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Beckhoff EPP3174, EPP3184 Documentation

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Page 1
Documentation for
EPP3174, EPP3184
EtherCAT P Box Modules with configurable analog inputs
Version: Date:
1.0.0 2019-03-11
Page 2
Page 3

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P Box - Introduction ..........................................................................................................8
2.2 EPP3174-0002 - Introduction ..........................................................................................................10
2.3 EPP3184-0002 - Introduction ..........................................................................................................11
2.4 EPP31xx - Technical data ...............................................................................................................12
2.5 Additional checks.............................................................................................................................12
2.6 EPP3174-0002, EPP3184-0002 – Process image ..........................................................................13
3 Mounting and cabling..............................................................................................................................14
3.1 Mounting..........................................................................................................................................14
3.1.1 Dimensions ...................................................................................................................... 14
3.1.2 Fixing ............................................................................................................................... 16
3.1.3 Nut torque for connectors ................................................................................................ 17
3.2 EtherCAT P .....................................................................................................................................19
3.2.1 EtherCAT P - voltage and signal supply .......................................................................... 19
3.2.2 EtherCAT P - calculate the cable length, voltage and current ......................................... 20
3.2.3 EtherCAT P LEDs............................................................................................................ 20
3.3 EtherCAT-P-supply..........................................................................................................................21
3.3.1 EtherCAT P connection ................................................................................................... 21
3.3.2 Status LEDs for power supply ......................................................................................... 23
3.3.3 EtherCAT P cable conductor losses M8 .......................................................................... 24
3.4 Cabling ............................................................................................................................................25
3.5 Signal connection ............................................................................................................................28
3.5.1 Supply and connection of sensor/actuator to EPP boxes................................................ 28
3.5.2 EPP3174-0002 ................................................................................................................ 28
3.5.3 EPP3184-0002 ................................................................................................................ 30
3.6 Status LEDs at the M12 connections ..............................................................................................31
4 Configuration ...........................................................................................................................................32
4.1 Offline configuration settings - TwinCAT .........................................................................................32
4.2 Online configuration settings - TwinCAT .........................................................................................36
4.3 Configuration via TwinCAT..............................................................................................................43
4.4 Notices on analog specifications .....................................................................................................56
4.5 EPP31xx - Settings..........................................................................................................................61
4.5.1 Selection of the analog signal type .................................................................................. 61
4.5.2 Representation ................................................................................................................ 61
4.5.3 Siemens bits .................................................................................................................... 62
4.5.4 Underrange, Overrange................................................................................................... 62
4.5.5 Limit 1 and Limit 2............................................................................................................ 62
4.6 EPP31xx – operating modes ...........................................................................................................65
4.7 Data stream .....................................................................................................................................67
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Table of contents
4.8 Measuring ranges............................................................................................................................68
4.9 Calibration .......................................................................................................................................69
4.10 Calculation of process data .............................................................................................................70
4.11 EPP31x4-0002 - Object overview....................................................................................................70
4.12 EPP31x4 - Object description and parameterization.......................................................................76
4.13 Restoring the delivery state .............................................................................................................91
5 Appendix ..................................................................................................................................................92
5.1 General operating conditions...........................................................................................................92
5.2 EtherCAT Box- / EtherCATPBox - Accessories ............................................................................93
5.3 Support and Service ........................................................................................................................94
EPP3174, EPP31844 Version: 1.0.0
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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P®, SafetyoverEtherCAT®, TwinSAFE®, XFC® and XTS® are registered trademarks of and licensed by Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and patents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications or registrations in various other countries.
The TwinCAT Technology is covered, including but not limited to the following patent applications and patents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany. The reproduction, distribution and utilization of this document as well as the communication of its contents to others without express authorization are prohibited. Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a patent, utility model or design.
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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.
EPP3174, EPP31846 Version: 1.0.0
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Foreword

1.3 Documentation issue status

Version Comment
1.0.0 • 1st public issue
0.1.0 • First preliminary version
Firm and hardware version
The documentation refers to the firm and hardware status that was valid at the time it was prepared.
The properties of the modules are subject to continuous development and improvement. Modules having earlier production statuses cannot have the same properties as modules with the latest status. Existing properties, however, are always retained and are not changed, so that these modules can always be replaced by new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D number) printed at the side of the EtherCAT Box.
Syntax of the batch number (D number)
D: WW YY FF HH Example with D No. 29 10 02 01:
WW - week of production (calendar week) 29 - week of production 29 YY - year of production 10 - year of production 2010 FF - firmware version 02 - firmware version 02 HH - hardware version 01 - hardware version 01
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Product overview

2 Product overview

2.1 EtherCATP Box - Introduction
The EtherCAT system has been extended with EtherCATP Box modules with protection class IP67. Through the integrated EtherCATP interface the modules can be connected directly to an EtherCATP network without an additional Coupler Box. Through an adapter an EtherCATP Box can be connected to an EtherCAT Box whereby voltage must be supplied externally. 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 and EtherCAT Box modules. They are thus particularly suitable for use where space is at a premium. The small mass of the EtherCATP modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The EtherCATP connection is established via screened M8connectors.
Fig.1: EtherCATP Box Modules within an EtherCAT network
The robust design of the EtherCATP 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P and signal wiring. Very few wiring errors are made, so that commissioning is optimized. In addition to pre-assembled EtherCATP, power and sensor cables, field-configurable 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P 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.
EPP3174, EPP31848 Version: 1.0.0
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Fig.2: EtherCATP Box with M8 connections for sensors/actuators
Fig.3: EtherCATP 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.
Product overview
XML files
You will find XML files (XML Device Description Files) for Beckhoff EtherCATP modules on our website (www.beckhoff.com) under Downloads, in the Configuration Files area.
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Product overview

2.2 EPP3174-0002 - Introduction

Fig.4: EPP3174-0002
The EPP3174 EtherCATPBox has four analog inputs which can be individually parameterized, so that they process signals either in the -10 to +10V range or the 0mA/4mA…20mA range. The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.
The four input channels have differential inputs and possess a common, internal ground potential. The input filter and therefore the conversion times are configurable in a wide range. The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available.
EtherCAT is used for parameterization purposes. The parameters are stored in the module.
EPP3174, EPP318410 Version: 1.0.0
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2.3 EPP3184-0002 - Introduction

Product overview
Fig.5: EPP3184-0002
The EPP3184 EtherCATPBox has four analog inputs which can be individually parameterized, so that they process signals either in the -10V/0V to +10V range or the 0mA/4mA…20mA range. The voltage or input current is digitized with a resolution of 16 bits, and is transmitted (electrically isolated) to the higher-level automation device.
The four input channels are single-ended inputs and share a common internal ground potential. The input filter and therefore the conversion times are configurable in a wide range. The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available.
EtherCAT is used for parameterization purposes. The parameters are stored in the module.
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Product overview

2.4 EPP31xx - Technical data

Technical data EPP3174-0002 EPP3184-0002
Fieldbus EtherCATP
Bus interface [}21]
Number of inputs 4 Connection technology two-wire, four-wire single ended Input connections
Signal type Configurable:
Internal resistance >200kΩ (typ. 85Ω + diode voltage) Common-mode voltage U
CM
Resolution 16bit (including sign) Input filter configurable Input filter limit frequency 5kHz Conversion time ~100μs Measuring error < ±0.3% (relative to full scale value) Nominal voltage 24VDC (-15 %/+20 %) Distributed clocks yes Supply of the module electronics from the control voltage U Current consumption of the module
electronics Sensor supply from load voltage U Power supply connection not required Process image Inputs: 4 x 16bit, status: 4 x 8bit Electrical isolation 500V Special features Current or voltage parameterizable Weight approx.165g 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 Protection class IP65, IP66, IP67 (conforms to EN 60529) Installation position variable Approvals CE
2 x M8 sockets, shielded, screwable, EtherCATP-coded
M12, screw type [}28] M12, screw type [}30]
0V…+10V
-10V…+10V 0mA…20mA 4mA…20mA
max. 35V
S
typ. 100mA
P
-25°C ... +60°C
-40°C ... +85°C

2.5 Additional checks

The boxes have undergone the following additional tests:
Verification Explanation
Vibration 10 frequency runs 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
EPP3174, EPP318412 Version: 1.0.0
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Product overview

2.6 EPP3174-0002, EPP3184-0002 – Process image

The process data of the EPP3174-0002 and EPP3184-0002 modules are identical in the default setting and are illustrated here taking the EPP3174-0002 as an example.
A detailed explanation of the meaning of the status bits can be found in the chapters EPP31xx-Settings [}62] and Object description and parameterization [}87].
AI Standard Channel 1
You will find the data of the 1st analog channel under AI Standard Channel1.
AI Standard Channel2 bis 4
The data of analog channels 2 to 4 have the same structure as those of the 1st channel.
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Mounting and cabling

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

Fig.6: Dimensions of the EtherCAT-P-Box Modules
All dimensions are given in millimeters.
EPP3174, EPP318414 Version: 1.0.0
Page 15
Mounting and cabling
NOTE
FE contact in housing of EtherCAT-P-Box
At top right of the EtherCAT-P-Box is a FE socket (see following figure) to connect the EPP-Box with the machine bed. If the machine have no FE connection the EtherCAT-P-Box must be connected with low im­pedance to an alternative functional ground.
Fig.7: FE socket in housing of EtherCAT-P-Box
Housing properties
EtherCAT Box lean body
Housing material PA6 (polyamide) Casting compound Polyurethane Mounting two fastening holes Ø3mm for M3 Metal parts Brass, nickel-plated Contacts CuZn, gold-plated Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions (HxWxD) ca. 126 x 30 x 26,5mm Weight approx. 125g, depending on module type
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Mounting and cabling

3.1.2 Fixing

Note or pointer
While mounting the modules, protect all connectors, especially the IP-Link, against contamination! Only with connected cables or plugs the protection class IP67 is guaranteed! Unused connectors have to be protected with the right plugs! See for plug sets in the catalogue.
Modules with narrow housing are mounted with two M3 bolts. Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners or mounted with two M4 bolts to the fixing holes located centrally.
The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.
When assembling, remember that the fieldbus connectors increases the overall height. See chapter accessories.
Mounting Rail ZS5300-0001
The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.
The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The rail has got 5.3 mm slots to mount it via M5 screws to the machine.
Fig.8: Mounting Rail ZS5300-000
The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mm between two modules. The rail can be cut to length for the application.
Mounting Rail ZS5300-0011
The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4 treads to fix 60 mm wide modules via their middle holes.
Up to 14 narrow or 7 wide modules may be mixed mounted.
EPP3174, EPP318416 Version: 1.0.0
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Mounting and cabling

3.1.3 Nut torque for connectors

M8 connectors
It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque control screwdriver ZB8800 is also a max. torque of 0.5Nm permissible.
Fig.9: EtherCAT P Box with M8 connectors
M12 connectors
It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.
Fig.10: EtherCAT P Box with M8 and M12 connectors
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Mounting and cabling
7/8" connectors
It is recommended to pull the 7/8" connectors tight with a nut torque of 1.5 Nm.
Fig.11: 7/8" connectors
Torque socket wrenches
Fig.12: ZB8801 torque socket wrench
Ensure the right torque
Use the torque socket wrenches available by Beckhoff to pull the connectors tight (see ZB8800, ZB8801-0000)!
EPP3174, EPP318418 Version: 1.0.0
Page 19
Mounting and cabling

3.2 EtherCAT P

3.2.1 EtherCAT P - voltage and signal supply

For the incoming and ongoing EtherCAT-P-connection, the EtherCAT-P-Box (EPPxxxx) has two M8 sockets, marked in red.
Fig.13: EtherCATP Box: M8 (30mm housing)
Assignment
A standard industrial CAT5 cable is used to which an EtherCAT-P-coded M8 plug is connected. The assignment of the Beckhoff EtherCAT-P-cable is listed below.
Assignment EtherCATP Connector Wire color cable Signal Description Voltage Description M8 ZB7000, ZB7001
Tx + Transmit Data+ GND Rx + Receive Data+ GND Rx - Receive Data- U
P
GND for U
S
GND for U
P
Peripheral voltage for
S
P
1 yellow 2 white 3 blue
1
1
1
actuators
Tx - Transmit Data- U
S
System and sensor supply 4 orange
1
Shield Shield Shield Shield Housing Screen
*1) wire colors according to EN 61918
Click here [}25] for EtherCAT-P-cable.
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Mounting and cabling

3.2.2 EtherCAT P - calculate the cable length, voltage and current

The chapter “EtherCATPtab [}45]” describes a planning tool to calculate the cable length, voltages and currents of the EtherCATPsystem.

