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EP7211-0034
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Beckhoff EP7211-0034, EP7211-9034 Documentation

Documentation
EP7211
Servomotor module with OCT
Version: Date:
1.0 2019-08-01

Table of contents

Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
2 Product overview.......................................................................................................................................8
2.1 EtherCAT Box - Introduction..............................................................................................................8
2.2 EP7211-x034 - Introduction.............................................................................................................10
2.3 Technical data .................................................................................................................................11
2.4 Scope of supply ...............................................................................................................................12
2.5 Technology ......................................................................................................................................13
3 Mounting and cabling..............................................................................................................................15
3.1 Mounting .........................................................................................................................................15
3.1.1 Dimensions ...................................................................................................................... 15
3.1.2 Fixing ............................................................................................................................... 16
3.1.3 Functional earth (FE) ....................................................................................................... 16
3.2 Cabling ............................................................................................................................................17
3.2.1 Power supply ................................................................................................................... 18
3.2.2 EtherCAT ......................................................................................................................... 20
3.2.3 Motor, brake and feedback system.................................................................................. 22
3.2.4 Hardware Enable / Safe Torque Off ................................................................................ 24
3.2.5 Touch Probe .................................................................................................................... 27
4 Commissioning........................................................................................................................................29
4.1 Activate motor output stage.............................................................................................................29
4.2 Configuration in TwinCAT................................................................................................................29
4.3 Start-up and parameter configuration..............................................................................................30
4.3.1 Integration into the NC configuration ............................................................................... 30
4.3.2 Settings with the Drive Manager...................................................................................... 34
4.3.3 Settings in the CoE register ............................................................................................. 39
4.3.4 NC settings ...................................................................................................................... 42
4.3.5 Commissioning without NC, status word/control word..................................................... 48
4.3.6 Settings for the automatic configuration .......................................................................... 51
4.3.7 Configure end position monitoring ................................................................................... 53
4.3.8 Homing ............................................................................................................................ 54
4.3.9 Touch Probe .................................................................................................................... 57
4.4 Drive profiles....................................................................................................................................61
4.5 Operation modes .............................................................................................................................62
4.5.1 Overview.......................................................................................................................... 62
4.5.2 CSV ................................................................................................................................. 63
4.5.3 CST.................................................................................................................................. 66
4.5.4 CSTCA............................................................................................................................. 69
4.5.5 CSP ................................................................................................................................. 72
4.6 Process data MDP 742....................................................................................................................76
4.7 DS402 process data ........................................................................................................................80
Table of contents
4.8 Object description (MDP 742) .........................................................................................................84
4.8.1 Restore object.................................................................................................................. 84
4.8.2 Configuration data ........................................................................................................... 84
4.8.3 Configuration data (vendor-specific)................................................................................ 91
4.8.4 Command object.............................................................................................................. 91
4.8.5 Input data......................................................................................................................... 91
4.8.6 Output data ...................................................................................................................... 93
4.8.7 Information / diagnosis data............................................................................................. 95
4.8.8 Standard objects.............................................................................................................. 98
4.9 Object description (DS402) ...........................................................................................................107
4.9.1 Configuration data ......................................................................................................... 108
4.9.2 Configuration data (vendor-specific).............................................................................. 113
4.9.3 Command object ........................................................................................................... 113
4.9.4 Input/output data............................................................................................................ 114
4.9.5 Information / diagnosis data .......................................................................................... 119
4.9.6 Standard objects............................................................................................................ 122
5 Appendix ................................................................................................................................................129
5.1 General operating conditions.........................................................................................................129
5.2 Firmware Update EL/ES/EM/ELM/EPxxxx ....................................................................................130
5.2.1 Device description ESI file/XML..................................................................................... 131
5.2.2 Firmware explanation .................................................................................................... 134
5.2.3 Updating controller firmware *.efw................................................................................. 135
5.2.4 FPGA firmware *.rbf....................................................................................................... 136
5.2.5 Simultaneous updating of several EtherCAT devices.................................................... 140
5.3 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................141
5.4 Servo technology - accessories.....................................................................................................141
5.5 General note on the introduction of the Beckhoff Identification Code (BIC) ..................................142
5.6 Support and Service ......................................................................................................................144
EP72114 Version: 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®, 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.
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.
EP72116 Version: 1.0
Foreword

