Beckhoff EP6002, EP6001 Documentation
Documentation for
EP6001 and EP6002
Serial Interface Modules (RS232 or RS422/RS485)
Version:
Date:
2.1.0
2018-10-19
Table of contents
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation Issue Status..............................................................................................................7
2 Product overview.......................................................................................................................................9
2.1 Module overview................................................................................................................................9
2.2 EtherCAT Box - Introduction............................................................................................................10
2.3 EP6001-0002...................................................................................................................................12
2.3.1 EP6001-0002 - Introduction............................................................................................. 12
2.3.2 EP6001-0002 – Technical data ....................................................................................... 13
2.3.3 EP6001-0002 - Process image........................................................................................ 14
2.4 EP6002-0002...................................................................................................................................16
2.4.1 EP6002-0002 - Introduction............................................................................................. 16
2.4.2 EP6002-0002 – Technical data ....................................................................................... 18
2.4.3 EP6002-0002 - Process image........................................................................................ 19
3 Mounting and connection.......................................................................................................................21
3.1 Mounting..........................................................................................................................................21
3.1.1 Dimensions ...................................................................................................................... 21
3.1.2 Fixing ............................................................................................................................... 22
3.1.3 Nut torque for connectors ................................................................................................ 23
3.1.4 Additional checks............................................................................................................. 24
3.2 EtherCAT.........................................................................................................................................25
3.2.1 EtherCAT connection....................................................................................................... 25
3.2.2 EtherCAT - Fieldbus LEDs .............................................................................................. 27
3.3 Power supply ...................................................................................................................................28
3.3.1 Power Connection ........................................................................................................... 28
3.3.2 Status LEDs for power supply ......................................................................................... 31
3.3.3 Power cable conductor losses M8 ................................................................................... 32
3.3.4 Conductor losses 7/8"...................................................................................................... 33
3.4 Signal connection ............................................................................................................................34
3.4.1 Signal connection EP6001-0002 ..................................................................................... 34
3.4.2 Signal connection EP6002-0002 ..................................................................................... 37
3.5 EP6001-0002 - Status LEDs ...........................................................................................................38
3.6 EP6002-0002 - Status LEDs ...........................................................................................................39
3.7 Cabling ............................................................................................................................................40
3.8 UL Requirements.............................................................................................................................42
3.9 ATEX notes .....................................................................................................................................43
3.9.1 ATEX - Special conditions ............................................................................................... 43
3.9.2 BG2000-0000 - EtherCAT Box protection enclosure....................................................... 44
3.9.3 ATEX Documentation ...................................................................................................... 45
4 Basics communication - EtherCAT........................................................................................................46
4.1 EtherCAT basics..............................................................................................................................46
4.2 Watchdog setting.............................................................................................................................46
EP6001 and EP6002 3Version: 2.1.0
Table of contents
4.3 EtherCAT State Machine.................................................................................................................49
4.4 CoE interface...................................................................................................................................51
5 Commissioning/Configuration ...............................................................................................................56
5.1 EP600x-0002 - Interface modes......................................................................................................56
5.2 EP600x-0002 - Basic function principles .........................................................................................59
5.3 Insertion in the EtherCAT network...................................................................................................63
5.4 Configuration by means of the TwinCAT System Manager.............................................................66
5.5 EP600x-0002 - Selection of the interface type ................................................................................74
5.6 EP6002-0002 - sample program 1 ..................................................................................................75
5.7 EP6002-0002 - Sample program 2..................................................................................................78
5.8 EP6002-0002 - Object overview......................................................................................................81
5.9 EP6002-0002 - Object description and parameterization................................................................90
5.10 EP6001-0002 - Object overview....................................................................................................112
5.11 EP6001-0002 - Object description and parameterization..............................................................117
5.12 Restoring the delivery state ...........................................................................................................132
6 Appendix ................................................................................................................................................133
6.1 General operating conditions.........................................................................................................133
6.2 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................134
6.3 Support and Service ......................................................................................................................135
EP6001 and EP60024 Version: 2.1.0
Foreword
1 Foreword
1.1 Notes on the documentation
Intended audience
This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.
The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.
Disclaimer
The documentation has been prepared with care. The products described are, however, constantly under
development.