3.2.3 EtherCAT P LEDs

Fig.14: EtherCAT P LEDs
LED display
LED Display Meaning
IN L/A off no connection to the preceding EtherCATP module
Lit LINK: connection to the preceding EtherCATP module flashing ACT: Communication with the preceding EtherCATP module
OUT L/A off no connection to the following EtherCATP module
Lit LINK: connection to the following EtherCATP module flashing ACT: Communication with the following EtherCATP module
Run off Status of the EtherCATP module is Init
flashes quickly Status of the EtherCATP module is pre-operational flashes slowly Status of the EtherCATP module is safe-operational Lit Status of the EtherCATP module is operational
EtherCAT statuses
The various statuses in which an EtherCATP module may be found are described in the Basic Sys­tem Documentation for EtherCAT, which is available for download from our website (www.beck­hoff.com) under Downloads.
EPP3174, EPP318420 Version: 1.0.0
Page 21
Mounting and cabling

3.3 EtherCAT-P-supply

3.3.1 EtherCAT P connection

NOTE
Risk of damage to the device!
Bring the EtherCAT/EtherCATP system into a safe, powered down state before starting installation, disas­sembly or wiring of the modules!
The feeding and forwarding of EtherCATP is done via two EtherCAT-P-coded M8 connectors at the top of the modules:
• IN: left M8 connector with EtherCAT-P-coding for feeding EtherCATP
• OUT: right M8 connector with EtherCATP for forwarding the supply voltages
Fig.15: EtherCAT-P-Box, Connectors for EtherCATP
Fig.16: Pin assignment M8, EtherCATP In and EtherCATP Out
PIN assignment
Pin Signal Voltage
1 Tx + GNDs 2 Rx + GNDp 3 Rx - Auxiliary voltage UP, +24V 4 Tx - Control voltage US, +24V Housing Shield Shielding
DC
DC
The pins M8 connectors carry a maximum current of 3A.
Two LEDs display the status of the supply voltages.
Page 22
Mounting and cabling
Control voltage US 24V
DC
Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the 24VDC control voltage US.
Auxiliary voltage Up 24V
DC
The Auxiliary voltage UP supplies the digital outputs; it can be brought in separately. If the load voltage is switched off, the fieldbus functions and the power supply and functionality of the inputs are retained.
NOTE
Pay attention to the maximum permissible current!
Pay attention also for the redirection of EtherCATP, the maximum permissible current for M8 connectors of 3A must not be exceeded!
Electrical isolation
Digital modules
In the digital input/output modules, the grounds of the control voltage (GNDS) and the auxiliary voltage (GNDP) are separated from each other!
Analog modules
In the analog input/output modules the grounds of the control voltage (GNDS) and the auxiliary voltage (GNDP) are separated from each other in order to ensure electrical isolation of the analog signals from the control voltage.
In some of the analog modules the sensors or actuators are supplied by UP - this means, for instance, that in the case of 0...10 V inputs, any reference voltage (0...30 V) may be connected to UP; this is then available to the sensors (e.g. smoothed 10 V for measuring potentiometers).
EPP3174, EPP318422 Version: 1.0.0
Page 23

3.3.2 Status LEDs for power supply

Fig.17: Status LEDs for power supply
LED display
LED Display Meaning
US (Control voltage) off The power supply voltage US is not present
green illuminated The power supply voltage US is present red illuminated Because of overload (current>0.5A) the sensor supply
generated from power supply voltage US was switched off for all sensors fed from this.
UP (Auxiliary voltage) off The power supply voltage UP is not present
green illuminated The power supply voltage UP is present
Mounting and cabling
Page 24
Mounting and cabling

3.3.3 EtherCAT P cable conductor losses M8

When using ZK700x-xxxx-0xxx EtherCATP cables it must be ensured that the voltage at the last device is not less than the minimum rated voltage of 20.4 V according to the standard. Variations in the output voltage from the power supply unit must also be taken into account. This ensures that the connected consumers, sensors and actuators are operated within the permitted voltage range.
The voltage calculation tool [}45] integrated in TwinCAT can be used for the offline calculation of the cable lengths.
The EPP9022-0060 box with diagnostics can be used for checking during operation.
Conductor losses on the EtherCATP cables
Fig.18: Conductor losses on the EtherCATP cables
Example
A 10 meter-long EtherCATP cable with a cross section of 0.34mm² has a voltage drop of ∼3.0V with a load of 3A.
EPP3174, EPP318424 Version: 1.0.0
Page 25
Mounting and cabling

3.4 Cabling

A list of the EtherCATP cable, EtherCAT cable, power cable, sensor cable, Ethernet-/EtherCAT connectors and the field assembled connectors can be found at the following link: https://beckhoff.de/english/ethercat-
box/ethercat_box_cables.htm?id=690338951657421
You can find the corresponding data sheets at the following link: https://beckhoff.de/english/ downloadfinder/default.htm?id=109075571109075577&cat1=40717316&cat2=90800914
EtherCATP cable
For the EtherCATP connection are pre-assembled M8 cables in various lengths and the versions: plug – open end, plug – plug or plug - socket available.
Fig.19: EtherCAT P cable: ZK700x-0100-0xxx, ZK700x-0101-0xxx and ZK700x-0102-0xxx
For connecting EtherCATP 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.
Recommendations about cabling
You may get detailed recommendations about cabling EtherCAT from the documentation "Infra­structure for EtherCAT/Ethernet", that is available for download at www.Beckhoff.com.
Page 26
Mounting and cabling
Fig.20: EtherCAT-P-Box-accessories
Number Description Link
1 Cables for EtherCAT signal in- and -output
2 Cables for EtherCAT P: Ultra-fast Communication and Power in
One Cable
3 Cables for EtherCAT signal in- and -output
4 Cables for M8 power supply
5 Cables for M8 I/O connection sockets
6 Cables for M12 I/O connection sockets
7 Shielded cables for M12 I/O connection sockets
EtherCATP connectors for field assembly
For EtherCATP are field installable M8 connectors as plug and as socket available.
RJ45 EtherCAT/Ethernet cable
M8 EtherCAT P cable
M8 EtherCAT cable
M8 Power cable
M8 Sensor cable
M12 Sensor cable
M12 Sensor cable, shielded
Fig.21: EtherCAT P: field assembly connectors
EPP3174, EPP318426 Version: 1.0.0
Page 27
Sensor cable
Fig.22: Selection of different Sensor cables from Beckhoff
Mounting and cabling
Page 28
Mounting and cabling

3.5 Signal connection

3.5.1 Supply and connection of sensor/actuator to EPP boxes

NOTE
Supply and connection of sensor/actuator to the EPP boxes
The connected sensors/actuators must be powered by an EPP box! GNDS and GNDP from an M8/M12 sig­nal connection of an EPP box must not be connected to the machine bed!
Supply of remote powered sensors/actuators
If the sensors/actuators cannot be supplied from the EPP box the supply of remote powered sen­sors/actuators must be galvanically isolated!

3.5.2 EPP3174-0002

3.5.2.1 M12 analog voltage inputs, one differential input per socket
Analog inputs, -10V to +10V
The input voltage is measured as a differential signal.
Fig.23: M12 analog voltage inputs, one differential input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
EPP3174, EPP318428 Version: 1.0.0
Page 29
Mounting and cabling
3.5.2.2 M12 analog current inputs, one differential input per socket
Analog inputs, 0mA to 20mA or 4mA to 20mA
The input current is measured as a differential signal.
Fig.24: M12 analog current inputs, one differential input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
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Mounting and cabling

3.5.3 EPP3184-0002

3.5.3.1 Analog voltage inputs M12, one single-ended input per socket
Analog input, -10V to +10V
Fig.25: Analog voltage inputs M12, one single-ended input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
3.5.3.2 M12 analog current inputs, one single-ended input per socket
Analog input, 0 to 20mA, or 4 to 20mA
Fig.26: M12 analog current inputs, one single-ended input per socket
GND connections
If several sensors are connected to a box whose GND connections are not electrically isolated, GND must be connected to GNDp.
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3.6 Status LEDs at the M12 connections

Fig.27: Status LEDs at the M12 connections
Connection LED Display Meaning
M12 socket no. 1-4 R
left E
right
Correct function is indicated if the green RUN LED is on and the red Error LED is off.
off No data transfer to the A/D converter green Data transfer to A/D converter
off Function OK red Error: Broken wire or measured value outside the measuring
range
Mounting and cabling
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Configuration

4 Configuration

4.1 Offline configuration settings - TwinCAT

In this part of the documentation is the manual configuration of an EtherCAT/EtherCATP Box in TwinCAT described.
Distinction between Online and Offline
The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, box-modules). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design (as described under Offline configuration settings - TwinCAT). If the designed control system is already connected to the EtherCAT system and all components are energized and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system. This is referred to as online configuration. In any case, during each startup the EtherCAT/EtherCATP master checks whether the devices it finds match the configuration. This test can be parameterized in the extended device settings.
To take advantage of the current features/settings of the master, the latest version of the ESI file should always be downloaded. Therefore it is necessary to consider the following note first.
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Installation of the latest ESI-XML device description
The TwinCAT SystemManager needs the device description files for the devices to be used in order to generate the configuration in online or offline mode. The device description are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. The ESI files for Beckhoff Ether-
CAT/EtherCATP devices are available on the Beckhoff website (http://www.beckhoff.de/english/ download/elconfg.htm?id=1983920606140). The ESI files should be saved in the TwinCAT installa-
tion directory (default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new System Manager window is opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created. For TwinCAT 2.11 and higher, the ESI di­rectory can be uploaded from the System Manager, if the programming PC is connected to the in­ternet (TwinCAT → EtherCAT-Devices → Update Device Description…)
Appending a module manually
• The EtherCAT system must be in a safe, de-energized state before the EtherCAT/EtherCATP modules are connected to the EtherCAT network!
• Switch on the operating voltage, open the TwinCAT System Manager [}43] (Config mode)
• Append a new I/O device. In the dialog that appears select the device EtherCAT (Direct Mode), and confirm with OK.
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Configuration
Fig.28: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)
Fig.29: Selecting the device EtherCAT
• Append a new box.
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Fig.30: Appending a new box (Device -> right-click -> Append Box...)
• In the dialog that appears select the desired box (e.g. EPP1322-0001), and confirm with OK.
Configuration
Fig.31: Selecting a Box (e.g. EPP1322-0001)
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Configuration

4.2 Online configuration settings - TwinCAT

In this part of the documentation is the configuration of a physically existing EtherCAT/EtherCATP box in TwinCAT described.
Online configuration “Scan” (TwinCAT 3.x)
Distinction between Online and Offline
The distinction between online and offline refers to the presence of the actual I/O environment (drives, terminals, box-modules). If the configuration is to be prepared in advance of the system configuration as a programming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case all components have to be entered manually in the configuration, e.g. based on the electrical design (as described under Offline configuration settings - TwinCAT). If the designed control system is already connected to the EtherCAT system and all components are energized and the infrastructure is ready for operation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system. This is referred to as online configuration. In any case, during each startup the EtherCAT/EtherCATPbox checks whether the devices it finds match the configuration. To take advantage of the current features/ settings of the EtherCAT/EtherCATPbox, the latest version of the ESI file should always be downloaded. Therefore it is necessary to consider the following note first.
Installation of the latest ESI-XML device description
The TwinCAT System Manager needs the device description files for the devices to be used in or­der to generate the configuration in online or offline mode. The device descriptions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format. These files can be requested from the respective manufacturer and are made available for download. The ESI files for Beckhoff
EtherCAT/EtherCATP devices are available on the Beckhoff website (http://www.beckhoff.de/eng- lish/download/elconfg.htm?id=1983920606140). The ESI files should be saved in the TwinCAT in-
stallation directory (default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new Sys­tem Manager window is opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created. For TwinCAT 2.11 and higher, the ESI directory can be uploaded from the System Manager, if the programming PC is connected to the internet (TwinCAT → EtherCAT-Devices → Update Device Description…)
The following conditions must be met before a configuration can be set up:
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Configuration
• the real EtherCAT/EtherCATP and IO-Link hardware (devices, couplers, drives) must be present and installed
• the master/devices must be connected via EtherCAT/EtherCATP cables and IO-Link cables in the same way as they are intended to be used later
• the devices/modules be connected to the power supply and ready for communication
• TwinCAT must be in CONFIG mode on the target system.
The online scan process consists of:
• detecting the EtherCAT device (Ethernet Port at the IPC)
• detecting the connected EtherCAT/EtherCATP devices. This step can be carried out independent of the precending step.
• troubleshooting
The scan with existing configuration can also be carried out for comparison.
Detecting/scanning of the EtherCAT/EtherCATP device
The online device search can be used if the TwinCAT system is in CONFIG mode (blue TwinCAT icon or blue indication in the System Manager).
Fig.32: TwinCAT CONFIG mode display
Online scanning in Config mode
The online search is not available in RUN mode (production operation).
Note the differentiation between TwinCAT programming system and TwinCAT target system. The TwinCAT icon next to the Windows clock always shows the TwinCAT mode of the local IPC. The System Manager window shows the TwinCAT state of the target system.
Right-clicking on “I/O Devices” in the configuration tree opens the search dialog.
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Configuration
Fig.33: Scan Devices
This scan mode not only tries to find EtherCAT/EtherCATP devices (or Ethernet ports that can be used as such), but also NOVRAM, fieldbus cards, SMB etc. Not all devices can be found automatically.
Fig.34: note for automatic device scan
Ethernet ports with installed TwinCAT real-time driver are shown as “RT Ethernet” devices. An EtherCAT frame is sent to these ports for testing purposes. If the scan agent detects from the response that an EtherCAT/EtherCATP slave is connected, the port is immediately shown as an “EtherCAT Device”.
Fig.35: detected Ethernet devices
After confirmation with “OK” a device scan is suggested for all selected devices, see following figure.
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Detecting/Scanning the EtherCAT devices
Online scan functionality
During a scan the master queries the identity information of the EtherCAT/EtherCATP slaves from the slave EEPROM. The name and revision are used for determining the type. The respective de­vices are located in the stored ESI data and integrated in the configuration tree in the default state defined there.
If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can be scanned for devices/slaves.
Fig.36: scan query after automatic creation of an EtherCAT device
The configuration has been build and directly shifted into the online state (OPERATIONAL). The EtherCAT system should then be in a functional cyclic state, as shown in the following figure.
Fig.37: online display example
Please note:
• all slaves should be in OP state
• “frames/sec” should match the cycle time taking into account the sent number of frames
• no excessive “LostFrames” or CRC errors should occur
The configuration is now complete. It can be modified as described under the offline procedure.
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Configuration
The connected EtherCAT/EtherCATP box (here: EPP1322-0001 and EPP1008-0002) is displayed in the TwinCAT structure as you can see in the figure below.
Fig.38: Master display after scan for boxes
Troubleshooting
Various effects may occur during scanning.
• An unknown device is detected, i.e. an EtherCAT/EtherCATP slave for which no ESI XML description is available. In this case the System Manager offers to read any ESI that maybe stored in the device.
• Device are not detected property
• Possible reasons include:
◦ faulty data links, resulting in data loss during the scan
◦ slave has invalid device description
◦ The connections and devices should be checked in a targeted manner, e.g. via the emergency
scan. Then re-run the scan.
Scan over existing configuration
If a scan is initiated for an existing configuration, the actual I/O environment may match the configuration exactly or it may differ. This enables the configuration to be compared.
Fig.39: identical configuration
If differences are detected, they are shown in the correction dialog, so that the user can modify the configuration as required.
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Fig.40: correction dialog
Configuration
It is advisable to tick the “Extended Information” check box to reveal differences in the revision.
Colour Explanation
green This EtherCAT/EtherCATP slave matches the entry on the other side. Both type and
revision match.
blue This EtherCAT/EtherCATP slave is present on the other side, but in a different revision. If
the found revision is higher than the configured revision, the slave maybe used provided compatibility issues are taken into account. If the found revision is lower than the configured revision, it is likely that the slave cannot be used. The found device may not support all
functions that the master expects based on the higher revision number. light blue This EtherCAT/EtherCATP slave is ignored („Ignore“ button). red This EtherCAT/EtherCATP slave is not present on the other side.
Device selection based on revision, compatibility
The ESI description also defines the process image, the communication type between master and slave/device and the device functions, if applicable. The physical device (firmware, if available) has to support the communication queries/settings of the master. This is backward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT/EtherCATP master addresses them as an older revision. The following compatibility rule of thumb is to be assumed for Beckhoff EtherCAT Terminals and EtherCAT/EtherCATP Boxes:
Device revision in the system >= device revision in the configuration
This also enables subsequent replacement of devices without changing the configuration (different specifications are possible for drives). Example: If an EL2521-0025-1018 is specified in the configu­ration, an EL 2521-0025-1019 or higher (-1020, -1021) can be used in practice.
If current ESI descriptions are available in the TwinCAT system, the last revision offered in the se­lection dialog matches the Beckhoff state of production. It is recommended to use the last device re­vision when creating a new configuration, if current Beckhoff devices are used in the real applica­tion. Older revisions should only be used if older devices from stock are to be used in the applica­tion.
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Configuration
Fig.41: correction dialog with modifications
Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsm configuration.
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Configuration