1.3 Documentation issue status

Version Comment
1.0 • First release
0.4 • Preliminary version
0.3 • Updates
0.2 • Technical data updated
0.1 • First draft
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.
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) [}142].
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
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.
EP72118 Version: 1.0
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
Product overview
Fig.3: EtherCAT Box with M12 connections for sensors/actuators
Basic EtherCAT documentation
You will find a detailed description of the EtherCAT system in the Basic System Documentation for EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.
EtherCAT XML Device Description
You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our web­site (www.beckhoff.com) under Downloads, in the Configuration Files area.
Product overview

2.2 EP7211-x034 - Introduction

Fig.4: EP7211-9034
The EP7211-x034 EtherCAT Box is a single-channel servo drive for synchronous servomotors with OCT feedback system. It is intended for operation with motors from the AM81xx series. These motors have an electronic identification plate. EP7211-x034 can read the electronic identification plate in order to set the motor parameters in TwinCAT automatically.
The EP7211-9034 variant supports the "Safe Torque Off" (STO) function. This variant is non-reactive and can be used in a safety application.
Process-side interfaces of EP7211-x034:
• Motor
• Motor brake
• OCT communication: ◦ Feedback ◦ Electronic identification plate readout
• 2 x touch probe
• Hardware Enable (EP7211-0034): digital input for activating the output stage
• Safe Torque Off (EP7211-9034)
The motor is connected via a hybrid cable. The hybrid cable contains the wires for the motor phases, the brake and the OCT communication.
EP7211-x034 can be controlled via the MDP742 or alternatively the DS402 drive profile.
EP721110 Version: 1.0

2.3 Technical data

Technical data EP7211-0034 EP7211-9034
Fieldbus
Fieldbus EtherCAT Connection 2 x M8 socket (green) Electrical isolation 500V (fieldbus / IO)
Distributed Clocks Process image
Supply
Connection
Control voltage U DC link supply voltage U
S
P
Supply of the module electronics from the control voltage U Current consumption of the module
electronics Current consumption from the
DC link supply voltage
Motor
Motor type Synchronous servomotor Connection
Power rating P Nominal output current I Peak output current I
n
n
peak
Output frequency range 0..599Hz PWM clock frequency 16kHz Current controller frequency 32kHz Speed controller frequency 16kHz
Drive profile [}61]
Motor brake
Output voltage 24VDC from the control voltage U Output current max. 0.5A, short-circuit protected
Digital inputs
Interfaces 2 x touch probe
Yes Dependent on the operation mode [}62]
Feed: 1 x 7/8" plug, 5-pin [}18] Downstream connection: 1 x 7/8" socket, 5-pin [}18]
24VDC (-15% / +20%) 48VDC (8 - 50VDC), not protected against polarity reversal
S
typ. 120mA
typ. 50mA
1 x iTec socket, 9-pin, M23 [}22] Hybrid connector for:
• 1 x motor
• 1 x feedback (OCT encoder)
• 1 x brake
max. 276W
4.5A
rms
9.0A
for 1s
rms
Alternatively:
• MDP 742 (default)
• CiA DS402
S
2 x touch probe
1 x Hardware Enable
1 x Safe Torque Off (STO)
Product overview
Product overview
Technical data EP7211-0034 EP7211-9034
Environmental conditions
Permissible ambient temperature during operation
Permissible ambient temperature during storage
Vibration/ shock resistance conforms to EN60068-2-6/ EN60068-2-27 EMC immunity/emission conforms to EN61000-6-2/ EN61000-6-4 EMC category Category C3 (auxiliary filter required)
Protection class IP65, IP66, IP67 (conforms to EN 60529)
Mechanics
Dimensions 150mmx 60mmx 26.5mm (without plug connectors) Weight approx.500g Installation position variable
Approvals and conformity
Approvals CE, UL in preparation
-25°C ... +60°C
-40°C ... +85°C
Category C2, C1 in preparation (auxiliary filter required)

2.4 Scope of supply

Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT Box EP7211-0034 / EP7211-9034
• 2x protective caps for EtherCAT socket (mounted)
• 1x protective cap for 7/8" socket (mounted)
• 10X labels, blank (1 strip of 10)
EP721112 Version: 1.0
Product overview