We reserve the right to revise and change the documentation at any time and without prior announcement.
No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.
Trademarks
Beckhoff®, TwinCAT®, EtherCAT®, EtherCATP®, SafetyoverEtherCAT®, TwinSAFE®, XFC® and XTS® are
registered trademarks of and licensed by Beckhoff Automation GmbH.
Other designations used in this publication may be trademarks whose use by third parties for their own
purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or
registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and
patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.
EP6001 and EP6002 5Version: 2.1.0
Foreword
1.2 Safety instructions
Safety regulations
Please note the following safety instructions and explanations!
Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,
commissioning etc.
Exclusion of liability
All the components are supplied in particular hardware and software configurations appropriate for the
application. Modifications to hardware or software configurations other than those described in the
documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.
Personnel qualification
This description is only intended for trained specialists in control, automation and drive engineering who are
familiar with the applicable national standards.
Description of instructions
In this documentation the following instructions are used.
These instructions must be read carefully and followed without fail!
DANGER
Serious risk of injury!
Failure to follow this safety instruction directly endangers the life and health of persons.
WARNING
Risk of injury!
Failure to follow this safety instruction endangers the life and health of persons.
CAUTION
Personal injuries!
Failure to follow this safety instruction can lead to injuries to persons.
NOTE
Damage to environment/equipment or data loss
Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.
Tip or pointer
This symbol indicates information that contributes to better understanding.
EP6001 and EP60026 Version: 2.1.0
1.3 Documentation Issue Status
Version Comment
2.1.0 • Chapter Notes on the documentation updated
• Structural update
• RS232 level corrected
• Chapter Mounting updated
2.0.1 • Nut torques for connectors updated
2.0.0 • Migration
• EP6001-0002 added
• Chapter Mounting updated
• Conductor losses 7/8" added
• Chapter Cabling updated
• EP6001, EP6002 Status-LEDs updated
• Chapter Signal connection added
• EP6001-0002 - Status-LEDs added
• Basics communication - EtherCAT added
• EP600x-0002 - Interface modes updated
• EP600x-0002 - Basic function principles updated
• EP600x-0002 - Choice of the interface type updated
• EP6002-0002 - Sample program 1 updated
• EP6002-0002 - Sample program 2 updated
• EP6001-0002 - Object overview added
• EtherCAT Box accessories updated
1.3.0 • Power Connection updated
1.2.0 • Description of choosing the interface type via System Manager corrected
• Object description extended
• Notes on RS485 mode extended
• Chapter EtherCAT connection updated
1.1.0 • Description of the M12 sockets corrected
• Technical data updated
1.0.0 • Extended ambient temperature range
• Sample programs added
• Special conditions for ATEX added
• Description of the power connection updated
• Overview of EtherCAT cables extended
0.1 • First preliminary version for EP6002-0002
Foreword
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.
The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on
the side of the EtherCATBox.
EP6001 and EP6002 7Version: 2.1.0
Foreword
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
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
EP6001 and EP60028 Version: 2.1.0
Product overview
2 Product overview
2.1 Module overview
EP600x-0002
Module Signal connection Number of channels – serial interfaces Comment
EP6001-0002 [}12]
EP6002-0002 [}16]
4 x M12 1 Narrow housing
4 x M12 2 Narrow housing
EP6001 and EP6002 9Version: 2.1.0
Product overview
2.2 EtherCAT Box - Introduction
The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through
the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an
additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.
The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus
Box extension modules. They are thus particularly suitable for use where space is at a premium. The small
mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The
EtherCAT connection is established via screened M8connectors.
Fig.1: EtherCAT Box Modules within an EtherCAT network
The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control
cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally
prepared for wet, dirty or dusty conditions.
Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so
that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, fieldconfigurable connectors and cables are available for maximum flexibility. Depending on the application, the
sensors and actuators are connected through M8 or M12connectors.
The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:
• digital inputs with different filters (3.0ms or 10μs)
• digital outputs with 0.5 or 2A output current
• analog inputs and outputs with 16bit resolution
• Thermocouple and RTD inputs
• Stepper motor modules
XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.
