Beckhoff EP7342-0002 User Manual

Documentation | EN

EP7342-0002

2-channel DC motor output stage 48 V DC, 3.5 A

20.07.2020 | Version: 1.0

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 EtherCAT Box - Introduction ....................................................................................................................8

3 Product overview.....................................................................................................................................10

3.1 Introduction......................................................................................................................................10

3.2 Technical data .................................................................................................................................11

3.3 Scope of supply ...............................................................................................................................12

3.4 Technology ......................................................................................................................................13

4 Mounting and connection.......................................................................................................................15

4.1 Mounting..........................................................................................................................................15

4.1.1 Dimensions ...................................................................................................................... 15

4.1.2 Fixing ............................................................................................................................... 16

4.1.3 Tightening torques for plug connectors ........................................................................... 16

4.2 Connection ......................................................................................................................................17

4.2.1 EtherCAT ......................................................................................................................... 17

4.2.2 Supply voltages ............................................................................................................... 19

4.2.3 Signal connection ............................................................................................................ 21

4.3 ATEX notes .....................................................................................................................................23

4.3.1 ATEX - Special conditions ............................................................................................... 23

4.3.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 24

4.3.3 ATEX Documentation ...................................................................................................... 25

5 Commissioning/Configuration ...............................................................................................................26

5.1 Integration in TwinCAT ....................................................................................................................26

5.2 Integration into the NC configuration (manually) .............................................................................26

5.3 Settings in the CoE register.............................................................................................................29

5.3.1 Adaptation of current and voltage.................................................................................... 29

5.3.2 Adaptation of the encoder data........................................................................................ 30

5.3.3 Adaptation of the maximal velocity .................................................................................. 31

5.3.4 Selection of the operating mode ...................................................................................... 32

5.3.5 Select info data ................................................................................................................ 33

5.3.6 KA factor .......................................................................................................................... 34

5.4 NC settings ......................................................................................................................................35

5.4.1 Reference velocity selection ............................................................................................ 35

5.4.2 Dead time compensation ................................................................................................. 36

5.4.3 Scaling factor ................................................................................................................... 37

5.4.4 Position lag monitoring .................................................................................................... 38

5.4.5 KV factors ........................................................................................................................ 39

5.5 Commissioning the motor with the NC ............................................................................................40

5.6 Operating modes .............................................................................................................................42

5.6.1 Overview.......................................................................................................................... 42

5.6.2 Chopper operation ........................................................................................................... 43

EP7342-0002 3Version: 1.0

Table of contents

5.6.3 Positioning Interface ........................................................................................................ 45

5.7 Restoring the delivery state .............................................................................................................46

5.8 Decommissioning ............................................................................................................................47

6 CoE parameters .......................................................................................................................................48

6.1 Restore object .................................................................................................................................48

6.2 Configuration data ...........................................................................................................................49

6.3 Command object .............................................................................................................................56

6.4 Input data.........................................................................................................................................57

6.5 Output data......................................................................................................................................60

6.6 Information and diagnosis data (channel specific) ..........................................................................63

6.7 Configuration data (vendor-specific)................................................................................................65

6.8 Information and diagnosis data (device-specific) ............................................................................66

6.9 Standard objects..............................................................................................................................66

7 Appendix ..................................................................................................................................................86

7.1 General operating conditions...........................................................................................................86

7.2 Accessories .....................................................................................................................................87

7.2.1 Motor cables .................................................................................................................... 87

7.2.2 Encoder cables ................................................................................................................ 87

7.3 Version identification of EtherCAT devices .....................................................................................89

7.3.1 Beckhoff Identification Code (BIC)................................................................................... 93

7.4 Support and Service ........................................................................................................................95

EP7342-00024 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.

EP7342-0002 5Version: 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.

EP7342-00026 Version: 1.0

Foreword

1.3 Documentation issue status

Version Comment

1.0 • First release

Firmware and hardware versions

This documentation refers to the firmware and hardware version that was applicable at the time the
documentation was written.