4.3 Configuration via TwinCAT

In the left-hand window of the TwinCAT System Manager, click on the branch of the EtherCATPBox you wish to configure (EPP3174-0002 in this example).
Fig.42: Branch of the EtherCAT P box to be configured
In the right-hand window of the TwinCAT System manager, various tabs are now available for configuring the EtherCATPBox.
General tab
Fig.43: General tab
Name Name of the EtherCATPdevice Id Number of the EtherCATPdevice Type EtherCATPdevice type Comment Here you can add a comment (e.g. regarding the system). Disabled Here you can deactivate the EtherCATPdevice. Create symbols Access to this EtherCATPslave via ADS is only available if this control box is
activated.
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Configuration
EtherCAT tab
Fig.44: EtherCAT tab
Type EtherCATPdevice type Product/Revision Product and revision number of the EtherCATPdevice Auto Inc Addr. Auto increment address of the EtherCATPdevice. The auto increment address can
be used for addressing each EtherCATPdevice in the communication ring through its physical position. Auto increment addressing is used during the start-up phase when the EtherCATPmaster allocates addresses to the EtherCATPdevices. With auto increment addressing the first EtherCATPslave in the ring has the address 0000
. For each further slave the address is decremented by 1 (FFFF
hex
, FFFE
hex
hex
etc.).
EtherCAT Addr. Fixed address of an EtherCATPslave. This address is allocated by the
EtherCATPmaster during the start-up phase. Tick the control box to the left of the input field in order to modify the default value.
Previous Port Name and port of the EtherCATPdevice to which this device is connected. If it is
possible to connect this device with another one without changing the order of the EtherCATPdevices in the communication ring, then this combination field is activated and the EtherCATPdevice to which this device is to be connected can be selected.
Advanced Settings This button opens the dialogs for advanced settings.
The link at the bottom of the tab points to the product page for this EtherCATPdevice on the web.
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Configuration
EtherCATP tab
From TwinCAT 3 Build 4020 TwinCAT has the tab “EtherCATP”. This tab contains a planning tool to calculate voltages, currents and cable lengths of EtherCATP system. The figure below shows the tab EtherCATP when no device is connected to the junction device (A).
Fig.45: Tab EtherCAT P: No device connected to junction device
Is a device connected to the junction device (A), the number/letter of the ports are displayed (see figure below, B).
Fig.46: Tab EtherCAT P: One device connected to junction device
Are three devices connected to the three ports of the junction device (A), the ports are displayed (B) as shown in the figure below.
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Configuration
Fig.47: Tab EtherCAT P: Three devices connected to junction device
How you can see the topology of your EtherCATP system in TwinCAT, is described here [}48].
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Port Identification of the ports with numbers / letters as described before Wire Gauge Selection of the wire cross-sectional area of the cable which is to be used
AWG 22 = 0.34mm²
AWG 24 = 0.22mm²
AWG 26 = 0.14mm²
Length (m) Indication of the cable length which is to be used Check EtherCATP
system Type Listing of two voltages: Box supply US, Auxiliary voltage U
At least one device is connected to the controller, the connected EtherCATP system can be checked.
P
Actual Voltage (V) The respective voltage at which the system is powered, can be entered manually.
The default setting is 24.00V.
Min. Voltage (V) The minimum voltage is preset by the device and described in the ESI file. The
EtherCATP system is to be interpreted after this voltage. It is valid not to fall short this voltage.
Internal Load (A) The current which consume the device is read from the ESI file of the respective box. Load (A) The total consumption of the connected sensors / actuators at the device can be
specified here,e.g. 100mA.
Load Type The characteristic of the load which is connected to the devices can be selected here.
Which of the three options is right for the connected load (Sw regulator, LDO, Resistor), must be taken from the datasheet. In case of doubt please select the default value “Sw Regulator”.
Sw Regulator: Switching regulators, consume more energy and therefore require an efficient power supply.
LDO: Low drop voltage regulator, the energy demand is often small and the heat dissipation is not a problem, e.g. proximity sensor.
Resistor: electronic, passive components e.g. relay, coil
If you click on the button “Check EtherCATP System”, all devices that are attached to your TwinCAT tree are listed as shown in the following figure.
Fig.48: Check EtherCAT P System
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Configuration
Check US, CheckUPSelecting which of the two voltages is to be checked.
Name Designation of the in TwinCAT tree attached devices. Supply Voltage (V) Voltage at which the device is provided. For device 1, the voltage can be entered
manually.
Min Voltage (V) See description above. Input Resistance
(Ω) Current (A) Display for the current. Load (A) See description above. Cable Length (m) The used cable length must be entered manually. Wire Gauge See description above.
Example with problem case and troubleshooting
The following figure shows the planning of the EtherCATP system without a problem. All voltages in the column “Supply Voltage (V)” are highlighted in green.
Input resistance, which is calculated over the cable length and cable cross-section.
Fig.49: Check EtherCAT P system without problem
The following figure shows the planning of the EtherCATP system with a problem. The “Supply Voltage (V)” of Box 5 drops below the “Min. voltage (V)”. The corresponding field is highlighted in red. The error occurs because longer cables (adjustable in Cable Length (m)) and also AWG 24 instead of AWG 22 cables (adjustable in Wire Gauge) be used.
Fig.50: Check EtherCAT P System with problem
This area offers the following three options to adjust the system so that there is no error:
Provide a higher voltage: There are max. 28.8V possible.
Use an EtherCATP cable with a larger wire cross sectional area (AWG 22 instead of AWG 24).
New voltage feed.
Topology of the EtherCATP system
You can view the topology of your EtherCATPsystem, as described in the figure below:
A: Click in the TwinCAT tree on „Device1 (EtherCAT)“
B: Click on tab „EtherCAT“
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Configuration
C: Click on button „Topology“
D: The topology of your EtherCATP system is displayed. Here as example: Three devices are connected to the three ports of the distributor device.
Fig.51: Topology of the EtherCAT P system
Process Data tab
Indicates the configuration of the process data. The input and output data of the EtherCATPslave are represented as CANopen process data objects (PDO). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCATPslave supports this function.
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Configuration
Fig.52: Process Data tab
Sync Manager
Lists the configuration of the Sync Manager (SM). If the EtherCATPdevice has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for the mailbox input (MbxIn). SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.
If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.
PDO Assignment
PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listed here:
• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.
• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.
The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the System Manager these PDOs are displayed as variables of the EtherCATPdevice. The name of the variable is identical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignment list is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDO assignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselected first.
Activation of PDO assignment
• the EtherCATPslave has to run through the PS status transition cycle (from pre-operational to
safe-operational) once (see Online tab [}55]),
• and the System Manager has to reload the EtherCATPslaves ( button)
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Configuration
PDO list
List of all PDOs supported by this EtherCATPdevice. The content of the selected PDOs is displayed in the PDO Content list. The PDO configuration can be modified by double-clicking on an entry.
Column Description
Index PDO index. Size Size of the PDO in bytes. Name Name of the PDO.
If this PDO is assigned to a Sync Manager, it appears as a variable of the slave with this parameter as the name.
Flags F Fixed content: The content of this PDO is fixed and cannot be changed by the
System Manager.
M Mandatory PDO. This PDO is mandatory and must therefore be assigned to a
Sync Manager! Consequently, this PDO cannot be deleted from the PDO Assignment list
SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO does
not take part in the process data traffic.
SU Sync unit to which this PDO is assigned.
PDO Content
Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.
Download
If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can be downloaded to the device. This is an optional feature that is not supported by all EtherCATPslaves.
PDO Assignment
If this check box is selected, the PDO assignment that is configured in the PDO Assignment list is downloaded to the device on startup. The required commands to be sent to the device can be viewed in the
Startup [}51] tab.
PDO Configuration
If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and the PDO Content display) is downloaded to the EtherCATPslave.
Startup tab
The Startup tab is displayed if the EtherCATPslave has a mailbox and supports the CANopen over EtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are
sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list.
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Configuration
Fig.53: Startup tab
Column Description
Transition Transition to which the request is sent. This can either be
• the transition from pre-operational to safe-operational (PS), or
• the transition from safe-operational to operational (SO).
If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot be
modified or deleted by the user. Protocol Type of mailbox protocol Index Index of the object Data Date on which this object is to be downloaded. Comment Description of the request to be sent to the mailbox
Move Up This button moves the selected request up by one position in the list. Move Down This button moves the selected request down by one position in the list. New This button adds a new mailbox download request to be sent during startup. Delete This button deletes the selected entry. Edit This button edits an existing request.
CoE - Online tab
The additional CoE - Online tab is displayed if the EtherCATPslave supports the CANopen over EtherCAT (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCATPdevices can be found in the device-specific object descriptions.
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Fig.54: CoE - Online tab
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Configuration
Object list display
Column Description
Index Index and sub-index of the object Name Name of the object Flags RW The object can be read, and data can be written to the object (read/write)
RO The object can be read, but no data can be written to the object (read only) P An additional P identifies the object as a process data object.
Value Value of the object
Update List The Update list button updates all objects in the displayed list Auto Update If this check box is selected, the content of the objects is updated automatically. Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which
objects are displayed in the list.
Fig.55: Advanced Settings
Online
- via SDO Information
Offline
- via EDS File
If this option button is selected, the list of the objects included in the object list of the slave is uploaded from the slave via SDO information. The list below can be used to specify which object types are to be uploaded.
If this option button is selected, the list of the objects included in the object list is read from an EDS file provided by the user.
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Online tab
Configuration
Fig.56: Online tab
State Machine
Init This button attempts to set the EtherCATPdevice to the Init state. Pre-Op This button attempts to set the EtherCATPdevice to the pre-operational state. Op This button attempts to set the EtherCATPdevice to the operational state. Bootstrap This button attempts to set the EtherCATPdevice to the Bootstrap state. Safe-Op This button attempts to set the EtherCATPdevice to the safe-operational state. Clear Error This button attempts to delete the fault display. If an EtherCATPslave fails during
change of state it sets an error flag.
Example: An EtherCATPslave is in PREOP state (pre-operational). The master now requests the SAFEOP state (safe-operational). If the slave fails during change of state it sets the error flag. The current state is now displayed as ERR PREOP. When the Clear Error button is pressed the error flag is cleared, and the current state is displayed as PREOP again.
Current State Indicates the current state of the EtherCATPdevice. Requested State Indicates the state requested for the EtherCATPdevice.
DLL Status
Indicates the DLL status (data link layer status) of the individual ports of the EtherCATPslave. The DLL status can have four different states:
Status Description
No Carrier / Open No carrier signal is available at the port, but the port is open. No Carrier / Closed No carrier signal is available at the port, and the port is closed. Carrier / Open A carrier signal is available at the port, and the port is open. Carrier / Closed A carrier signal is available at the port, but the port is closed.
File Access over EtherCAT
Download With this button a file can be written to the EtherCATPdevice. Upload With this button a file can be read from the EtherCATPdevice.
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Configuration