EP6001 and EP600210 Version: 2.1.0
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
Product overview
Fig.3: EtherCAT Box with M12 connections for sensors/actuators
Basic EtherCAT documentation
You will find a detailed description of the EtherCAT system in the Basic System Documentation for
EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.
XML files
You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our website (www.beckhoff.com) under Downloads, in the Configuration Files area.
EP6001 and EP6002 11Version: 2.1.0
Product overview
2.3 EP6001-0002
2.3.1 EP6001-0002 - Introduction
Fig.4: EP6001-0002
1-channel serial interface, RS232, RS422/RS485
The EP6001-0002 serial interface module allows the connection of devices with an RS232 or an RS422/
RS485 interface. The module transmits the data in a fully transparent manner to the higher-level automation
device. The active serial communication channel functions independently of the higher-level bus system in
full duplex mode at up to 115,200baud, while a 864bytes receive buffer and a 128byte send buffer are
available.
The 1-channel version has an increased end device power supply of up to 1A; the connector assignment
depends on the interface selected.
The two integrated digital inputs/outputs allow the connection of additional sensors/actuators in order, for
example, to trigger the reading process of the barcode reader or, depending on the result, to initiate an
action.
In conjunction with the TwinCAT Virtual Serial COM Driver the EP6001-0002 can be used as a normal
Windows COM interface.
EP6001 and EP600212 Version: 2.1.0
Product overview
2.3.2 EP6001-0002 – Technical data
Technical data EP6001-0002
Fieldbus [}46]
Fieldbus connection [}25]
Nominal voltage 24VDC (-15 %/+20 %)
Data transfer channels 1
Number of digital inputs/outputs 2, 24VDC, 10µs/0.5A
Distributed clocks Data transfer rates 300...115,200Baud; 9,600Baud (8-bit, no parity, 1 stop bit)
Signal connection [}34]
Bit distortion <3%
Cable length RS232: max. 15m; RS422/RS485: approx. 1,000m
Data buffer 864-byte receive buffer, 128-byte send buffer
Sensor supply + 5VDC, 1A
Process image per channel 22 x 8-bit input,
Supply of the module electronics from the control voltage Us
Current consumption of the module
electronics
Power supply connection Power supply: 1 x M8 connector, 4-pin; downstream
Electrical isolation 500V
Special features integrated supply for the end devices 5VDC/1A
Permissible ambient temperature during
operation
Permissible ambient temperature during
storage
Vibration / shock resistance conforms to EN60068-2-6/EN 60068-2-27
EMC immunity/emission conforms to EN61000-6-2/EN 61000-6-4
Protection class IP 65/66/67 (conforms to EN 60529)
Weight app.165g
Installation position variable
Approvals [}42]
EtherCAT
2 x M8 socket (green)
preset
M12 sockets, screwable for RS232, RS422/485 or digital I/O
22 x 8-bit output,
16-bit control,
16-bit status
typical 130mA + load, e.g. 130mA + 2 x 20mA = 170mA
connection: 1 x M8 socket, 4-pin
-25…+60 °C
0 °C ... +55 °C (according to cULus, see UL requirements)
-40…+85 °C
CE, UL
EP6001 and EP6002 13Version: 2.1.0
Product overview
2.3.3 EP6001-0002 - Process image
The TwinCAT System Manager displays the EP6001-0002 data in a tree structure.
The tree shows:
COM inputs: Channel input data
COM outputs: Channel output data
COM Inputs
The tree shows:
Status: Status bits of the channel
Data In 0 to Data In 21: Channel input data
EP6001 and EP600214 Version: 2.1.0
COM outputs
Product overview
The tree shows:
Status: Control bits of the channel
Data Out 0 to Data Out 21: Channel output data
EP6001 and EP6002 15Version: 2.1.0
Product overview
2.4 EP6002-0002
2.4.1 EP6002-0002 - Introduction
Dual-channel serial interface module: RS232 or RS422/RS485
The EP6002-0002 2-channel serial interface module enables the connection of devices with an RS232 or
RS422/RS485 interface. The module transmits the data in a fully transparent manner to the higher-level
automation device. The data is transferred via the fieldbus using a simple handshake protocol. This does not
have any effect on the protocol of the serial interface. The active serial communication channel functions
independently of the higher-level bus system in full duplex mode at up to 115,200baud, while a 864bytes
receive buffer and a 128byte send buffer are available.