The module features are continuously improved and developed further. Modules having earlier production
statuses cannot have the same properties as modules with the latest status. However, existing properties
are retained and are not changed, so that older modules can always be replaced with new ones.

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

Further information on this topic: Version identification of EtherCAT devices [}89].

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

EP7342-0002 7Version: 1.0

EtherCAT Box - Introduction

2 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.

EP7342-00028 Version: 1.0

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

EtherCAT Box - Introduction

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.

EP7342-0002 9Version: 1.0

Product overview

3 Product overview

3.1 Introduction

Fig.4: EP7342-0002

2-channel DC motor output stage 48 VDC, 3.5 A

The EP7342 EtherCAT Box enables direct operation of two DC motors.

The speed and position are preset by a 16-bit value from the automation device. By connecting an
incremental encoder (24 V DC, single-ended), it is possible to implement a simple servo axis. The output
stage is protected against overload and short-circuit.

The EtherCAT Box has two channels, whose signal states are indicated by LEDs. The LEDs enable quick
local diagnosis.

Quick links

Technical data [}11]
Dimensions [}15]
Signal connection [}21]
Commissioning [}26]

EP7342-000210 Version: 1.0

Product overview

3.2 Technical data

All values are typical values over the entire temperature range, unless stated otherwise.

Technical data EP7342-0002

Fieldbus

Fieldbus EtherCAT
Connection 2x M8 socket, 4-pin, green
Distributed Clocks yes
Electrical isolation 500V (fieldbus/ IO)

Supply voltages

Connection Input: 1 x M8 plug, 4-pin

Downstream connection: 1 x M8 socket, 4-pin

Motor supply: 1x M12 socket, 4-pin
Control voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 4A
Current consumption from U
Peripheral voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 4A
UP consumer Encoder
Motor supply
Nominal voltage 8…48V

Motor outputs

Number 2
Motor type DC brush motor, inductive
Connection 1x M12 common socket for both motors
Motor supply see above under "Supply voltages“
Nominal current per output 3.5A, short-circuit proof
Overload protection Thermal overload warning
Resolution Current: max. 10bits

PWM clock frequency 30kHz with 180° phase shift each
PWM duty cycle 0…100 % (voltage-controlled)
Current controller frequency approx. 25kHz

Encoder inputs

Number 2
Encoder type Incremental encoders
Connection 1x M12 socket per encoder
Encoder supply 24VDC taken from the peripheral voltage UP, not short-circuit

signals Single-ended
Signal voltage "0" -3…1.5V
Signal voltage "1" 2.5…24V
Pulse frequency max. 400,000increments per second with 4-fold evaluation

S

1)

S

P

120mA

1)

DC

Speed: max. 16 bits

proof

1)

This value corresponds to the current carrying capacity of the connections for the supply voltages.

EP7342-0002 11Version: 1.0

Product overview

Technical data EP7342-0002

Environmental conditions

Ambient temperature during operation -25…+60°C

0...+55 °C according to ATEX [}23]

Ambient temperature during storage -40…+85°C
Vibration/ shock resistance conforms to EN60068-2-6 / EN60068-2-27;

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

Mechanics

Weight approx. 165g
Dimensions approx. 126x 30x 26.5mm (without connectors)
Installation position variable

Approvals and conformity

Approvals CE, ATEX

Additional checks

The boxes have been subjected to the following checks:

Verification Explanation

Vibration 10 frequency sweeps in 3 axes

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

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

Shocks 1000 shocks in each direction, in 3 axes

35g, 11ms

3.3 Scope of supply

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

• 1x EP7342-0002 EtherCAT Box

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

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

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

• 10x labels, blank (1 strip of 10)

Pre-assembled protective caps do not ensure IP67 protection

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

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

EP7342-000212 Version: 1.0

Product overview

3.4 Technology

EP7342-0002 integrates a compact Motion Control solution up to 200W with minimum space requirement.

DC motor

DC motors can replace the considerably more expensive servo motors in many applications if they are
operated with an intelligent controller. Since its speed is proportional to the voltage, the DC motor is easy to
control in comparison with other motors.