4.4 Notices on analog specifications

Beckhoff I/O devices (terminals, boxes) with analog inputs are characterized by a number of technical characteristic data; refer to the technical data in the respective documents.
Some explanations are given below for the correct interpretation of these characteristic data.
Full scale value
An I/O device with an analog input measures over a nominal measuring range that is limited by an upper and a lower limit (initial value and end value); these can usually be taken from the terminal/box designation. The range between the two limits is called the measuring span and corresponds to the equation (end value ­initial value). Analogous to pointing devices this is the measuring scale (see IEC61131) or also the dynamic range. For analog I/O devices from Beckhoff the rule is that the limit with the largest value is chosen as the full scale value of the respective product (also called the reference value) and is given a positive sign. This applies to both symmetrical and asymmetrical measuring spans.
Fig.57: Measuring range
For the above examples this means:
• Measuring range 0 to 10V: asymmetric unipolar, full scale value = 10V, measuring span = 10V
• Measuring range 4 to 20mA: asymmetric unipolar, full scale value = 20mA, measuring span = 16mA
• Measuring range -200 to 1370°C: asymmetric bipolar, full scale value = 1370°C, measuring span = 1570°C
• Measuring range -10 to +10V: symmetric bipolar, full scale value = 10V, measuring span = 20V
This applies equally for analog output terminals/boxes.
± Measuring error [% of the full scale value] (also: measurement error)
The relative measuring error is referenced to the full scale value and is calculated as the quotient of the largest numerical deviation from the true value (‘measuring error’) referenced to the full scale value.
The measuring error is generally valid for the entire permitted operating temperature range, also called the ‘usage error limit’ and contains random and systematic portions of the referred device (i.e. ‘all’ influences such as temperature, inherent noise, aging, etc.).
It always to be regarded as a positive/negative span with ±, even if it is specified without ± in some cases.
The maximum deviation can also be specified directly.
EPP3174, EPP318456 Version: 1.0.0
Page 57
Configuration
Example: Measuring range 0 to 10V and measuring error <±0.3% full scale value → maximum deviation ±30mV in the permissible operating temperature range.
Notice: since this specification also includes the temperature drift, a significantly lower measuring error can usually be assumed in case of a constant ambient temperature and thermal stabilization of the device. This applies equally for analog output terminals/boxes.
Single-ended/differential typification
For analog inputs Beckhoff makes a basic distinction between two types: single-ended (SE) and differential (DIFF), referring to the difference in electrical connection with regard to the potential difference.
The diagram shows two-channel versions of an SE module and a DIFF module as examples for all multi­channel versions.
Fig.58: Single-ended/differential typification
Notice: Dashed lines indicate that the respective connection may not necessarily be present in each SE or DIFF module.
The basic rule:
• Analog measurements always take the form of voltage measurements between two potential points. For voltage measurements a large R is used, in order to ensure a high impedance. For current measurements a small R is used as shunt. If the purpose is resistance measurement, corresponding considerations are applied.
◦ Beckhoff generally refers to these two points as input+/signal potential and input-/reference
potential.
◦ For measurements between two potential points two potentials have to be supplied.
◦ Regarding the terms "single-wire connection" or "three-wire connection", please note the following
for pure analog measurements: three- or four-wire connections can be used for sensor supply, but are not involved in the actual analog measurement, which always takes place between two potentials/wires. In particular this also applies to SE, even though the term suggest that only one wire is required.
• The term "electrical isolation" should be clarified in advance. Beckhoff IO modules feature 1…8 or more analog channels; with regard to the channel connection a distinction is made in terms of:
◦ how the channels WITHIN a module relate to each other, or
◦ how the channels of SEVERAL modules relate to each other.
Page 58
Configuration
The property of electrical isolation indicates whether the channels are directly connected to each other.
• Beckhoff terminals/boxes always feature electrical isolation between the field/analog side and the bus/ EtherCAT side. In other words, if two analog terminals/boxes are not connected via the power contacts, the modules are effectively electrically isolated.
• If channels within a module are electrically isolated, or if a single-channel module has no power contacts, the channels are effectively always differential. See also explanatory notes below. Differential channels are not necessarily electrically isolated.
• Analog measuring channels are subject to technical limits, both in terms of the recommended operating range (continuous operation) and the destruction limit. Please refer to the respective terminal documentation for further details.
Explanation
• Differential
◦ Differential measurement is the most flexible concept. The user can freely choose both connection
points, input+/signal potential and input-/reference potential, within the framework of the technical specification.
◦ A differential channel can also be operated as SE, if the reference potential of several sensors is
linked. This interconnection may take place via the system GND.
◦ Since a differential is configured symmetrically internally (see diagram), there will be a mid-
potential (X) between the two supplied potentials that is the same as the internal ground/reference ground for this channel. If several DIFF channels are used in a module without electrical isolation, the technical property VCM (common-mode voltage) indicates the degree to which the mean voltage of the channels may differ.
◦ The internal reference ground may be accessible as connection point at the terminal/box, in order
to stabilize a defined GND potential in the terminal/box. In this case it is particularly important to pay attention to the quality of this potential (noiselessness, voltage stability). At this GND point a wire may be connected to make sure that V differential channels are not electrically isolated, usually only one V
is not exceeded in the differential sensor cable. If
CM,max
is permitted. If the
CM,max
channels are electrically isolated this limit should not apply, and the channels voltages may differ up to the specified separation limit.
◦ Differential measurement in combination with correct sensor wiring has the special advantage that
any interference affecting the sensor cable (ideally the feed and return line are arranged side by side, so that interference signals have the same effect on both wires) has very little effect on the measurement, since the potential of both lines varies jointly (hence the term common mode). In simple terms: Common-mode interference has the same effect on both wires in terms of amplitude and phasing.
◦ Nevertheless, the suppression of common-mode interference within a channel or between
channels is subject to technical limits, which are specified in the technical data.
• Single Ended
◦ If the analog circuit is designed as SE, the input/reference wire is internally fixed to a certain
potential that cannot be changed. This potential must be accessible from outside on at least one point for connecting the reference potential, e.g. via the power contacts.
◦ In other words, in situations with several channels SE offers users the option to avoid returning at
least one of the two sensor cables to the terminal/box (in contrast to DIFF). Instead, the reference wire can be consolidated at the sensors, e.g. in the system GND.
◦ A disadvantage of this approach is that the separate feed and return line can result in voltage/
current variations, which a SE channel may no longer be able to handle. See common-mode interference. A VCM effect cannot occur, since the module channels are internally always 'hard­wired' through the input/reference potential.
Typification of the 2/3/4-wire connection of current sensors
Current transducers/sensors/field devices (referred to in the following simply as ‘sensor’) with the industrial 0/4-20mA interface typically have internal transformation electronics for the physical measured variable (temperature, current, etc.) at the current control output. These internal electronics must be supplied with energy (voltage, current). The type of cable for this supply thus separates the sensors into self-supplied or externally supplied sensors:
EPP3174, EPP318458 Version: 1.0.0
Page 59
• Self-supplied sensors
◦ The sensor draws the energy for its own operation via the sensor/signal cable + and -. So that
enough energy is always available for the sensor’s own operation and open-circuit detection is possible, a lower limit of 4mA has been specified for the 4-20mA interface; i.e. the sensor allows a minimum current of 4mA and a maximum current of 20mA to pass.
◦ For a 2-wire connection; see IEC60381-1
◦ Such current transducers generally represent a current sink and thus like to sit between + and – as
a ‘variable load’. Refer also to the sensor manufacturer’s information.
Therefore, they are to be connected according to the Beckhoff terminology as follows:
Configuration
• preferably to ‘single-ended’ inputs if the +Supply connections of the terminal/box are also to be used ­connect to +Supply and Signal
• the sensor draws the energy/operating voltage for its own operation from 2 supply cables of its own. One or two further sensor cables are used for the signal transmission of the current loop:
Externally supplied sensors
• 3- and 4-wire connection see Fig. Connection of externally supplied sensors, cf. IEC60381-1
• the sensor draws the energy/operating voltage for its own operation from 2 supply cables of its
own. One or two further sensor cables are used for the signal transmission of the current loop:
1. sensor cable: according to the Beckhoff terminology such sensors are to be connected to ‘single­ended’ inputs in 3 cables with +/-/Signal lines and if necessary FE/shield
2. sensor cables: In the case of sensors with 4-wire connection according to +-/+Signal/-Signal, you must check whether +Signal may be connected to +Supply or –Signal to –Supply.
◦ Yes: then you can connect accordingly to a Beckhoff ‘single-ended’ input.
◦ the Beckhoff ‘differential’ input for +Signal and –Signal is to be selected; +Supply and –Supply
are to be connected via additional cables.
Notice: expert organizations such as NAMUR demand a usable measuring range <4mA/>20mA for error detection and adjustment, see also NAMURNE043.
The Beckhoff device documentation must be consulted in order to see whether the respective device supports such an extended signal range.
In general the polarity/direction of current is to be observed due to the internal diode!
Page 60
Configuration
Fig.59: 2/3/4-wire connection as single-ended or differential connection technology
EPP3174, EPP318460 Version: 1.0.0
Page 61
Configuration

4.5 EPP31xx - Settings

4.5.1 Selection of the analog signal type

Selection of the analog signal type, index 0xF800:0n [}80]
In delivery state, all channels of the EPP31xx are set for analog voltage measurement (-10V…+10V).
NOTE
Setting the correct signal type before connecting the sensors
Set the correct signal type before connecting the sensors!
This setting can be made individually for each channel in the CoE object 0xF800:0n [}80]. Changes are immediately effective.
Fig.60: EPP3174-0002, EPP3184-0002: Selection of the signal type

4.5.2 Representation

Presentation, index 0x80n0:02 [}77]
The measured value output is set in factory to two's complement representation (signed integer). Index 0x80n0:02 [}77] offers the possibility to change the method of representation of the measured value.
• Signed integer representation
The negative output value is represented in two’s complement (negated + 1). Maximum representation range with 16-bit = -32768 .. +32767
Input signal Value +/- 10V 0...20mA 4...20mA 0...10V decimal hexadecimal
10V 20mA 20mA 10V 32767 0x7FFF 5V 10mA 12mA 5V 16383 0x3FFF 0V 0 mA 4 mA 0V 0 0x0000
-5V - - - -16383 0xC001
-10V - - - -32767 0x8000
Overview of further representations
• Unsigned integer representation
dec
The output value is represented with 15-bit resolution without sign, therefore polarity detection is no longer possible. Maximum representation range with 16-bit = 0 .. +32767
dec
Page 62
Configuration
• Absolute value with MSB as sign - representation
The output value is displayed in magnitude-sign format: MSB=1 (highest bit) in the case of negative values. Maximum representation range with 16-bit = -32768 .. +32767
Input values (+/- 10V) Representation (values dec. / values hex.)
unsigned integer Absolute value with MSB as sign
10 32767 / 0x7FFF 32767 / 0x7FFF 5V 16383 / 0x3FFF 16383 / 0x3FFF 0V 0 / 0x0000 0 / 0x0000
-5 16384 / 0x4000 [-16384] / 0xC000
-10 32767 / 0x7FFF [-32767] / 0xFFFF
dec
Presentation types
The presentation types Unsigned integer and Absolute value with MSB as sign have no function for unipolar modules. There is no change in the presentation in the positive range.

4.5.3 Siemens bits

Siemens bits, index 0x80n0:05 [}77]
If this bit is set, status displays are superimposed on the lowest three bits. In the error case "overrange" or "underrange", bit 0 is set.

4.5.4 Underrange, Overrange

Undershoot and overshoot of the measuring range (underrange, overrange), index 0x60n0:01,
0x60n0:02 [}87]
Chapter Data stream and correction calculation contains a clear description of the correction calculation between the raw values and the output values if the limit ranges are exceeded.
The underrange bit is set if, based on the raw value, a value of 0x1300 is undershot by 1 bit.
The overrange bit is set if the value of 0x7FFF is exceeded by 1 bit.
Error bit (index 0x60n0:07), Error LED
The Error bit and the Error LED are set if, based on the raw value,
a value of approx. 0.5mA below 4mA is undershot or
a value of approx. 0.5mA above 20mA is exceeded.
• This prevents the triggering of the Error LED if the sensor transmits a little more than 20mA.