In connection with TwinCAT's virtual serial COM driver (see TwinCAT supplements – communication), the
EP6002 can be used as a normal Windows COM interface.
The choice of connection depends on the interface type. In the TwinCAT System Manager [}74] you can
select either the RS232 connection or the RS422/RS485 connection for each channel.
For
• RS422/RS485 use the M12 connections 1 and 3
• RS232 use the M12 connections 2 and 4
Interface modes/ operation modes
the following settings for the interfaces can be made via the CoE objects:
• RS232: point-to-point connection to an RS232 device
• RS422: 4-wire point-to-point connection to an RS422 device
• RS485:2-wire connection in bus structure to RS485 device(s)
• RS485:2-wire connection with external bridge in bus structure to RS485 device(s), monitoring of the
transmitted data
EP6001 and EP600216 Version: 2.1.0
Quick links
Installation [}21]
Interface modes [}56]
Configuration [}63]
Sample programs [}75]
UL requirements [}42]
ATEX - Special conditions [}43]
Product overview
EP6001 and EP6002 17Version: 2.1.0
Product overview
2.4.2 EP6002-0002 – Technical data
Technical data EP6002-0002
Fieldbus [}46]
Fieldbus connection [}25]
Data transfer channels 2 (1/1), TxD and RxD, full duplex
Data transfer rates 300...115,200Baud; 9,600Baud (8-bit, no parity, 1 stop bit)
Signal connection [}34]
Bit distortion < 3%
Cable length RS232: max. 15m; RS422/RS485: approx. 1,000m
Data buffer 864-byte receive buffer, 128-byte send buffer
Process image per channel 22 x 8-bit input,
Supply of the module electronics from the control voltage Us
Current consumption of the module
electronics
Power supply connection Power supply: 1 x M8 plug, 4-pole
Electrical isolation 500V
Permissible ambient temperature during
operation
Permissible ambient temperature during
storage
Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27
EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP65, IP66, IP67 (conforms to EN 60529)
Weight app.165g
Installation position variable
Approvals [}42]
EtherCAT
2 x M8 socket (green)
preset
M12 sockets for RS232 or RS422/485
22 x 8-bit output,
16-bit control,
16-bit status
typical130mA + load, e.g. 130mA + 2 x 20mA = 170mA
Onward connection: 1 x M8 socket, 4-pole
-25°C...+60°C
0°C ... +55°C (conforms to ATEX, see special conditions)
0 °C ... +55 °C (according to cULus, see UL requirements)
-40°C...+85°C
CE, cULus, ATEX
EP6001 and EP600218 Version: 2.1.0
2.4.3 EP6002-0002 - Process image
The TwinCAT System Manager displays the EP6002-0002 data in a tree structure.
The tree shows:
• COM Inputs Channel 1: input data of the 1
channel
• COM Inputs Channel 2: input data of the 2
channel
• COM Outputs Channel 1: output data of the 1
channel
• COM Outputs Channel 2: output data of the 2
channel
Product overview
st
nd
st
nd
Table1: COM Inputs Channel 1
The tree shows:
• Status: status bits of the 1st channel
• Data In 0 to Data In 21: input data of the 1
channel
st
EP6001 and EP6002 19Version: 2.1.0
Product overview
COM Inputs Channel 2
The data of the 2nd channel are structured identically to those of the 1st channel.
Table2: COM Outputs Channel 1
The tree shows:
• Status: Control bits of the 1st channel
• Data Out 0 to Data Out 21: output data of the
1st channel
COM Outputs Channel 2
The data of the 2nd channel are structured identically to those of the 1st channel.
EP6001 and EP600220 Version: 2.1.0
3 Mounting and connection
3.1 Mounting
3.1.1 Dimensions
Mounting and connection
Fig.5: Dimensions of the EtherCAT Box Modules
All dimensions are given in millimeters.