Two output stages for optimum performance

With the EP7342 EtherCAT Box a DC motor can easily be integrated into the control system. All parameters
are adjustable via the fieldbus. The DC motor output stages for EtherCAT unite a small, compact design with
an extensive area of application. Two DC motors can be operated directly with each of the output stages.
The EP7342 also has an integrated feedback system for incremental encoders.

The speed can be easily adjusted via the process data. The integrated compensation of the internal
resistance keeps the motor at the desired speed for load changes. The speed is preset by a 16-bit value
from the automation device. Thus a simple drive task can be solved using a simple controller.
The EtherCAT Box has two channels, whose signal states are indicated by LEDs. This enables fast local
diagnosis.

EP7342-0002 13Version: 1.0

Product overview

EP7342

EP7342

Areas of application

Two areas of application are particularly well supported by the output stages:

1. A simple controller with inexpensive processor power and low demands on the cycle time.
By using the integrated path control, the box can carry out independent positioning movements with­out the use of NC. Only a DC motor and the EtherCAT Box are required.

2. High-end positioning with integration in TwinCAT NC.
In conjunction with EP7342, a DC motor is controlled under TwinCAT like a servo terminal. No further
changes are necessary.

For demanding positioning tasks a closed speed control loop with a feedback system is needed. The
EtherCAT Box enables connection of an incremental encoder.

The control loop can be closed either by the EtherCAT Box itself or by the higher-level control system.

Fig.5: Implementation options for control loops with EP7342-0002

The peak current may briefly significantly exceed the nominal current and in this way makes the whole drive
system very dynamic. In such dynamic applications, negative acceleration causes energy recovery, which
lead to voltage peaks at the power supply unit.

The EP9576-1032 brake chopper box protects against the consequences of overvoltage by absorbing part of
the energy: It has an integrated brake resistor that converts surplus energy into heat.

EP7342-000214 Version: 1.0

4 Mounting and connection

119

126

23

30

26.5

13.5

Ø 3.5

4.1 Mounting

4.1.1 Dimensions

Mounting and connection

Fig.6: 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
Installation 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)

EP7342-0002 15Version: 1.0

Mounting and connection

4.1.2 Fixing

NOTE

Dirt during assembly

Dirty 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.

4.1.3 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

EP7342-000216 Version: 1.0

Mounting and connection

3 1

24

4.2 Connection

4.2.1 EtherCAT

4.2.1.1 Connectors

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

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

Fig.7: EtherCAT connectors

Connection

Fig.8: 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.

EP7342-0002 17Version: 1.0

Mounting and connection

4.2.1.2 Status LEDs

Fig.9: 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

4.2.1.3 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

EP7342-000218 Version: 1.0

Mounting and connection

Plug

Input

Socket

Forwarding

3 1

24

3 1

24

4.2.2 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

The motor supply must be provided separately.

See chapter Signal connection [}21].

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!

4.2.2.1 Connectors

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.10: Connectors for supply voltages

Fig.11: 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 ZK2020-3xxx-xxxx

EP7342-0002 19Version: 1.0

S

P

S

P

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

S

P

Blue
Black

1)

Mounting and connection

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

4.2.2.2 Status LEDs

Fig.12: Status LEDs for the supply voltages

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

4.2.2.3 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

EP7342-000220 Version: 1.0

4.2.3 Signal connection

Mounting and connection

Fig.13: Signal connection EP7342-0002

NOTE

Note the numbering of the M12 sockets

Mixing up the M12 connectors can damage the module.

M12 socket no.1: DC motor connection

M12 socket no.2: Connection for motor supply

Pin 1: Motor channel1, connection1

Pin 2: Motor channel1, connection2

Pin 3: Motor channel2, connection1

Pin 4: Motor channel2, connection2

Pin 5: not connected

Pin 1: Motor supply 8...48 V

Pin 2: Motor supply 8...48 V

DC

DC

Pin 3: GND

Pin 4: GND

Pin 5: not connected

EP7342-0002 21Version: 1.0

Mounting and connection

M12 sockets no. 3 and no. 4: Encoder connection

The encoder supply is not short-circuit proof

Risk of defect.