2.5 Technology

Servomotor
The servomotor is an electrical motor. Together with a servo drive the servomotor forms a drive. The servomotor is operated in a closed control loop with position, torque or speed control.
EP7211-x034 supports control of permanent magnet synchronous motors. These consist of 3 coils which are offset by 120° and a permanent magnet rotor.
Fig.5: Three synchronous motor coils, each offset by 120°
One Cable Technology (OCT)
In the servomotors from the AM8100-xF2 x series the feedback signals are transmitted directly via the power supply cable, so that power and feedback system are combined in a single motor connection cable. With the use of the One Cable technology, the information is sent reliably and without interference through a digital interface. Since a cable and plug are omitted at both the motor and controller end, the component and commissioning costs are reduced.
Thermal I²T motor model
The thermal I²T motor model represents the thermal behavior of the motor winding taking into account the absolute thermal resistance Rth and the thermal capacity Cth of motor and the stator winding.
The model assumes that the motor reaches its maximum continuous operating temperature T continuous operation with rated current I
. This temperature corresponds to 100% motor load. During
nom
nom
during
operation at rated current the motor model reaches a load of 63% after a time of τth=Rth∙Cth and slowly reaches its continuous operating temperature.
If the motor is operated with a current that is greater than the rated current, the model reaches 100% load more quickly.
If the load of the I²T model exceeds 100%, the requested set current is limited to the rated current, in order to protect the motor winding thermally. The load reduces to a maximum of 100%. If the current falls below the rated current, the load falls below 100% and the set current limitation is cancelled.
For a motor that has been cooled to ambient temperature, the time for reaching 100% load with a set current that exceeds the rated current can be estimated with τth∙I
nom
²/I
actual
².
The actual load must be known for exact calculation of the time when the 100% load threshold is exceeded.
Product overview
Fig.6: Limitation to the rated motor current
EP721114 Version: 1.0

3 Mounting and cabling

150
60
141
Ø 4.5

3.1 Mounting

3.1.1 Dimensions

Mounting and cabling
Fig.7: Dimensions
All dimensions are given in millimeters.
Housing features
Housing material PA6 (polyamide) Sealing compound polyurethane Mounting two fastening holes Ø4.5mm for M4 Metal parts brass, nickel-plated Contacts CuZn, gold-plated Power feed through max. 16A at 40°C (according to IEC 60512-3) Mounting position variable Protection class IP65, IP66, IP67 (conforms to EN60529) when screwed together Dimensions (HxWxD) approx. 150 x 60 x 26.5mm (without connectors)
Mounting and cabling
FE
FE

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 M4 screws in the centrally located fastening holes.
The bolts must be longer than 15mm. The fastening holes in the modules have no thread.
Note when mounting that the overall height is increased further by the fieldbus connections. See chapter Accessories.

3.1.3 Functional earth (FE)

All existing connections for the functional earth must be connected to earth:
• Fastening holes
• "FE" cores in the supply cables
Functional earth via the fastening holes
The fastening holes [}16] also serve as connections for the functional earth (FE).
Make sure that the box is earthed with low impedance via both fastening screws.
Fig.8: Functional earth via the fastening holes
Functional earth via the supply lines
The pins of the supply connectors [}18] marked with "FE" are directly connected to the functional earth potential of the fastening holes.
Connect the functional earth of the "FE" cores in accordance with the following instructions:
• If the remote station is a device with a 7/8" connector: connect the devices with a pre-configured cable.
Possible types of preconfigured cables:
◦ Beckhoff ZK2030-1112-0xxx ◦ Beckhoff ZK2030-1114-0xxx ◦ Beckhoff ZK2030-1314-0xxx
• Otherwise: Earth the "FE" core with low impedance as near as possible to the remote station.
EP721116 Version: 1.0

3.2 Cabling

X60 X61
X20
X04
X03
X02
X01
X40 X41
Mounting and cabling
Fig.9: Connector overview
Name Connector
type
X01 M12 0.6Nm
Tightening torque
1)
Function
Hardware Enable / Safe Torque Off [}24]
X02 X03 M12 0.6Nm
1)
Touch Probe [}27]
X04 X20 iTec M23 -
X40 M8 0.4Nm
1)
Motor, brake and feedback system [}22]
EtherCAT [}20]
X41 X60 7/8" 1.5Nm
Power supply [}18]
X61
1)
Mount connectors on these plug connectors using a torque wrench, e.g. ZB8801 from Beckhoff.
Mounting and cabling
1
2
3
4
5
IN
5
4
3
2
1
OUT

