Beckhoff EP7041-1002, EP7041-0002, EP7041-3102, EP7041-3002, EP7041-2002 Documentation

Documentation

EP7041

Stepper motor modules

Version:
Date:

2.3
2019-10-15

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 EtherCAT Box - Introduction..............................................................................................................9

2.2 Module overview..............................................................................................................................11

2.3 Introduction......................................................................................................................................12

2.3.1 EP7041-0002, EP7041 .................................................................................................... 12

2.3.2 EP7041-2002................................................................................................................... 13

2.3.3 EP7041-3002, EP7041-3102........................................................................................... 14

2.4 Technical data .................................................................................................................................15

2.5 Scope of supply ...............................................................................................................................16

2.6 EP7041 - Process image.................................................................................................................17

3 Installation................................................................................................................................................20

3.1 Mounting .........................................................................................................................................20

3.1.1 Dimensions ...................................................................................................................... 20

3.1.2 Fixing ............................................................................................................................... 21

3.1.3 Tightening torques for plug connectors ........................................................................... 21

3.2 Connection ......................................................................................................................................22

3.2.1 Supply voltages ............................................................................................................... 22

3.2.2 EtherCAT ......................................................................................................................... 24

3.2.3 Stepper motor, brake, encoder ........................................................................................ 26

3.3 ATEX notes .....................................................................................................................................30

3.3.1 ATEX - Special conditions ............................................................................................... 30

3.3.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 31

3.3.3 ATEX Documentation ...................................................................................................... 32

4 Commissioning/Configuration ...............................................................................................................33

4.1 Integration in TwinCAT ....................................................................................................................33

4.1.1 Inserting into the EtherCAT network................................................................................ 33

4.1.2 Configuration via TwinCAT .............................................................................................. 36

4.1.3 Integration into the NC configuration ............................................................................... 44

4.1.4 Configuration of the main parameters ............................................................................. 48

4.1.5 Basic principles for the Positioning Interface ................................................................... 56

4.1.6 Application example......................................................................................................... 71

4.1.7 Restoring the delivery state ............................................................................................. 76

4.2 CoE objects EP7041-0002, EP7041-1002, EP7041-2002 ..............................................................77

4.2.1 Object description and parameterization ......................................................................... 77

4.3 CoE objects EP7041-3002, EP7041-3102 ....................................................................................103

4.3.1 Object description and parameterization ....................................................................... 103

5 Appendix ................................................................................................................................................128

5.1 General operating conditions.........................................................................................................128

5.2 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................129

EP7041 3Version: 2.3

Table of contents

5.3 General note on the introduction of the Beckhoff Identification Code (BIC) ..................................130

5.4 Support and Service ......................................................................................................................132

EP70414 Version: 2.3

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who
are familiar with the applicable national standards.
It is essential that the documentation and the following notes and explanations are followed when installing
and commissioning these components.
It is the duty of the technical personnel to use the documentation published at the respective time of each
installation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all the
requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under
development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the
data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®, SafetyoverEtherCAT®,
TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by Beckhoff Automation
GmbH. Other designations used in this publication may be trademarks whose use by third parties for their
own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

EP7041 5Version: 2.3

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.

EP70416 Version: 2.3

1.3 Documentation issue status

Version Modifications

2.3 • Technical data updated

2.2.0 • Update safety instructions

• Update chapter Mounting

2.1.0 • EP7041-3102 added

2.0.0 • Migration

1.7.0 • Preface updated

• Chapter on Nut torques for connectors updated

• Chapter on EtherCAT connection updated

• Chapter Signal cable updated

• Chapter Accessories updated

• Chapter Line losses updated

1.6.0 • Power connection updated

1.5.0 • Technical data updated

1.4.0 • Technical data updated

1.3.0 • Technical data updated

• Object descriptions updated

• Basics about Position Interface added

• Chapter Accessories updated

• Chapter on Nut torque for connectors updated

• Chapter Power connection updated

1.2.0 • Chapter Configuration of the main parameters updated

• Chapter Accessories added

1.1.0 • Technical data updated

• EP7041-2002 and EP7041-3002 added

• Overview of EtherCAT cables extended

• Overview of the signal cables updated

• Description of the power connection updated

• ATEX notes added

• Extended temperature range for activated modules documented

1.0.0 • Chapter on commissioning and configuration revised

0.6 • EP7041-1002 added

• Object description updated

• Nut torque for connectors added

• Overview of the signal cables added

0.5 • First preliminary version for EP7041-0002

Foreword

EP7041 7Version: 2.3

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 EtherCAT Box.