Housing properties
EtherCAT Box lean body wide bodies
Housing material PA6 (polyamide)
Casting compound Polyurethane
Mounting two fastening holes Ø3mm for M3 two fastening holes Ø3mm for M3
two fastening holes Ø4.5mm for M4
Metal parts Brass, nickel-plated
Contacts CuZn, gold-plated
Power feed through max. 4A (M8)
max. 16A (7/8“)
max. 15.5A (B17 5G 1.5mm2)
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions
(HxWxD)
app. 126 x 30 x 26.5mm app. 126 x 60 x 26,5mm
app. 150 x 60 x 26.5mm (without 7/8", B17)
EP6001 and EP6002 21Version: 2.1.0
Mounting and connection
3.1.2 Fixing
Note or pointer
While mounting the modules, protect all connectors, especially the IP-Link, against contamination!
Only with connected cables or plugs the protection class IP67 is guaranteed! Unused connectors
have to be protected with the right plugs! See for plug sets in the catalogue.
Modules with narrow housing are mounted with two M3 bolts.
Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners or
mounted with two M4 bolts to the fixing holes located centrally.
The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.
When assembling, remember that the fieldbus connectors increases the overall height. See chapter
accessories.
Mounting Rail ZS5300-0001
The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.
The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail
has got 5.3 mm slots to mount it via M5 screws to the machine.
Fig.6: Mounting Rail ZS5300-000
The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm
between two modules. The rail can be cut to length for the application.
Mounting Rail ZS5300-0011
The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4
treads to fix 60 mm wide modules via their middle holes.
Up to 14 narrow or 7 wide modules may be mixed mounted.
EP6001 and EP600222 Version: 2.1.0
Mounting and connection
3.1.3 Nut torque for connectors
M8 connectors
It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque control
screwdriver ZB8800 is also a max. torque of 0.5Nm permissible.
Fig.7: EtherCAT Box with M8 connectors
M12 connectors
It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.
Fig.8: EtherCAT Box with M8 and M12 connectors
EP6001 and EP6002 23Version: 2.1.0
Mounting and connection
7/8" plug connectors
We recommend fastening the 7/8" plug connectors with a torque of 1.5Nm.
Fig.9: 7/8" plug connectors
Torque socket wrenches
Fig.10: ZB8801 torque socket wrench
Ensure the right torque
Use the torque socket wrenches available by Beckhoff to pull the connectors tight (ZB8800,
ZB8801-0000)!
3.1.4 Additional checks
The boxes have undergone the following additional tests:
Verification Explanation
Vibration 10 frequency runs in 3 axes
5Hz < f < 60Hz displacement 0.35mm, constant amplitude
60.1Hz < f < 500Hz acceleration 5g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
35g, 11ms
EP6001 and EP600224 Version: 2.1.0
3.2 EtherCAT
3.2.1 EtherCAT connection
For the incoming and ongoing EtherCAT connection,
• the EtherCAT Box (EPxxxx) has two M8 sockets, marked in green
• the Coupler Box (FBB-x110) has two M12 sockets
Mounting and connection
Fig.11: EtherCAT Box: M8, 30mm housing
Fig.12: EtherCAT Box: M860mm housing (example: EP9214)
EP6001 and EP6002 25Version: 2.1.0
Mounting and connection
Fig.13: Coupler Box: M12
Assignment
There are various different standards for the assignment and colors of connectors and cables for Ethernet/
EtherCAT.
Ethernet/EtherCAT Plug connector Cable Standard
Signal Description M8 M12 RJ45
Tx + Transmit Data+ Pin 1 Pin 1 Pin 1 yellow
Tx - Transmit Data- Pin 4 Pin 3 Pin 2 orange
Rx + Receive Data+ Pin 2 Pin 2 Pin 3 white
Rx - Receive Data- Pin 3 Pin 4 Pin 6 blue
Shield Shield Housing Shroud Screen Screen Screen
1
) colored markings according to EN 61918 in the four-pin RJ45 connector ZS1090-0003
2
) wire colors according to EN 61918
3
) wire colors
1
ZB9010, ZB9020,
ZB9030, ZB9032,
ZK1090-6292,
ZK1090-3xxx-xxxx
2
2
2
2
ZB9031 and old versions
of ZB9030, ZB9032,
ZK1090-3xxx-xxxx
orange/white
orange
blue/white
3
blue
3
3
3
TIA-568B
white/orange
orange
white/green
green
Assimilation of color coding for cable ZB9030, ZB9032 and ZK1090-3xxxx-xxxx (with
M8 connectors)
For unification the prevalent cables ZB9030, ZB9032 and ZK1090-3xxx-xxxx this means the pre assembled cables with M8 connectors were changed to the colors of EN61918 (yellow, orange, white,
blue).So different color coding exists. But the electrical properties are absolutely identical.