4.5.5 Limit 1 and Limit 2

Limit 1 ad Limit 2, index 0x80n0:13, index 0x80n0:14 [}77]
If the limits of the values that can be entered in indices 0x80n0:13 [}77] and 0x80n0:14 [}77] are violated, the bits in indices 0x60n0:03 [}87] and 0x60n0:05 [}87] are set accordingly (see sample below). The indices 0x80n0:07 [}77] or 0x80n0:08 [}77] serve to activate the limit value monitoring.
Output limit n (2-bit):
• 0: not active
• 1: Value < limit value
EPP3174, EPP318462 Version: 1.0.0
Page 63
Configuration
• 2: Value > limit value
• 3: Value = limit value
Limit evaluation
The limit evaluation assumes a signed representation. The conversion to the desired representation (index 0x80n0:02) only takes place after the limit evaluation.
Linking in the PLC with 2-bit values
• PLC: IEC61131-PLC contains no 2-bit data type that can be linked with this process data directly. In order to transmit the limit information, therefore, define an input byte, e.g.
and link the limit to the VariableSizeMismatch dialog as described in the chapter Process data.
• Additional task 2-bit variables can be created in the System Manager.
Linking of 2-bit variable to additional task
Page 64
Configuration
Sample
Channel 1;Limit 1 and Limit 2 enabled, Limit 1 = 2.8V, Limit 2 = 7.4V, representation: signed integer
Entry in index (Limit 1): 0x8000:13 [}77] (2.8V/10V) x 216 / 2 - 1 = 9,174
dec
Entry in index (Limit 2): 0x8000:14 [}77] (7.4V/10V) x 216 / 2 - 1 = 24,247
dec
Output:
Input
Index 0x6000:03 [}87] Index 60x6000:05 [}87]
channel 1
1.8V 0x01
2.8V 0x03
4.2V 0x02
8.5V 0x02
, (Limit1, limit value undershot) 0x01
hex
, (Limit1, limit value reached) 0x01
hex
, (Limit1, limit value exceeded) 0x01
hex
, (Limit1, limit value exceeded) 0x02
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value undershot)
hex
, (Limit2, limit value exceeded)
hex
Swap Limit index 0x80n0:0E
The limit function can be inverted by SwapLimitBits in index 0x80n0:0E.
Output Limit n (2-bit):
SwapLimitBits setting Value
FALSE (default setting) • 0: not active
• 1: value < limit value
• 2: value > limit value
• 3: Value is equal to the limit value
TRUE • 0: not active
• 1: value > limit value
• 2: value < limit value
• 3: Value is equal to the limit value
EPP3174, EPP318464 Version: 1.0.0
Page 65

4.6 EPP31xx – operating modes

The EPP31xx supports three different operation modes:
• Freerun [}66] (filter on, timer interrupt)
• Synchronous [}65] (filter off, SyncManager interrupt) and
• DC (DC-Sync-Interrupt)
Configuration
Fig. 3: Relationship of operation modes
The module switches between the Freerun (filter on) and Synchron modes by activating/deactivating the filter via the index. This takes place while the module is in OP mode. The changeover may result in longer sampling times and step changes in the process data until the filters have assumed a steady state.
DC mode can only be used when the filters are switched off. Likewise, it is not possible to switch the filters on in DC mode. The DC mode is parameterized via the DC tab in the TwinCAT System Manager.
Synchron mode
In synchronous operation process data are generated frame-triggered, so that a new value is available with each PLC cycle. Synchronous mode is used automatically with the EPP31xx modules (filter off, no DC). The minimum cycle times are 80µs (EL31x1/EL31x2), and 120µs (EL31x4) for standard IPCs.
DC operation
In DC mode the analog sampling is triggered by DC-interrupt. As a result, the temporal jitter between two frames is no longer important and the sampling point is the same across the entire system.
The "input-based" mode shifts the sync-interrupt in such a way that the process data are ready for collection shortly before the current process data cycle.
Page 66
Configuration
If the frame jitter is too large, it is possible that data may be collected twice or there may be interruptions in the transmission. In that case the jitter is to be reduced through TwinCAT system measures or a slower cycle time is to be chosen.
Filter operation (FIR and IIR), index 0x80n0:06, 0x80n0:15 [}77]
The EPP31xx modules incorporate a digital filter which, depending on its settings, can adopt the characteristics of a Finite Impulse Response filter (an FIR filter), or an Infinite Impulse Response filter (an IIR filter). The filter is deactivated by default. Please observe the following note regarding activation with index
0x8000:06 [}77].
Activation of the filter (index 0x8000: 06), setting of the filter properties (index 0x8000:15)
The filter frequencies are set centrally for all channels of the EPP3xxx modules via index 0x8000:15 (channel 1). The corresponding indices 0x80n0:15 of the other channels have no parameterization function.
FIR filter
The filter works as a notch filter and determines the conversion time of the module. It is parameterized via the index 0x8000:15. The higher the filter frequency, the faster the conversion time. A 50Hz and a 60Hz filter are available. Notch filter means that the filter has zeros (notches) in the frequency response at the filter frequency and multiples thereof, i.e. it attenuates the amplitude at these frequencies.
The FIR filter operates as a non-recursive filter.
Fig.61: typical attenuation curve of notch filter at 50 Hz
Filter data FIR filter (1- to 4-channel modules) Filter Attenuation Limit frequency (-3 dB) Conversion time
50Hz FIR >50dB 22Hz 625µs 60Hz FIR >45dB 26Hz 521µs
EPP3174, EPP318466 Version: 1.0.0
Page 67
Configuration
IIR filter
The filter with IIR characteristics is a discrete time, linear, time invariant filter that can be set to eight levels (level 1 = weak recursive filter, up to level 8 = strong recursive filter) The IIR can be understood to be a moving average value calculation after a low-pass filter.
Through the synchronization mode FreeRun the IIR filter operates with an internal cycle time of 180µs (1 or 2 channels) or 500µs (4 channels).
Filter characteristics for IIR filters
IIR filter -3 dB cut-off frequency with 500µs sampling time
IIR 1 400Hz IIR 2 220Hz IIR 3 100Hz IIR 4 50Hz IIR 5 24Hz IIR 6 12Hz IIR 7 6.2Hz IIR 8 3.0Hz

4.7 Data stream

The following flow chart illustrates the data stream of the EPP31xx (processing of raw data).
Fig.62: Diagram showing the data stream in the EPP31xx
Page 68
Configuration

4.8 Measuring ranges

The following diagrams show the output values of the measuring ranges as well as the behavior when the limits ranges are exceeded.
EPP3174-0002, EPP3184-0002 (0…20mA)
Fig.63: Data flow with correction calculation for 0…20mA
EPP3174-0002, EPP3184-0002 (4…20mA)
Fig.64: Data flow with correction calculation for 4…20mA
EPP3174-0002, EPP3184-0002 (+/- 10V)
Fig.65: Data flow with correction calculation for +/- 10V
EPP3174, EPP318468 Version: 1.0.0
Page 69
Configuration
EPP3174-0002, EPP3184-0002 (0…10V)
Fig.66: Data flow with correction calculation for 0…10V

4.9 Calibration

The concept "calibration", which has historical roots at Beckhoff, is used here even if it has nothing to do with the deviation statements of a calibration certificate.
• Vendor calibration, index 0x80n0:0B The vendor calibration is enabled via index 0x80n0:0B. The parameterization takes place via the indices:
◦ 0x80nF:01 vendor calibration: Offset
◦ 0x80nF:02 vendor calibration: Gain
• User calibration, index 0x80n0:0A The user calibration is enabled via index 0x80n0:0A. The parameterization takes place via the indices:
◦ 0x80n0:17 User calibration: Offset
◦ 0x80n0:18 User calibration: Gain
• User scaling, index 0x80n0:01 The user scaling is enabled via index 0x80n0:01. The parameterization takes place via the indices:
◦ 0x80n0:11 User scaling: Offset
◦ 0x80n0:12 User scaling: Gain
Vendor calibration
The vendor reserves the right to carry out the basic calibration of the terminal/box modules. There­fore, the vendor calibration cannot be changed.
Page 70
Configuration

4.10 Calculation of process data

The terminal/box constantly records measured values and saves the raw values from its A/D converter in the ADC raw value object 0x80nE:01. The calculation of the correction with the vendor calibration values takes place after each acquisition of the analog signal. This is followed (optionally) by user scaling:
YH= (X
) * AH measured value after vendor calibration (corresponds to X
ADC-BH
if index 0x80n0:0B inactive)
ADC
YA= (YH-BA) * AA measured value after user calibration (corresponds to YH if index 0x80n0:0A inactive)
YS= YA * AS * 22-16 + BS measured value after user scaling (corresponds to YA if index 0x80n0:01 is inactive)
Key
Name Name Index
X
ADC
B
H
Output value of the A/D converter 0x80nE:01 Vendor calibration offset (can only be changed if the object Producer codeword
0x80nF:01
0xF008 is set)
A
H
Vendor calibration gain (can only be changed if the object Producer codeword
0x80nF:02
0xF008 is set)
Y
H
B
A
A
A
Y
S
B
S
A
S
Y
S
Measured value after vendor calibration ­User calibration offset 0x80n0:11 User calibration gain 0x80n0:12 Measured value after user calibration ­User scaling offset (can be activated via index 0x80x0:0A) 0x80n0:17 User scaling gain (can be activated via index 0x80x0:0A) 0x80n0:18 Process data for control, measured value after user scaling -