Documenta­tion Version

2.3 11 14 10 12 11 13 07 10 07 07

2.2.0 11 14 10 12 11 13 07 10 07 06

2.1.0 11 12 10 10 11 11 06 08 06 04

2.0.0 11 11 10 09 11 10 06 08 - -

1.7.0 11 11 10 09 11 10 06 07

1.6.0 09 10 09 08 10 10 06 07

1.4.0 08 06 08 04 08 06 04 02

1.3.0 08 06 08 04 08 06 04 02

1.2.0 08 03 08 01 08 03 04 02

1.1.0 07 03 07 01 07 03 02 01

1.0.0 04 01 04 00 - - - -

0.6 04 01 04 00

0.5 03 01 - -

EP7041-0002 EP7041-1002 EP7041-2002 EP7041-3002 EP7041-3102

Firmware Hardware Firmware Hardware Firmware Hardware Firmware Hardware Firmware Hardware

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) [}130].

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

EP70418 Version: 2.3

Product overview

2 Product overview

2.1 EtherCAT Box - Introduction

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

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

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

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

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

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

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

• digital outputs with 0.5 or 2A output current

• analog inputs and outputs with 16bit resolution

• Thermocouple and RTD inputs

• Stepper motor modules

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

EP7041 9Version: 2.3

Product overview

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

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

Basic EtherCAT documentation

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

EtherCAT XML Device Description

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

EP704110 Version: 2.3

2.2 Module overview

Product overview

Fig.4: EP7041 with stepper motor

Module Output current for

EP7041-0002 [}12]

EP7041-1002 [}12]

EP7041-2002 [}13]

EP7041-3002 [}14]

EP7041-3102 [}14]

stepper motor

2 x 3.5A rated current,
2 x 5.0Apeakcurrent

2 x 1.0A rated current,
2 x 1.5Apeakcurrent

2 x 3.5A rated current,
2 x 5.0Apeakcurrent

2 x 3.5A rated current,
2 x 5.0Apeakcurrent

2 x 3.5A rated current,
2 x 5.0Apeakcurrent

Integrated con­nection for mo­tor supply

M12, female • Designed for particularly quiet and precise motor operation.

M12, female • Designed for particularly quiet and precise motor operation.

M12, male • Designed for particularly quiet and precise motor operation.

M12, male • Designed for higher velocities.

M12, male • Designed for higher velocities.

Comment

• Smaller output current for stepper motors with lower power
consumption.

• Integrated connector for feeding the motor supply build with
pins (male).

• Integrated connector for feeding the motor supply build with
pins (male).

• Integrated connector for feeding the motor supply build with
pins (male).

• 5VDC encoder supply

EP7041 11Version: 2.3

Product overview

2.3 Introduction

2.3.1 EP7041-0002, EP7041

Fig.5: EP7041-0002

Stepper Motor modules with interface for incremental encoder

The EP7041-0002 and EP7041-1002 EtherCAT Box Modules are intended for the direct connection of
different stepper motors.

Two versions are available:

• EP7041-0002: 2 x 3.5A rated current, (2 x 5.0Apeakcurrent)

• EP7041-1002: 2 x 1.0A rated current, (2 x 1.5Apeakcurrent)

The PWM output stages for two motor coils with compact design are located in the module together with two
inputs for limit switches and cover a wide voltage and current range.

A servo axis can easily be realized by connecting an incremental encoder.
Two digital inputs and a digital output (0.5A) enable connection of limit switches and a motor brake.

The modules can be adjusted to the motor and the application by changing various parameters.
64-fold micro-stepping ensures particularly quiet and precise motor operation.