3.2.1 Power supply

3.2.1.1 Connection
Two 7/8" connectors at the low-end of the modules are used for feeding and routing the supply voltages:
• "IN" (male): left connector for feeding the supply voltages
• "OUT" (female): right connector for downstream connection
Fig.10: 7/8" connector pin assignment
NoteDefect possible through polarity reversal. The input for the DC link voltage Up is not protected
against polarity reversal. Ensure that the polarity is correct.
Pin Name Comment Core colors
1 GND 2 GND
P
S
GND to U GND to U
P
S
Black
Blue 3 FE Functional earth Grey 4 +24 VDC U 5 +48 VDC U
1)
The core colors apply to cables of the type: Beckhoff ZK203x-xxxx.
S
P
Control voltage U DC link voltage U
S
P
Brown
White
1)
EP721118 Version: 1.0
Mounting and cabling
3.2.1.2 Status LEDs
The status of the supply voltages is signaled by two LEDs. A Status LED lights up green when the respective supply voltage is present on the connector for the supply.
Fig.11: Power supply Status LEDs
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 permissible value. See Technical data.
Variations in the voltage of the power supply unit must also be taken into account.
The following graph illustrates the dependence of the voltage drop on the core cross-section, current and cable length:
Fig.12: Losses on the supply line
Mounting and cabling

3.2.2 EtherCAT

3.2.2.1 Connection
EtherCAT Boxes (EPxxxx) have two green M8 sockets for the incoming and outgoing EtherCAT connections.
Fig.13: EtherCAT connection
Fig.14: M8 socket pin assignment
Assignment
There are various different standards for the assignment and colors of connectors and cables for EtherCAT.
EtherCAT Plug connector Cable Standard
Signal M8 M12 RJ45
Tx + Pin 1 Pin 1 Pin 1 yellow Tx - Pin 4 Pin 3 Pin 2 orange Rx + Pin 2 Pin 2 Pin 3 white Rx - Pin 3 Pin 4 Pin 6 blue Shield Housing Shroud Shield Shield Shield
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 were changed to the colors of EN61918 (yellow, orange, white, blue). So different color coding exists. But the electrical properties are absolutely identical.
EP721120 Version: 1.0
3.2.2.2 Status LEDs
Mounting and cabling
Fig.15: EtherCAT Status LEDs
L/A (Link/Act)
A green LED labelled "L/A" or “Link/Act” is located next to each EtherCAT/EtherCATP 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 and each EtherCATP 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.
Mounting and cabling
C
B
A
5
1
2
4
3

3.2.3 Motor, brake and feedback system

3.2.3.1 Connection
Fig.16: iTec socket pin assignment
Pin Name Comment Core colors
1 Brake + Motor brake + Red 2 Brake - Motor brake - Black 3 OCT + Data and supply for the OCT feedback system White 4 OCT - Data and supply for the OCT feedback system Blue 5 - ­A U Motor phase U Black B W Motor phase W Grey C V Motor phase V Brown
FE, shield Functional earth, cable shield green-yellow
1)
The core colors apply to the ZK470x-xxxx motor cables from Beckhoff.
1)
EP721122 Version: 1.0
3.2.3.2 Status LEDs
Fig.17: Status LEDs of the motor connection
LED Displays
LED Display Meaning
Drv OK green
illuminated Rd OCT flashing green The electronic identification plate is being read. Enable green The driver stage is enabled.
Limit orange Limit reached (e.g. torque or speed limit).
Warning flashes Error while reading the electronic identification plate.
orange Warning. The "Warning" threshold value is exceeded.
The driver stage is ready for operation.
The LED is linked with bits 1 and 2 of the Status word1).
The LED is linked with bit 11 of the Status word1).
Possible reasons:
• Motor load (I²T) is higher than 100%
Mounting and cabling
• The motor output stage is not activated [}29]
• Maximum operating temperature exceeded
The LED is linked with bit 7 of the Status word1).
Error red Error. The “Error” threshold value is exceeded.
Possible reasons:
• Overcurrent
• STO triggered with active axis
• Voltage not available
• Feedback not connected
• Max. temperature (100 °C) exceeded
The LED is linked with bit 3 of the Status word1).
1)
Status word in the CoE directory:
• Device profile MDP742 [}92] (default)
• Device profile DS402 [}114]
Mounting and cabling
1
2
3
4
5