4.11 EPP31x4-0002 - Object overview

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.
Index (hex) Name Flags Default value
1000 [}81]
1008 [}81]
1009 [}81]
100A [}81]
1011:0 Subindex Restore default parameters RO 0x01 (1
1011:01 SubIndex 001 RW 0x00000000 (0
1018:0 [}81]
10F0:0 [}81]
1800:0 [}81]
1801:0 [}82]
1802:0 [}82]
Subindex Identity RO 0x04 (4
1018:01 Vendor ID RO 0x00000002 (2
1018:02 Product code RO 0x0C664052 (208027730
1018:03 Revision RO 0x00000000 (0
1018:04 Serial number RO 0x00000000 (0
Subindex Backup parameter handling RO 0x01 (1
10F0:01 Checksum RO 0x00000000 (0
Subindex AI TxPDO-Par Standard Ch. 1 RO 0x06 (6
1800:06 Exclude TxPDOs RO 01 1A
Subindex AI TxPDO-Par-Compact Ch.1 RO 0x06 (6
1801:06 Exclude TxPDOs RO 00 1A
Subindex AI TxPDO-Par Standard Ch.2 RO 0x06 (6
1802:06 Exclude TxPDOs RO 03 1A
Device type RO 0x012C1389 (19665801
Device name RO EPP3174-0002
Hardware version RO -
Software version RO -
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EPP3174, EPP318470 Version: 1.0.0
Page 71
Index (hex) Name Flags Default value
1803:0 [}82]
Subindex AI TxPDO-Par Compact Ch.2 RO 0x06 (6
)
dec
1803:06 Exclude TxPDOs RO 02 1A
1804:0 [}82]
Subindex AI TxPDO-Par Standard Ch.3 RO 0x06 (6
)
dec
1804:06 Exclude TxPDOs RO 05 1A
1805:0 [}82]
Subindex AI TxPDO-Par Compact Ch.3 RO 0x06 (6
)
dec
1805:06 Exclude TxPDOs RO 04 1A
1806:0 [}82]
Subindex AI TxPDO-Par Standard Ch.4 RO 0x06 (6
)
dec
1806:06 Exclude TxPDOs RO 07 1A
1807:0 [}82]
Subindex AI TxPDO-Par Compact Ch.4 RO 0x06 (6
)
dec
1807:06 Exclude TxPDOs RO 06 1A
1A00:0 [}83]
Subindex AI TxPDO-Map Standard Ch.1 RO 0x0B (11
)
dec
1A00:01 Subindex 001 RO 0x6000:01, 1
1A00:02 Subindex 002 RO 0x6000:02, 1
1A00:03 Subindex 003 RO 0x6000:03, 2
1A00:04 Subindex 004 RO 0x6000:05, 2
1A00:05 Subindex 005 RO 0x6000:07, 1
1A00:06 Subindex 006 RO 0x0000:00, 1
1A00:07 Subindex 007 RO 0x0000:00, 5
1A00:08 Subindex 008 RO 0x6000:0E, 1
1A00:09 Subindex 009 RO 0x6000:0F, 1
1A00:0A Subindex 010 RO 0x6000:10, 1
1A00:0B Subindex 011 RO 0x6000:11, 16
1A01:0 [}83]
Subindex AI TxPDO-Map Compact Ch.1 RO 0x01 (1
)
dec
1A01:01 SubIndex 001 RO 0x6000:11, 16
1A02:0 [}83]
Subindex AI TxPDO-Map Standard Ch.2 RO 0x0B (11
)
dec
1A02:01 SubIndex 001 RO 0x6010:01, 1
1A02:02 SubIndex 002 RO 0x6010:02, 1
1A02:03 SubIndex 003 RO 0x6010:03, 2
1A02:04 SubIndex 004 RO 0x6010:05, 2
1A02:05 SubIndex 005 RO 0x6010:07, 1
1A02:06 SubIndex 006 RO 0x0000:00, 1
1A02:07 SubIndex 007 RO 0x0000:00, 6
1A02:08 SubIndex 008 RO 0x6010:0E, 1
1A02:09 SubIndex 009 RO 0x6010:0F:09, 1
1A02:0A SubIndex 010 RO 0x6010:10, 1
1A02:0B SubIndex 011 RO 0x6010:11, 16
1A03:0 [}83]
Subindex AI TxPDO-Map Compact Ch.2 RO 0x01 (1
)
dec
1A03:01 SubIndex 001 RO 0x6010:11, 16
1A04:0 [}84]
Subindex AI TxPDO-Map Standard Ch.3 RO 0x0B (11
)
dec
1A04:01 SubIndex 001 RO 0x6020:01, 1
1A04:02 SubIndex 002 RO 0x6020:02, 1
1A04:03 SubIndex 003 RO 0x6020:03, 2
1A04:04 SubIndex 004 RO 0x6020:05, 2
1A04:05 SubIndex 005 RO 0x6020:07, 1
1A04:06 SubIndex 006 RO 0x0000:00, 1
1A04:07 SubIndex 007 RO 0x0000:00, 5
1A04:08 SubIndex 008 RO 0x6020:0E, 1
1A04:09 SubIndex 009 RO 0x6020:0F, 1
1A04:0A SubIndex 010 RO 0x6020:10, 1
1A04:0B SubIndex 011 RO 0x6020:11, 16
1A05:0 [}84]
Subindex AI TxPDO-Map Compact Ch.3 RO 0x01 (1
)
dec
1A05:01 SubIndex 001 RO 0x6020:11, 16
1A06:0 [}84]
Subindex AI TxPDO-Map Standard Ch.4 RO 0x0B (11
)
dec
1A06:01 SubIndex 001 RO 0x6030:01, 1
1A06:02 SubIndex 002 RO 0x6030:02, 1
1A06:03 SubIndex 003 RO 0x6030:03, 2
1A06:04 SubIndex 004 RO 0x6030:05, 2
1A06:05 SubIndex 005 RO 0x6030:07, 1
Configuration
Page 72
Configuration
Index (hex) Name Flags Default value
1A06:06 SubIndex 006 RO 0x0000:00, 1
1A06:07 SubIndex 007 RO 0x0000:00, 5
1A06:08 SubIndex 008 RO 0x6030:0E, 1
1A06:09 SubIndex 009 RO 0x6030:0F, 1
1A06:0A SubIndex 010 RO 0x6030:10, 1
1A06:0B SubIndex 011 RO 0x6030:11, 16
1A07:0 [}84]
1C00:0 [}85]
1C12:0 [}85]
1C13:0 [}85]
1C33:0 [}86]
6000:0 [}87]
6010:0 [}87]
6020:0 [}88]
Subindex AI TxPDO-Map Compact Ch.4 RO 0x01 (1
1A07:01 SubIndex 001 RO 0x6030:11, 16
Subindex Sync manager type RO 0x04 (4
1C00:01 SubIndex 001 RO 0x01 (1
1C00:02 SubIndex 002 RO 0x02 (2
1C00:03 SubIndex 003 RO 0x03 (3
1C00:04 SubIndex 004 RO 0x04 (4
Subindex RxPDO assign RW 0x00 (0
Subindex TxPDO assign RW 0x04 (4
1C13:01 SubIndex 001 RW 0x1A00 (6656
1C13:02 SubIndex 002 RW 0x1A02 (6658
1C13:03 SubIndex 003 RW 0x1A04 (6660
1C13:04 SubIndex 004 RW 0x1A06 (6662
Subindex SM output parameter RO 0x20 (32
1C33:01 Sync mode RW 0x0022 (34
1C33:02 Cycle time RW 0x000F4240 (1000000
1C33:03 Shift time RO 0x00001388 (5000
1C33:04 Sync modes supported RO 0xC00B (49163
1C33:05 Minimum cycle time RO 0x0003D090 (250000
1C33:06 Calc and copy time RO 0x00002710 (10000
1C33:07 Minimum delay time RO 0x00001388 (5000
1C33:08 Command RW 0x0000 (0
1C33:09 Maximum Delay time RO 0x00001388 (5000
1C33:0B SM event missed counter RO 0x0000 (0
1C33:0C Cycle exceeded counter RO 0x0000 (0
1C33:0D Shift too short counter RO 0x0000 (0
1C33:20 Sync error RO 0x00 (0
Subindex AI Inputs RO 0x11 (17
6000:01 Underrange RO 0x00 (0
6000:02 Overrange RO 0x00 (0
6000:03 Limit 1 RO -
6000:05 Limit 2 RO -
6000:07 Error RO 0x00 (0
6000:0E Sync error RO 0x00 (0
6000:0F TxPDO State RO 0x00 (0
6000:10 TxPDO Toggle RO 0x00 (0
6000:11 Value RO 0x0000 (0
Subindex AI Inputs RO 0x11 (17
6010:01 Underrange RO 0x00 (0
6010:02 Overrange RO 0x00 (0
6010:03 Limit 1 RO -
6010:05 Limit 2 RO -
6010:07 Error RO 0x00 (0
6010:0E Sync error RO 0x00 (0
6010:0F TxPDO State RO 0x00 (0
6010:10 TxPDO Toggle RO 0x00 (0
6010:11 Value RO 0x0000 (0
Subindex AI Inputs RO 0x11 (17
6020:01 Underrange RO 0x00 (0
6020:02 Overrange RO 0x00 (0
6020:03 Limit 1 RO -
6020:05 Limit 2 RO -
)
dec
)
dec
)
dec
)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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dec
)
)
)
)
)
EPP3174, EPP318472 Version: 1.0.0
Page 73
Index (hex) Name Flags Default value
6030:0 [}88]
6020:07 Error RO 0x00 (0
6020:0E Sync error RO 0x00 (0
6020:0F TxPDO State RO 0x00 (0
6020:10 TxPDO Toggle RO 0x00 (0
6020:11 Value RO 0x0000 (0
Subindex AI Inputs RO 0x11 (17
6030:01 Underrange RO 0x00 (0
6030:02 Overrange RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
dec
)
dec
)
dec
)
dec
6030:03 Limit 1 RO -
6030:05 Limit 2 RO -
8000:0 [}77]
6030:07 Error RO 0x00 (0
6030:0E Sync error RO 0x00 (0
6030:0F TxPDO State RO 0x00 (0
6030:10 TxPDO Toggle RO 0x00 (0
6030:11 Value RO 0x0000 (0
Subindex AI Settings RW 0x18 (24
8000:01 Enable user scale RW 0x00 (0
8000:02 Presentation RW 0x00 (0
8000:05 Siemens bits RW 0x00 (0
8000:06 Enable filter RW 0x01 (1
8000:07 Enable limit 1 RW 0x00 (0
8000:08 Enable limit 2 RW 0x00 (0
8000:0A Enable user calibration RW 0x00 (0
8000:0B Enable vendor calibration RW 0x01 (1
8000:0E Swap limit bits RW 0x00 (0
8000:11 User scale offset RW 0x0000 (0
)
dec
)
dec
)
dec
)
dec
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
dec
8000:12 User scale gain RW 0x00010000 (65536
8000:13 Limit 1 RW 0x0000 (0
8000:14 Limit 2 RW 0x0000 (0
8000:15 Filter settings RW 0x0000 (0
8000:17 User calibration offset RW 0x0000 (0
dec
dec
dec
dec
8000:18 User calibration gain RW 0x4000 (16384
800E:0 [}88]
800F:0 [}89]
Subindex AI Internal data RO 0x01 (1
800E:01 ADC raw value RO 0x0000 (0
Subindex AI Vendor data RW 0x06 (6
800F:01 R0 Offset RW 0x0000 (0
)
dec
dec
)
dec
dec
800F:02 R0 Gain RW 0x4000 (16384
800F:03 R1 Offset RW 0x0000 (0
dec
800F:04 R1 Gain RW 0x4000 (16384
800F:05 R2 Offset RW 0x0000 (0
dec
800F:06 R2 Gain RW 0x4000 (16384
8010:0 [}78]
Subindex AI Settings RW 0x18 (24
8010:01 Enable user scale RW 0x00 (0
8010:02 Presentation RW 0x00 (0
8010:05 Siemens bits RW 0x00 (0
8010:06 Enable filter RW 0x00 (0
8010:07 Enable limit 1 RW 0x00 (0
8010:08 Enable limit 2 RW 0x00 (0
8010:0A Enable user calibration RW 0x00 (0
8010:0B Enable vendor calibration RW 0x01 (1
8010:0E Swap limit bits RW 0x00 (0
8010:11 User scale offset RW 0x0000 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
dec
8010:12 User scale gain RW 0x00010000 (65536
8010:13 Limit 1 RW 0x0000 (0
8010:14 Limit 2 RW 0x0000 (0
8010:15 Filter settings RW 0x0000 (0
8010:17 User calibration offset RW 0x0000 (0
dec
dec
dec
dec
8010:18 User calibration gain RW 0x4000 (16384
Configuration
)
)
)
)
dec
)
)
)
)
)
dec
)
)
)
dec
)
)
dec
)
)
dec
)
)
dec
)
)
)
)
)
dec
Page 74
Configuration
Index (hex) Name Flags Default value
801E:0 [}89]
801F:0 [}89]
8020:0 [}79]
802E:0 [}89]
802F:0 [}89]
8030:0 [}80]
803E:0 [}89]
803F:0 [}89]
Subindex AI Internal data RO 0x01 (1
801E:01 ADC raw value RO 0x0000 (0
Subindex AI Vendor data RW 0x06 (6
801F:01 R0 Offset RW 0x0000 (0
801F:02 R0 Gain RW 0x4000 (16384
801F:03 R1 Offset RW 0x0000 (0
801F:04 R1 Gain RW 0x4000 (16384
801F:05 R2 Offset RW 0x0000 (0
801F:06 R2 Gain RW 0x4000 (16384
Subindex AI Settings RW 0x18 (24
8020:01 Enable user scale RW 0x00 (0
8020:02 Presentation RW 0x00 (0
8020:05 Siemens bits RW 0x00 (0
8020:06 Enable filter RW 0x01 (1
8020:07 Enable limit 1 RW 0x00 (0
8020:08 Enable limit 2 RW 0x00 (0
8020:0A Enable user calibration RW 0x00 (0
8020:0B Enable vendor calibration RW 0x01 (1
8020:0E Swap limit bits RW 0x00 (0
8020:11 User scale offset RW 0x0000 (0
8020:12 User scale gain RW 0x00010000 (65536
8020:13 Limit 1 RW 0x0000 (0
8020:14 Limit 2 RW 0x0000 (0
8020:15 Filter settings RW 0x0000 (0
8020:17 User calibration offset RW 0x0000 (0
8020:18 User calibration gain RW 0x4000 (16384
Subindex AI Internal data RO 0x01 (1
802E:01 ADC raw value RO 0x0000 (0
Subindex AI Vendor data RW 0x06 (6
802F:01 R0 Offset RW 0x0000 (0
802F:02 R0 Gain RW 0x4000 (16384
802F:03 R1 Offset RW 0x0000 (0
802F:04 R1 Gain RW 0x4000 (16384
802F:05 R2 Offset RW 0x0000 (0
802F:06 R2 Gain RW 0x4000 (16384
Subindex AI Settings RW 0x18 (24
8030:01 Enable user scale RW 0x00 (0
8030:02 Presentation RW 0x00 (0
8030:05 Siemens bits RW 0x00 (0
8030:06 Enable filter RW 0x01 (1
8030:07 Enable limit 1 RW 0x00 (0
8030:08 Enable limit 2 RW 0x00 (0
8030:0A Enable user calibration RW 0x00 (0
8030:0B Enable vendor calibration RW 0x01 (1
8030:0E Swap limit bits RW 0x00 (0
8030:11 User scale offset RW 0x0000 (0
8030:12 User scale gain RW 0x00010000 (65536
8030:13 Limit 1 RW 0x0000 (0
8030:14 Limit 2 RW 0x0000 (0
8030:15 Filter settings RW 0x0000 (0
8030:17 User calibration offset RW 0x0000 (0
8030:18 User calibration gain RW 0x4000 (16384
Subindex AI Internal data RO 0x01 (1
803E:01 ADC raw value RO 0x0000 (0
Subindex AI Vendor data RW 0x06 (6
803F:01 R0 Offset RW 0x0000 (0
803F:02 R0 Gain RW 0x4000 (16384
803F:03 R1 Offset RW 0x0000 (0
)
dec
dec
)
dec
dec
dec
dec
)
dec
)
dec
)
dec
)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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EPP3174, EPP318474 Version: 1.0.0
Page 75
Index (hex) Name Flags Default value
803F:04 R1 Gain RW 0x4000 (16384
803F:05 R2 Offset RW 0x0000 (0
dec
803F:06 R2 Gain RW 0x4000 (16384
F000:0 [}90]
Subindex Modular device profile RO 0x02 (2
)
dec
F000:01 Module index distance RO 0x0010 (16
F008 [}90]
F010:0 [}90]
F000:02 Maximum number of modules RO 0x0004 (4
Code word RW 0x00000000 (0
Subindex Module list RW 0x04 (4
dec
)
dec
F010:01 SubIndex 001 RW 0x0000012C (300
F010:02 SubIndex 002 RW 0x0000012C (300
F010:03 SubIndex 003 RW 0x0000012C (300
F010:04 SubIndex 004 RW 0x0000012C (300
F800:0 [}80]
Subindex AI Range Settings (neue Module) RW 0x04 (4
F800:01 Input type Ch1 RW 0x0000 (0
F800:02 Input type Ch2 RW 0x0000 (0
F800:03 Input type Ch3 RW 0x0000 (0
F800:04 Input type Ch4 RW 0x0000 (0
)
dec
dec
dec
dec
dec
F800:05 Enable Filter Settings Per Channel RW -
Key
Configuration
)
dec
)
)
dec
)
dec
)
)
dec
)
dec
)
dec
)
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)
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)
)
)
)
Flags: RO (Read Only): this object can be read only RW (Read/Write): this object can be read and written to
Page 76
Configuration