Quick links

• Installation [}20]

• Configuration [}36]

EP704112 Version: 2.3

2.3.2 EP7041-2002

Product overview

Fig.6: EP7041-2002

Stepper Motor modules with interface for incremental encoder

The EP7041-2002 EtherCAT Box is designed for direct connection of different stepper motors.

The PWM output stages for two motor coils with compact design are located in the module together with two
inputs for limit switches and cover a wide voltage and current range.

A servo axis can easily be realized by connecting an incremental encoder.
Two digital inputs and a digital output (0.5A) enable connection of limit switches and a motor brake.

The external motor is fed via an integrated plug.

The EP7041-2002 can be adjusted to the motor and the application by changing various parameters.
64-fold micro-stepping ensures particularly quiet and precise motor operation.

Quick-Links

• Installation [}20]

• Configuration [}36]

EP7041 13Version: 2.3

Product overview

2.3.3 EP7041-3002, EP7041-3102

Fig.7: EP7041-3002 and EP7041-3102

Stepper Motor modules with interface for incremental encoder

The EP7041-3002 and EP7041-3102 EtherCAT Box Modules are designed for direct connection of different
stepper motors. The PWM output stages for two motor coils with compact design are located in the module
together with two inputs for limit switches and cover a wide voltage and current range.

A servo axis can easily be realized by connecting an incremental encoder. The modules supply the
incremental encoder with:
EP7041-3002: 24V
EP7041-3102: 5V

DC

DC

Two digital inputs and a digital output (0.5A) enable connection of limit switches and a motor brake.

The external motor is fed via an integrated plug.

EP7041-3002 and EP7041-3102 are designed for higher velocities and can be adjusted to the motor and the
application by changing various parameters.

Quick-Links

• Installation [}20]

• Configuration [}36]

EP704114 Version: 2.3

Product overview

2.4 Technical data

All values are typical values at 25°C, unless otherwise stated.

Technical data EP7041-0002 EP7041-1002 EP7041-2002 EP7041-3002 EP7041-3102

Fieldbus

Fieldbus EtherCAT

Connection 2 x M8 socket, green

Electrical isolation 500V (fieldbus/ IO)

Process image Input: 2 x 16bit data, 1 x 16bit status

Supply voltages

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

Control voltage U

S

Nominal voltage 24VDC (-15%/ +20%)

Sum current max. 4A

Consumers Module electronics: 120mA

Peripheral voltage U

Nominal voltage 24VDC (-15%/ +20%)

Sum current max. 4A

Consumers • Encoder

Motor

Motor type 2-phase stepper motor, unipolar or bipolar

Connection M12 socket

DC link voltage max. 50VDC, not protected against polarity reversal

Connection

Rated current per phase 3.5A 1.0A 3.5A

Peak current per phase 5.0A at 50°C 1.5A 5.0A at 50°C

Microstepping max. 64 microsteps

Step frequency max. 32,000 full steps per second (configurable)

Current controller fre­quency

Driver circuit 2x H-bridge

Protective functions Overload protection, short-circuit protection

Encoder input

encoder type Incremental encoder with single-ended output drivers:

Connection M12 socket

Signals A, B, C (reference pulse/zero pulse)

Low level -3.. 2V

High level 3.5.. 28V

Supply voltage 24VDC from peripheral voltage U

Supply current 0.5A, not short-circuit proof 0.3A

Pulse frequency maximum 400,000 increments/s (quadruple evaluation)

Output: 2 x 16bitdata, 1 x 16bit control

Downstream connection: 1 x M8 socket, 4-pin

1)

P

1)

• Digital output: Brake

M12 socket "2“ [}27] M12 connector "2“ [}27]

2)

approx. 30kHz

• Push-pull

• Open collector

DC

DC

3)

P

max. 256 microsteps

2)

max. 1VDC

2.5.. 28VDC

5V

DC

4)

4)

1)

Sum current of consumers and power transmission. This value corresponds to the

current carrying capacity of the connections for the supply voltages.

