [}28]:
• -10 .. +10V (default)
• 0 .. 10V
• 0 .. 20mA
• 4 .. 20mA
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 EN60068-2-6/ EN60068-2-27;
see also Additional checks [}12].
EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP65, IP66, IP67 conforms to EN60529
P
S
EP437410 Version: 2.3
Product overview
Technical data EP4374-0002
Mechanics
Weight approx.165g
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 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA
Input type Differential
Input resistance >200kΩ >200kΩ 85Ω typ. + diode
Digital resolution 16-bit 15-bit 15-bit 15-bit
Measuring error < 0.3% relative to full scale value
Conversion time approx. 100µs
Input filter limit frequency 5kHz
Value of the least significant
bit
approx. 305µV approx. 305µV approx. 610µA approx. 488µA
CE, cURus [}24], ATEX [}25]
voltage
85Ω 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 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA
Load resistor / load >5kΩ >5kΩ <500Ω <500Ω
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. 40µs
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. 305µV approx. 305µV approx. 610µA approx. 488µA
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
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
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 Channel1
Product overview
The data for the first analog channel can be found under AI Inputs Channel1.
• Underrange: Value of the analog input is less than 0/4mA or -10/0V
• Overrange: Value of the analog input is greater than 20mA or +10V
• Limit1: 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])
• Limit2: 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 Channel2
The data of the second analog channelhave the same structure as those of the first channel.
AO Outputs Channel3
The data for the third analog channel can be found under AO Outputs Channel3.
AO Outputs Channel4
The data of the forth analog channelhave the same structure as those of the third channel.
EP4374 13Version: 2.3
Mounting and cabling
119
126
23
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 Ø3.5mm for M3
Metal parts brass, nickel-plated
Contacts CuZn, gold-plated
Power feed through max. 4A
Mounting position variable
Protection class IP65, IP66, IP67 (conforms to EN60529) when screwed together
Dimensions (HxWxD) approx. 126 x 30 x 26.5mm
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
1
2
3
4
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 0.6Nm
2
3 M12 0.6Nm
4
X40 M8 0.4Nm
X41
X60 M8 0.4Nm
X61
Function
1)
1)
1)
1)
Analog inputs [}22]
Analog outputs [}22]
EtherCAT [}20]
Power supply [}17]
EP437416 Version: 2.3
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