• Avoid short-circuiting the encoder supply.

NOTE

Pin 1: GND

Pin 2: Encoder supply 24 V

Pin 3: Track A

Pin 4: Track B

Pin 5: Track C (Gate/Latch)

DC

EP7342-000222 Version: 1.0

Mounting and connection

4.3 ATEX notes

4.3.1 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
[}24] 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

EP7342-0002 23Version: 1.0

Mounting and connection

4.3.2 BG2000 - EtherCAT Box protection enclosures

WARNING

Risk of electric shock and damage of device!

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

ATEX

WARNING

Mount a protection enclosure!

To fulfill the special conditions according to ATEX [}23], a BG2000-0000 or BG2000-0010 protection enclo­sure has to be mounted over the EtherCAT Box.

Installation

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

Fig.14: BG2000 - putting the cables

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

EP7342-000224 Version: 1.0

Fig.15: BG2000 - fixing the cables

Mount the protection enclosure over the EtherCAT Box.

Mounting and connection

Fig.16: BG2000 - mounting the protection enclosure

4.3.3 ATEX Documentation

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

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

EP7342-0002 25Version: 1.0

Commissioning/Configuration

5 Commissioning/Configuration

5.1 Integration in TwinCAT

The procedure for integration in TwinCAT is described in this Quick start guide.

5.2 Integration into the NC configuration (manually)

(TwinCAT 3.1)

EtherCAT XML Device Description

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

ü Requirement: EP7342 is integrated in a TwinCAT project.

1. Add a new NC task: Right-click on "MOTION" and select "Add New Item..."

EP7342-000226 Version: 1.0

2. Right click on "Axes" and click on "Add New Item…“

Commissioning/Configuration

ð A dialog box appears:

3. In the "Type" field select "Continuous axis" and confirm with OK.

4. Double-click the new axis.

5. Click on the "Settings" tab

EP7342-0002 27Version: 1.0

Commissioning/Configuration

6. Click on "Link To I/O..."

ð A dialog box appears:

7. Select the appropriate entry and click "OK".
Note: EP7342 has two motor channels. The assignment of the connector pins to the motor channels can

be found in chapter Signal connection [}21].

ð The process data are linked to the NC task.

You need to set some parameters before you can start the motor. You will find these parameters in the
following chapters:

• Settings in the CoE register [}29]

• NC settings [}35]

EP7342-000228 Version: 1.0

Commissioning/Configuration

5.3 Settings in the CoE register

The data given here exemplary for a DC motor type GR42X25 from the company Dunkermotoren. For other
motors the values may vary, depending on the application.

5.3.1 Adaptation of current and voltage

NOTE

The motor may overheat!

In order to prevent overheating of the connected motor it is important to adapt the current and voltage out­put from the stepper interface to the motor.

Index 0x8020:02 [}49] "Nominal current" and index 0x8020:03 [}49] "Nominal voltage" have be set
appropriately in the CoE register. In addition, you should also adapt the "Maximal current" in the index

0x8020:01 [}49] and the coil resistance of the motor in the index 0x8020:04 [}49] "Motor coil resistance"
to the connected motor.

Reducedcurrent can be set in index 0x8020:05 [}49] and 0x8020:06 [}49]. This reduces the coil current
when at a standstill (and therefore the power dissipation). Please note that this reduces the torque.

Fig.17: Adaptation of current and voltage

EP7342-0002 29Version: 1.0

Commissioning/Configuration

5.3.2 Adaptation of the encoder data

Different encoders are available with a different number of increments. You must specify the number of
increments of your encoder in the index 0x8020:07 [}49] "Encoder increments" (see fig. Adaptation of the

encoder data). In our example an encoder with 1024 increments is used, corresponding to 4096 increments
in the case of quadruple evaluation. The number of increments of your encoder can be found in the data
sheet for the encoder.

Fig.18: Adaptation of the encoder data

EP7342-000230 Version: 1.0