2)

EP7041 automatically selects the number of microsteps according to the speed

3)

Pull-up resistor required

4)

These levels apply from hardware version 09. Up to hardware version 08 the following levels apply:

• Low level: -3.. 2V

• High level: 3.5.. 28V

DC

DC

EP7041 15Version: 2.3

Product overview

Technical data EP7041-0002 EP7041-1002 EP7041-2002 EP7041-3002 EP7041-3102

Digital inputs: limit switch

Number 2

Connection M12 socket

Signal voltage "0" -3V...2V

Signal voltage "1" 3.5V ...28V

Input current 5mA

Digital output: Brake

Number 1

Connection M12 socket

Output voltage 24VDC from peripheral voltage U

Output current 0.5A, short-circuit proof

Environmental conditions

Ambient temperature
during operation

Ambient temperature
during storage

Vibration/
shock resistance

EMC immunity/
emission

Protection class IP65, IP66, IP67 (conforms to EN 60529)

Mechanics

Dimensions approx. 126x 30x 26.5mm (without connectors)

Weight approx. 165g

Installation position up to 40°C ambient temperature: variable

Approvals and conformity

Approvals

-25 .. +60°C
0 .. +55°C according to ATEX, see special conditions [}30]

-40 .. +85°C

conforms to EN60068-2-6/ EN60068-2-27

conforms to EN61000-6-2/ EN61000-6-4

over 40°C ambient temperature: distance between 2 stepper motor modules at least 20mm

CE, ATEX [}30]

P

2.5 Scope of supply

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

• 1x EtherCAT Box EP7041

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

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

• 2x protective cap for EtherCAT socket, M8, green (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.

EP704116 Version: 2.3

2.6 EP7041 - Process image

The TwinCAT System Manager displays the EP7041 data in a tree structure.

The tree shows

• ENC Status compact: encoder status

• STM Status: Stepper Motor Status

• ENC Control compact: Encoder Control

• STM Control: Stepper Motor Control

• STM Velocity: Stepper Motor Velocity

ENC Status compact

The status information for the encoder can be
found under ENC Status compact.

Product overview

EP7041 17Version: 2.3

Product overview

STM Status

The status information for the stepper motor can
be found under STM Status.

ENC Control compact

STM Control

The control parameters for the encoder can be
found under ENC Control compact.

The control parameters for the stepper motor can
be found under STM Control.

EP704118 Version: 2.3

STM Velocity

Product overview

The velocity settings for the stepper motor can be
found under STM Velocity.

EP7041 19Version: 2.3

Installation

119

126

23

30

26.5

13.5

Ø 3.5

3 Installation

3.1 Mounting

3.1.1 Dimensions

Fig.8: 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 (without connectors)

EP704120 Version: 2.3

Installation

3.1.2 Fixing

NOTE

Dirt during assembly

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

• Protect the plug connectors against dirt during the assembly.

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

3.1.3 Tightening torques for plug connectors

Screw connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)

Connector diameter Tightening torque

M8 0.4Nm
M12 0.6Nm

EP7041 21Version: 2.3

Installation

Plug

Feed-in

Socket

Forwarding

3 1

24

3 1

24

3.2 Connection

3.2.1 Supply voltages

The EtherCAT Box is supplied with two supply voltages. The ground potentials of the supply voltages are
galvanically connected together.

• Control voltage U

• Peripheral voltage U

S

P

Redirection of the supply voltages

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

NOTE

Pay attention to the maximum permissible current!

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

3.2.1.1 Connector

NOTE

Risk of confusion: supply voltages and EtherCAT

Defect possible through incorrect insertion.

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

Fig.9: Connectors for supply voltages

Fig.10: M8 connector

Contact Function Description Core color

1 U
2 U
3 GND
4 GND

1)

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

S

P

S

P

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

S

P

Blue
Black

1)

EP704122 Version: 2.3

Installation

Vert. Faktor: 0,45 cm / V

5 10 15 20

2

4

6

8

10

250

0

12

30

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

35

0,25 mm²

0,34 mm²

0,5 mm²
0,75 mm²

I = 2 A

Vert. Faktor: 0,45 cm / V

5 10 15 20

2

4

6

8

10

250

0

12

30

Vert. Faktor: 0,45 cm / V

Voltage drop (V)

Cable length (m)

35

0,25 mm²

0,34 mm²

0,5 mm²

0,75 mm²

I = 4 A

3.2.1.2 Status LEDs

Fig.11: 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

3.2.1.3 Conductor losses

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

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

Voltage drop on the supply line

EP7041 23Version: 2.3

Installation

3 1

24

3.2.2 EtherCAT

3.2.2.1 Connector

EtherCAT Box Modules have two green M8 sockets for the incoming and downstream EtherCAT
connections.