3.2.4 Hardware Enable / Safe Torque Off

EP7211-0034 and EP7211-9034 differ from each other by the purpose of use of the digital input "Hardware Enable" / "Safe Torque Off":
Hardware variant Designation of the digital input Purpose of use of the digital input
EP7211-0034 Hardware Enable (HWE)
EP7211-9034 Safe Torque Off (STO) Safe Torque Off
Safe Torque Off (STO)
Refer to the Application Guide TwinSAFE if you wish to use the EP7211-9034 in a safety application: an application example with "Safe Torque Off" for EL72x1-9014 is described in chapter 2.27. EP7211-9034 can be used instead of EL72x1-9014 in this application example if you observe the following note:
WARNING
Wiring of the STO
The wiring between EL2904 and the STO input of EP7211-9034 must be done with a separate sheathed cable in order to be able to assume a fault exclusion for the cross-circuit or external power supply of the wiring between EL2904 and EP7211-9034. Alternatively, the wiring is to be protected individually by an earth connection. The evaluation of this wiring and the evaluation of whether the fault exclusion is permissible must be done by the machine manufacturer or user.
Activation of the motor output stage [}29]
3.2.4.1 Connection
Connect the "Hardware Enable" / "Safe Torque Off" signal to the X01 or alternatively the X02 socket. The X01 and X02 sockets have the same configuration and are bridged 1:1 inside the box.
Fig.18: M12 socket pin assignment
Pin Signal Core colors
1 n.c. Brown 2 n.c. White 3 n.c. Blue 4 EP7211-0034: Hardware Enable
EP7211-9034: Safe Torque Off
5 FE (Functional earth) Grey
1)
The core colors apply to cables of the types ZK2000-5xxx, ZK2000-6xxx and ZK2000-7xxx from Beckhoff.
Black
1)
EP721124 Version: 1.0
3.2.4.2 Status LEDs
EP7211-9034
EP7211-0034
Mounting and cabling
Fig.19: Status LEDs for HWE/STO
EP7211-0034
The green LED with the name "HWE" (Hardware Enable) lights when a high level is present on the corresponding pin of X01 or X02. → The motor output stage is activated.
EP7211-9034
The green LED with the name "STO" (Safe Torque Off) lights when a high level is present on the corresponding pin of X01 or X02. → The motor output stage is activated.
Mounting and cabling
EP7211
HWE /
STO
EP7211
Box 1 Box 2
...
Cable
Cable
Cable
3.2.4.3 Cabling
The X01 and X02 sockets have the same configuration and are bridged 1:1 inside the box. This makes it possible to forward the signal for "Hardware Enable" / "Safe Torque Off" from one box to the next.
Sample:
Fig.20: Sample: forwarded HWE/STO signal
EP721126 Version: 1.0
Mounting and cabling
1
2
3
4
5

3.2.5 Touch Probe

3.2.5.1 Connection
Connect touch probes to the sockets X03 and X04. The X03 and X04 sockets have the same configuration and are bridged 1:1 inside the box.
Fig.21: M12 socket pin assignment
Pin Signal Core colors
1 US: +24V
DC
Brown
1)
2 IN B = TP2 White 3 GND
S
Blue 4 IN A = TP1 Black 5 n.c. Grey
1)
The core colors apply to cables of the types ZK2000-5xxx, ZK2000-6xxx and ZK2000-7xxx from Beckhoff.
3.2.5.2 Status LEDs
Fig.22: Touch probe Status LEDs
The green LEDs with the names "IN A" and "IN B" light when a high level is present on the corresponding pins of X03 or X04:
• IN A = TP1
• IN B = TP2
Mounting and cabling
X03
X04
Cable
X03
X04
Cable
Cable
3.2.5.3 Cabling
The X03 and X04 sockets have the same configuration and are bridged 1:1 inside the box. This enables the touch probes to be wired in two ways:
• One common cable (connection to X03 or X04)
• One cable per touch probe (connection to X03 and X04)
EP721128 Version: 1.0
Commissioning

4 Commissioning

4.1 Activate motor output stage

Activate the motor output stage by applying a high level to the digital input Hardware Enable / Safe Torque Off [}24].

4.2 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
Commissioning

4.3 Start-up and parameter configuration

4.3.1 Integration into the NC configuration

(Master: TwinCAT 2.11 R3)
Installation of the latest XML device description
Please ensure that you have installed the corresponding latest XML device description in TwinCAT. This can be downloaded from the Beckhoff Website and installed according to the installation in-
structions.
Integration into the NC can be accomplished as follows:
• The box must already have been added manually under I/O devices or have been scanned in by the system (see section Configuration in TwinCAT [}29]).
Adding an axis automatically
• TwinCAT detects the new axes automatically once the IO modules have been successfully scanned. The user is asked whether the detected axes should be added automatically (see Fig. Axis detected). If this is confirmed, all axes are automatically liked to the NC.
Fig.23: Axis detected
• Several parameters have to be set before the motor can be started up. The values can be found in the chapter Settings in the CoE register [}39].
Set these parameters before continuing with the motor commissioning.
EP721130 Version: 1.0
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