4.12 EPP31x4 - Object description and parameterization

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.
Parameterization via the CoE list (CAN over EtherCAT)
The EtherCAT device is parameterized via the CoE - Online tab (double-click on the respective ob­ject) or via the Process Data tab (allocation of PDOs).
Introduction
The CoE overview contains objects for different intended applications:
• Objects required for parameterization [}76] during commissioning
• Objects intended for regular operation, e.g. through ADS access
• Objects for indicating internal settings (may be fixed)
• Further profile-specific objects [}86] indicating inputs, outputs and status information
The following section first describes the objects required for normal operation, followed by a complete overview of missing objects.
Objects to be parameterized during commissioning
Index 1011 Restore default parameters
Index (hex)
1011:0 Restore default parame-
1011:01 SubIndex 001 If this object is set to "0x64616F6C" in the set value dia-
Name Meaning Data type Flags Default
Restore default parameters UINT8 RO 0x01 (1
ters
log, all backup objects are reset to their delivery state.
)
dec
UINT32 RW 0x00000000 (0
)
dec
EPP3174, EPP318476 Version: 1.0.0
Page 77
Configuration
Index 8000 AI Settings (parameterization of channel 1)
Index (hex) Name Meaning Data type Flags Default
8000:0 AI Settings Maximum subindex UINT8 RO 0x18 (24
8000:01 Enable user scale 1 User scale is active. BOOLEAN RW 0x00 (0
8000:02 Presentation 0 Signed presentation BIT3 RW 0x00 (0
1 Unsigned presentation
2 Absolute value with MSB as sign (signed
amount representation)
8000:05 Siemens bits 1 Status indicators are displayed on the lowest
3bits in the status word.
8000:06 Enable filter 1 Enable filter, which makes PLC-cycle-synchro-
nous data exchange unnecessary
8000:07 Enable limit 1 1 Limit 1 enabled BOOLEAN RW 0x00 (0
8000:08 Enable limit 2 1 Limit 2 enabled BOOLEAN RW 0x00 (0
8000:0A Enable user calibra-
1 Enabling of the user calibration BOOLEAN RW 0x00 (0
tion
8000:0B Enable vendor cali-
1 Enabling of the vendor calibration BOOLEAN RW 0x01 (1
bration
8000:0E Swap limit bits 1 Swaps the two limit bits, in order to achieve
compatibility with older hardware versions.
8000:11 User scale offset User scale offset INT16 RW 0x0000 (0
8000:12 User scale gain User scale gain.
The gain is represented in fixed-point format, with the
-16
factor 2 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFF
.
(0x00010000
dec
8000:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0
8000:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0
8000:15 Filter settings This object determines the digital filter settings for all
channels of the module, if it is activated via Enable filter (index 0x80n0:06 [}77]). The possible settings
are sequentially numbered.
0 50Hz FIR
1 60Hz FIR
2 IIR 1
3 IIR 2
4 IIR 3
5 IIR 4
6 IIR 5
7 IIR 6
8 IIR 7
9 IIR 8
8000:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0
8000:18 User calibration gain User calibration: Gain INT16 RW 0x0000 (0
BOOLEAN RW 0x00 (0
BOOLEAN RW 0x01 (1
BOOLEAN RW 0x00 (0
INT32 RW 0x00010000
(65536
)
hex
UINT16 RW 0x0000 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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Page 78
Configuration
Index 8010 AI Settings (parameterization of channel 2)
Index (hex) Name Meaning Data type Flags Default
8010:0 AI Settings Maximum subindex UINT8 RO 0x18 (24
8010:01 Enable user scale 1 User scale is active. BOOLEAN RW 0x00 (0
8010:02 Presentation 0 Signed presentation BIT3 RW 0x00 (0
1 Unsigned presentation
2 Absolute value with MSB as sign (signed
amount representation)
8010:05 Siemens bits 1 Status indicators are displayed on the lowest
3bits in the status word.
8010:06 Enable filter 1 Enable filter, which makes PLC-cycle-synchro-
nous data exchange unnecessary
8010:07 Enable limit 1 1 Limit 1 enabled BOOLEAN RW 0x00 (0
8010:08 Enable limit 2 1 Limit 2 enabled BOOLEAN RW 0x00 (0
8010:0A Enable user calibra-
1 Enables user calibration BOOLEAN RW 0x00 (0
tion
8010:0B Enable vendor cali-
1 Enable vendor calibration BOOLEAN RW 0x01 (1
bration
8010:0E Swap limit bits 1 Swaps the two limit bits, in order to achieve
compatibility with older hardware versions.
8010:11 User scale offset User scale offset INT16 RW 0x0000 (0
8010:12 User scale gain User scale gain.
The gain is represented in fixed-point format, with the
-16
factor 2 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFF
.
(0x00010000
dec
8010:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0
8010:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0
8010:15 Filter settings This object shows the digital filter settings. The filter
settings can only be read here. They are set via channel1 [}77] for all channels of the module.
0 50Hz FIR
1 60Hz FIR
2 IIR 1
3 IIR 2
4 IIR 3
5 IIR 4
6 IIR 5
7 IIR 6
8 IIR 7
9 IIR 8
8010:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0
8010:18 User calibration gain User calibration: Gain INT16 RW 0x0000 (0
BOOLEAN RW 0x00 (0
BOOLEAN RW 0x01 (1
BOOLEAN RW 0x00 (0
INT32 RW 0x00010000
(65536
)
hex
UINT16 RW 0x0000 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
EPP3174, EPP318478 Version: 1.0.0
Page 79
Configuration
Index 8020 AI Settings (parameterization of channel 3)
Index (hex) Name Meaning Data type Flags Default
8020:0 AI Settings Maximum subindex UINT8 RO 0x18 (24
8020:01 Enable user scale 1 User scale is active. BOOLEAN RW 0x00 (0
8020:02 Presentation 0 Signed presentation BIT3 RW 0x00 (0
1 Unsigned presentation
2 Absolute value with MSB as sign (signed
amount representation)
8020:05 Siemens bits 1 Status indicators are displayed on the lowest
3bits in the status word.
8020:06 Enable filter 1 Enable filter, which makes PLC-cycle-synchro-
nous data exchange unnecessary
8020:07 Enable limit 1 1 Limit 1 enabled BOOLEAN RW 0x00 (0
8020:08 Enable limit 2 1 Limit 2 enabled BOOLEAN RW 0x00 (0
8020:0A Enable user calibra-
1 Enables user calibration BOOLEAN RW 0x00 (0
tion
8020:0B Enable vendor cali-
1 Enable vendor calibration BOOLEAN RW 0x01 (1
bration
8020:0E Swap limit bits 1 Swaps the two limit bits, in order to achieve
compatibility with older hardware versions.
8020:11 User scale offset User scale offset INT16 RW 0x0000 (0
8020:12 User scale gain User scale gain.
The gain is represented in fixed-point format, with the
-16
factor 2 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFF
.
(0x00010000
dec
8020:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0
8020:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0
8020:15 Filter settings This object shows the digital filter settings. The filter
settings can only be read here. They are set via channel1 [}77] for all channels of the module.
0 50Hz FIR
1 60Hz FIR
2 IIR 1
3 IIR 2
4 IIR 3
5 IIR 4
6 IIR 5
7 IIR 6
8 IIR 7
9 IIR 8
8020:17 User calibration offset User calibration: Offset INT16 RW 0x0000 (0
8020:18 User calibration gain User calibration: Gain INT16 RW 0x0000 (0
BOOLEAN RW 0x00 (0
BOOLEAN RW 0x01 (1
BOOLEAN RW 0x00 (0
INT32 RW 0x00010000
(65536
)
hex
UINT16 RW 0x0000 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
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Page 80
Configuration
Index 8030 AI Settings (parameterization of channel 4)
Index (hex) Name Meaning Data type Flags Default
8030:0 AI Settings Maximum subindex UINT8 RO 0x18 (24
8030:01 Enable user scale 1 User scale is active. BOOLEAN RW 0x00 (0
8030:02 Presentation 0 Signed presentation BIT3 RW 0x00 (0
1 Unsigned presentation
2 Absolute value with MSB as sign (signed
amount representation)
8030:05 Siemens bits 1 Status indicators are displayed on the lowest
3bits in the status word.
8030:06 Enable filter 1 Enable filter, which makes PLC-cycle-synchro-
nous data exchange unnecessary
8030:07 Enable limit 1 1 Limit 1 enabled BOOLEAN RW 0x00 (0
8030:08 Enable limit 2 1 Limit 2 enabled BOOLEAN RW 0x00 (0
8030:0A Enable user calibra-
1 Enables user calibration BOOLEAN RW 0x00 (0
tion
8030:0B Enable vendor cali-
1 Enable vendor calibration BOOLEAN RW 0x01 (1
bration
8030:0E Swap limit bits 1 Swaps the two limit bits, in order to achieve
compatibility with older hardware versions.
8030:11 User scale offset User scale offset INT16 RW 0x0000 (0
8030:12 User scale gain User scale gain.
The gain is represented in fixed-point format, with the
-16
factor 2 The value 1 corresponds to 65535 and is limited to +/- 0x7FFFF
.
(0x00010000
dec
8030:13 Limit 1 First limit value for setting the status bits INT16 RW 0x0000 (0
8030:14 Limit 2 Second limit value for setting the status bits INT16 RW 0x0000 (0
8030:15 Filter settings This object shows the digital filter settings. The filter
settings can only be read here. They are set via chan- nel1 [}77] for all channels of the module.
0 50Hz FIR
1 60Hz FIR
2 IIR 1
3 IIR 2
4 IIR 3
5 IIR 4
6 IIR 5
7 IIR 6
8 IIR 7
9 IIR 8
8030:17 User calibration off-
User calibration: Offset INT16 RW 0x0000 (0
set
8030:18 User calibration gain User calibration: Gain INT16 RW 0x0000 (0
BOOLEAN RW 0x00 (0
BOOLEAN RW 0x01 (1
BOOLEAN RW 0x00 (0
INT32 RW 0x00010000
)
hex
UINT16 RW 0x0000 (0
(65536
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index F800 AI Range Settings
Index (hex) Name Meaning Data type Flags Default
F800:0 AI Range Settings Maximum subindex UINT8 RO 0x04 (4
F800:01 Input type Ch1 Input signal range for channel 1 UINT16 RW 0x0000 (0
0 -10V...+10V
1 0mA...20mA
2 4mA...20mA
6 0V...10V
F800:02 Input type Ch2 Input signal range for channel 2 (values see chan-
UINT16 RW 0x0000 (0
nel1)
F800:03 Input type Ch3 Input signal range for channel 3 (values see chan-
UINT16 RW 0x0000 (0
nel1)
F800:04 Input type Ch4 Input signal range for channel 4 (values see chan-
UINT16 RW 0x0000 (0
nel1)
F800:05 Enable Filter Set-
BOOLEAN RW -
tings Per Channel
EPP3174, EPP318480 Version: 1.0.0
)
dec
)
dec
)
dec
)
dec
)
dec
Page 81
Configuration
Standard objects (0x1000-0x1FFF)
The standard objects have the same meaning for all EtherCAT slaves.
Index 1000 Device type
Index (hex) Name Meaning Data type Flags Default
1000:0 Device type Device type of the EtherCAT slave: The Lo-Word con-
tains the CoE profile used (5001). The Hi-Word con­tains the module profile according to the modular de-
UINT32 RO 0x012C1389
(19665801
)
dec
vice profile.
Index 1008 Device name
Index (hex) Name Meaning Data type Flags Default
1008:0 Device name Device name of the EtherCAT slave STRING RO EPP3174-0002,
EPP3184-0002,
Index 1009 Hardware version
Index (hex) Name Meaning Data type Flags Default
1009:0 Hardware version Hardware version of the EtherCAT slave STRING RO 01
Index 100A Software Version
Index (hex) Name Meaning Data type Flags Default
100A:0 Software version Firmware version of the EtherCAT slave STRING RO 01
Index 1018 Identity
Index (hex) Name Meaning Data type Flags Default
1018:0 Identity Information for identifying the slave UINT8 RO 0x04 (4
)
dec
1018:01 Vendor ID Vendor ID of the EtherCAT slave UINT32 RO 0x00000002 (2
1018:02 Product code Product code of the EtherCAT slave UINT32 RO EPP3174-0002
0x0C664052 (208027730
dec
EPP3184-0002 0x64768D09
1018:03 Revision Revision numberof the EtherCAT slave; the Low Word
(168540953
UINT32 RO 0x00000000 (0
dec
(bit 0-15) indicates the special terminal number, the High Word (bit 16-31) refers to the device description