Fig.12: EtherCAT connector

Connection

Fig.13: M8 socket

EtherCAT M8

Signal Contact ZB9010, ZB9020, ZB9030, ZB9032,

Tx + 1 yellow

Tx - 4 orange

Rx + 2 white

Rx - 3 blue

Shield Housing Shield Shield Shield

1)

Core colors according to EN61918

connector

Core colors

ZK1090-6292,
ZK1090-3xxx-xxxx

1)

1)

1)

1)

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, the core colors of the ZB9030, ZB9032 and ZK1090-3xxx-xxxx cables have
been changed to the EN61918 core colors: 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.

EP704124 Version: 2.3

Installation

3.2.2.2 Status LEDs

Fig.14: 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

Description of the EtherCAT slave states

3.2.2.3 Cables

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

EP7041 25Version: 2.3

Installation

3.2.3 Stepper motor, brake, encoder

3.2.3.1 Signal connection

Fig.15: Signal connection EP7041-3002

NOTE

Note the numbering of the M12 sockets

Mixing up the M12 connectors can damage the module.

M12 socket no.1: Stepper motor connection

Fig.16: Stepper motor connection

EP704126 Version: 2.3

M12-Socket no.2: Connection for motor supply

NOTE

The motor supply connection is not protected against polarity reversal

Defect possible through polarity reversal.

• Ensure that the polarity is correct.

Fig.17: Connection for motor supply with EP7041-0002 [}12] and EP7041-1002 [}12]

Installation

Fig.18: Connection for motor supply with EP7041-2002 [}13] and EP7041-3002 [}14]

M12 socket no.3: Connection for digital inputs and outputs

The signal connection of the digital inputs and outputs is done via M12 connectors.

Fig.19: Connection for digital inputs and outputs

The sensors are supplied with a common maximum current of 0.5Afrom the control voltage Us.

The output is short-circuit-proof and is protected against polarity reversal.

LEDs indicate the signal state of the inputs and outputs.

EP7041 27Version: 2.3

Installation

M12 socket no. 4: Encoder connection

NOTE

The encoder supply voltage is not short-circuit proof.

Risk of damage due to short circuit.

• Avoid short-circuiting the encoder supply voltage "V Enc“.

Encoder

Fig.20: Encoder connection

EP704128 Version: 2.3

3.2.3.2 Status LEDs

Installation

Fig.21: LEDs EP7041-3002

Status LEDs at the M12 connections

Connection LED Display Meaning

M12 socket no.1:
Stepper motor

M12 socket no.2:
Motor supply

M12 socket no.3:
binary inputs
binary output

M12 socket no.4:
Encoder

S
left

R
right

V
left

O
right

DI 1
left

DI 2
right

C
left

A
right

green

yellow If motor is disabled: motor control in standby

red

green Motor is turning

red internal error

off Motor supply voltage is not present

green Motor supply voltage is present

off Binary output (M12 socket no.3, pin5) switched off (0V)

green Binary output (M12 socket no.3, pin5) switched on (24V)

off there is no signal (0V) on binary input1 (M12 socket no. 3, pin4)

green there is no signal (24V) on binary input1 (M12 socket no. 3, pin4)

off there is no signal (0V) on binary input 2 (M12 socket no. 3, pin2)

green there is no signal (24V) on binary input2 (M12 socket no. 3, pin2)

flashes Encoder track C

flashes Encoder trackA

Motor control is enabled (Index 0x6010:02 [}95] is set) and EP7041 is ready to operate

If motor is enabled: warning, configuration error. Check the motor status.

Error: Check DiagData (Index 0xA010 [}101])

EP7041 29Version: 2.3

Installation

3.3 ATEX notes

3.3.1 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
[}31] 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

or

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

EP704130 Version: 2.3