EtherCAT connector
The following connectors can be supplied for use in Beckhoff EtherCAT systems.
EP6001 and EP600226 Version: 2.1.0
Mounting and connection
Name Connector Comment
ZS1090-0003 RJ45 four-pole, IP20, field-configurable
ZS1090-0004 M12, male four-pin, IP67, for field assembly
ZS1090-0005 RJ45 eight-pole, IP20, field-configurable, suitable for gigabit Ethernet
ZS1090-0006 M8 plug connector four-pole, IP67, field-configurable, for cable type ZB903x
ZS1090-0007 M8 socket four-pole, IP67, field-configurable, for cable type ZB903x
ZS1090-1006 M8 plug connector four-pole, IP67, field-configurable up to OD=6.5mm
ZS1090-1007 M8 socket four-pole, IP67, field-configurable up to OD=6.5mm
3.2.2 EtherCAT - Fieldbus LEDs
Fig.14: EtherCAT-LEDs
LED display
LED Display Meaning
IN L/A off no connection to the preceding EtherCAT module
Lit LINK: connection to the preceding EtherCAT module
flashing ACT: Communication with the preceding EtherCAT module
OUT L/A off no connection to the following EtherCAT module
Lit LINK: connection to the following EtherCAT module
flashing ACT: Communication with the following EtherCAT module
Run off Status of the EtherCAT module is Init
flashes quickly Status of the EtherCAT module is pre-operational
flashes slowly Status of the EtherCAT module is safe-operational
Lit Status of the EtherCAT module is operational
EtherCAT statuses
The various statuses in which an EtherCAT module may be found are described in the Basic System Documentation for EtherCAT, which is available for download from our website (www.beck-
hoff.com) under Downloads.
EP6001 and EP6002 27Version: 2.1.0
Mounting and connection
3.3 Power supply
3.3.1 Power Connection
The feeding and forwarding of supply voltages is done via two M8 connectors at the bottom end of the
modules:
• IN: left M8 connector for feeding the supply voltages
• OUT: right M8 connector for forwarding the supply voltages
Fig.15: EtherCAT Box, Connectors for power supply
Fig.16: Pin assignment M8, Power In and Power Out
Table3: PIN assignment
Pin Voltage
1 Control voltage Us, +24V
2 Auxiliary voltage Up, +24V
3 GNDs* *) may be connected internally to each other depending on the module: see specific
4 GNDp*
The pins M8 connectors carry a maximum current of 4A.
Two LEDs display the status of the supply voltages.
module descriptions
DC
DC
NOTE
Don't confuse the power connectors with the EtherCAT connectors!
Never connect the power cables (M8, 24VDC) with the green marked EtherCAT sockets of the EtherCAT
Box Modules! This can damage the modules!
Control voltage Us: 24V
Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the 24VDC control
voltage Us. The control voltage is electrically isolated from the fieldbus circuitry.
DC
EP6001 and EP600228 Version: 2.1.0
Mounting and connection
Auxiliary voltage Up 24V
DC
The Auxiliary voltage Up supplies the digital outputs; it can be brought in separately. If the load voltage is
switched off, the fieldbus functions and the power supply and functionality of the inputs are retained.
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 EtherCATBox to EtherCATBox.
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 4A must not be exceeded!
EP6001 and EP6002 29Version: 2.1.0
Mounting and connection
Supply via EP92x4-0023 PowerBox modules
If the machine requires higher current or if the EtherCAT Box Modules are installed far away from the control
cabinet with included power supply, the usage of four cannel power distribution modules EP9214 or EP9224
(with integrated data logging, see www.beckhoff.com/EP9224) is recommended.
With these modules intelligent power distribution concepts with up to 2x16A and a maximum of 2.5mm²
cable cross-section can be realized.
Fig.17: EP92x4-0023, Connectors for Power In and Power Out
Fig.18: Pin assignment 7/8”, Power In and Power Out
EP6001 and EP600230 Version: 2.1.0
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