1018:04 Serial number Serial number of the EtherCAT slave; the Low Byte (bit
UINT32 RO 0x00000000 (0 0-7) of the Low Word contains the year of production, the High Byte (bit 8-15) of the Low Word contains the week of production, the High Word (bit 16-31) is 0
Index 10F0 Backup parameter handling
Index (hex) Name Meaning Data type Flags Default
10F0:0 Backup parameter
handling
10F0:01 Checksum Checksum across all backup entries of the EtherCAT
Information for standardized loading and saving of backup entries
UINT8 RO 0x01 (1
)
dec
UINT32 RO 0x00000000 (0 slave
Index 1800 AI TxPDO-Par Standard Ch.1
Index (hex) Name Meaning Data type Flags Default
1800:0 AI TxPDO-Par Stan-
dard Ch.1
1800:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
PDO parameter TxPDO 1 UINT8 RO 0x06 (6
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 01 1A
1
)
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)
dec
)
)
)
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)
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)
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Page 82
Configuration
Index 1801 AI TxPDO-Par Compact Ch.1
Index (hex) Name Meaning Data type Flags Default
1801:0 AI TxPDO-Par
PDO parameter TxPDO 2 UINT8 RO 0x06 (6
Compact Ch.1
1801:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 00 1A
2
Index 1802 AI TxPDO-Par Standard Ch.2
Index (hex) Name Meaning Data type Flags Default
1802:0 AI TxPDO-Par Stan-
PDO parameter TxPDO 3 UINT8 RO 0x06 (6
dard Ch.2
1802:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 03 1A
3
Index 1803 AI TxPDO-Par Compact Ch.2
Index (hex) Name Meaning Data type Flags Default
1803:0 AI TxPDO-Par
Compact Ch.2
1803:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
PDO parameter TxPDO 4 UINT8 RO 0x06 (6
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 02 1A
4
)
dec
)
dec
)
dec
Index 1804 AI TxPDO-Par Standard Ch.3
Index (hex) Name Meaning Data type Flags Default
1804:0 AI TxPDO-Par Stan-
PDO parameter TxPDO 5 UINT8 RO 0x06 (6
dard Ch.3
1804:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 05 1A
5
Index 1805 AI TxPDO-Par Compact Ch.3
Index (hex) Name Meaning Data type Flags Default
1805:0 AI TxPDO-Par
PDO parameter TxPDO 6 UINT8 RO 0x06 (6
Compact Ch.3
1805:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 04 1A
6
Index 1806 AI TxPDO-Par Standard Ch.4
Index (hex) Name Meaning Data type Flags Default
1806:0 AI TxPDO-Par Stan-
PDO parameter TxPDO 7 UINT8 RO 0x06 (6
dard Ch.4
1806:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 07 1A
7
Index 1807 AI TxPDO-Par Compact Ch.4
Index (hex) Name Meaning Data type Flags Default
1807:0 AI TxPDO-Par
Compact Ch.4
1807:06 Exclude TxPDOs Specifies the TxPDOs (index of TxPDO mapping ob-
PDO parameter TxPDO 8 UINT8 RO 0x06 (6
jects) that must not be transferred together with TxPDO
OCTET-
STRING[2]
RO 06 1A
8
)
dec
)
dec
)
dec
)
dec
EPP3174, EPP318482 Version: 1.0.0
Page 83
Configuration
Index 1A00 AI TxPDO-Map Standard Ch.1
Index (hex) Name Meaning Data type Flags Default
1A00:0 AI TxPDO-Map
Standard Ch.1
1A00:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry
1A00:02 SubIndex 002 2. PDO Mapping entry (object 0x6000 (AI Inputs), entry
1A00:03 SubIndex 003 3. PDO Mapping entry (object 0x6000 (AI Inputs), entry
1A00:04 SubIndex 004 4. PDO Mapping entry (object 0x6000 (AI Inputs), entry
1A00:05 SubIndex 005 5. PDO Mapping entry (object 0x6000 (AI Inputs), entry
1A00:06 SubIndex 006 6. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A00:07 SubIndex 007 7. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A00:08 SubIndex 008 8. PDO Mapping entry (object 0x1C32, entry 0x20) UINT32 RO 0x6000:0E, 1
1A00:09 SubIndex 009 9. PDO Mapping entry (object 0x1800 (AI TxPDO-Par
1A00:0A SubIndex 010 10. PDO Mapping entry (object 0x1800 (AI TxPDO-Par
1A00:0B SubIndex 011 11. PDO Mapping entry (object 0x1800 (AI TxPDO-Par
PDO Mapping TxPDO 1 UINT8 RO 0x0B (11
UINT32 RO 0x6000:01, 1 0x01 (Underrange))
UINT32 RO 0x6000:02, 1 0x02 (Overrange))
UINT32 RO 0x6000:03, 2 0x03 (Limit 1))
UINT32 RO 0x6000:05, 2 0x05 (Limit 2))
UINT32 RO 0x6000:07, 1 0x07 (Error))
UINT32 RO 0x6000:0F, 1 Standard Ch.1), entry 0x07 (TxPDO State))
UINT32 RO 0x6000:10, 1 Standard Ch.1), entry 0x09 (TxPDO Toggle))
UINT32 RO 0x6000:11, 16 Standard Ch.1), entry 0x09 (TxPDO Toggle))
dec
)
Index 1A01 AI TxPDO-Map Compact Ch.1
Index (hex) Name Meaning Data type Flags Default
1A01:0 AI TxPDO-Map
Compact Ch.1
1A01:01 SubIndex 001 1. PDO Mapping entry (object 0x6000 (AI Inputs), entry
PDO Mapping TxPDO 2 UINT8 RO 0x01 (1
UINT32 RO 0x6000:11, 16
)
dec
0x11 (Value))
Index 1A02 AI TxPDO-Map Standard Ch.2
Index (hex) Name Meaning Data type Flags Default
1A02:0 AI TxPDO-Map
Standard Ch.2
1A02:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:02 SubIndex 002 2. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:03 SubIndex 003 3. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:04 SubIndex 004 4. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:05 SubIndex 005 5. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:06 SubIndex 006 6. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A02:07 SubIndex 007 7. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 6
1A02:08 SubIndex 008 8. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:09 SubIndex 009 9. PDO Mapping entry (object 0x6010 (AI Inputs), entry
1A02:0A SubIndex 010 10. PDO Mapping entry (object 0x6010 (AI TxPDO-Par
1A02:0B SubIndex 011 11. PDO Mapping entry (object 0x6010 (AI TxPDO-Par
PDO Mapping TxPDO 3 UINT8 RO 0x0B (11
UINT32 RO 0x6010:01, 1 0x01 (Underrange))
UINT32 RO 0x6010:02, 1 0x02 (Overrange))
UINT32 RO 0x6010:03, 2 0x03 (Limit 1))
UINT32 RO 0x6010:05, 2 0x05 (Limit 2))
UINT32 RO 0x6010:07, 1 0x07 (Error))
UINT32 RO 0x6010:0E, 1 0x0E (Sync error))
UINT32 RO 0x6010:0F, 1 0x0F (TxPDO State))
UINT32 RO 0x6010:10, 1 Standard Ch.2), entry 0x10 (TxPDO Toggle))
UINT32 RO 0x6010:11, 16 Standard Ch.2), entry 0x11 (Value))
dec
)
Index 1A03 AI TxPDO-Map Compact Ch.2
Index (hex) Name Meaning Data type Flags Default
1A03:0 AI TxPDO-Map
PDO Mapping TxPDO 4 UINT8 RO 0x01 (1
Compact Ch.2
1A03:01 SubIndex 001 1. PDO Mapping entry (object 0x6010 (AI Inputs), entry
UINT32 RO 0x6010:11, 16 0x11 (Value))
)
dec
Page 84
Configuration
Index 1A04 AI TxPDO-Map Standard Ch.3
Index (hex) Name Meaning Data type Flags Default
1A04:0 AI TxPDO-Map
Standard Ch.3
1A04:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:02 SubIndex 002 2. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:03 SubIndex 003 3. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:04 SubIndex 004 4. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:05 SubIndex 005 5. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:06 SubIndex 006 6. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A04:07 SubIndex 007 7. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A04:08 SubIndex 008 8. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:09 SubIndex 009 9. PDO Mapping entry (object 0x6020 (AI Inputs), entry
1A04:0A SubIndex 010 10. PDO Mapping entry (object 0x6020 (AI Inputs), en-
1A04:0B SubIndex 011 11. PDO Mapping entry (object 0x6020 (AI Inputs), en-
PDO Mapping TxPDO 5 UINT8 RO 0x0B (11
UINT32 RO 0x6020:01, 1 0x01 (Underrange))
UINT32 RO 0x6020:02, 1 0x02 (Overrange))
UINT32 RO 0x6020:03, 2 0x03 (Limit 1))
UINT32 RO 0x6020:05, 2 0x05 (Limit 2))
UINT32 RO 0x6020:07, 1 0x07 (Error))
UINT32 RO 0x6020:0E, 1 0x0E (Sync error))
UINT32 RO 0x6020:0F, 1 0x0F (TxPDO State))
UINT32 RO 0x6020:10, 1 try 0x10 (TxPDO Toggle))
UINT32 RO 0x6020:11, 16 try 0x11 (Value))
dec
)
Index 1A05 AI TxPDO-Map Compact Ch.3
Index (hex) Name Meaning Data type Flags Default
1A05:0 AI TxPDO-Map
Compact Ch.3
1A05:01 SubIndex 001 1. PDO Mapping entry (object 0x6020 (AI Inputs), entry
PDO Mapping TxPDO 6 UINT8 RO 0x01 (1
UINT32 RO 0x6020:11, 16
)
dec
0x11 (Value))
Index 1A06 AI TxPDO-Map Standard Ch.4
Index (hex) Name Meaning Data type Flags Default
1A06:0 AI TxPDO-Map
Standard Ch.4
1A06:01 SubIndex 001 1. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:02 SubIndex 002 2. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:03 SubIndex 003 3. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:04 SubIndex 004 4. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:05 SubIndex 005 5. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:06 SubIndex 006 6. PDO Mapping entry (1 bits align) UINT32 RO 0x0000:00, 1
1A06:07 SubIndex 007 7. PDO Mapping entry (5 bits align) UINT32 RO 0x0000:00, 5
1A06:08 SubIndex 008 8. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:09 SubIndex 009 9. PDO Mapping entry (object 0x6030 (AI Inputs), entry
1A06:0A SubIndex 010 10. PDO Mapping entry (object 0x6030 (AI Inputs), en-
1A06:0B SubIndex 011 11. PDO Mapping entry (object 0x6030 (AI Inputs), en-
PDO Mapping TxPDO 7 UINT8 RO 0x0B (11
UINT32 RO 0x6030:01, 1 0x01 (Underrange))
UINT32 RO 0x6030:02, 1 0x02 (Overrange))
UINT32 RO 0x6030:03, 2 0x03 (Limit 1))
UINT32 RO 0x6030:05, 2 0x05 (Limit 2))
UINT32 RO 0x6030:07, 1 0x07 (Error))
UINT32 RO 0x6030:0E, 1 0x07 (Sync error))
UINT32 RO 0x6030:0F, 1 0x0F (TxPDO State))
UINT32 RO 0x6030:10, 1 try 0x10 (TxPDO Toggle))
UINT32 RO 0x6030:11, 16 try 0x11 (Value))
dec
)
Index 1A07 AI TxPDO-Map Compact Ch.4
Index (hex) Name Meaning Data type Flags Default
1A07:0 AI TxPDO-Map
PDO Mapping TxPDO 8 UINT8 RO 0x01 (1
Compact Ch.4
1A07:01 SubIndex 001 1. PDO Mapping entry (object 0x6030 (AI Inputs), entry
UINT32 RO 0x6030:11, 16 0x11 (Value))
EPP3174, EPP318484 Version: 1.0.0
)
dec
Page 85
Configuration
Index 1C00 Sync manager type
Index (hex) Name Meaning Data type Flags Default
1C00:0 Sync manager type Using the Sync Managers UINT8 RO 0x04 (4
1C00:01 SubIndex 001 Sync-Manager Type Channel 1: Mailbox Write UINT8 RO 0x01 (1
1C00:02 SubIndex 002 Sync-Manager Type Channel 2: Mailbox Read UINT8 RO 0x02 (2
1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write
UINT8 RO 0x03 (3 (Outputs)
1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read
UINT8 RO 0x04 (4 (Inputs)
Index 1C12 RxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C12:0 RxPDO assign PDO Assign Outputs UINT8 RW 0x00 (0
Index 1C13 TxPDO assign
Index (hex) Name Meaning Data type Flags Default
1C13:0 TxPDO assign PDO Assign Inputs UINT8 RW 0x05 (5
1C13:01 Subindex 001 1. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:02 Subindex 002 2. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:03 Subindex 003 3. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
1C13:04 Subindex 004 4. allocated TxPDO (contains the index of the associ-
ated TxPDO mapping object)
UINT16 RW 0x1A00 (6656
UINT16 RW 0x1A02 (6658
UINT16 RW 0x1A04 (6660
UINT16 RW 0x1A06 (6662
)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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)
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Page 86
Configuration
Index 1C33 SM input parameter
Index (hex) Name Meaning Data type Flags Default
1C33:0 SM input parameter Synchronization parameters for the inputs UINT8 RO 0x20 (32
1C33:01 Sync mode Current synchronization mode:
UINT16 RW 0x0022 (34
• 0: Free Run
• 1: Synchron with SM 3 Event (no outputs available)
• 2: DC - Synchron with SYNC0 Event
• 3: DC - Synchron with SYNC1 Event
• 34: Synchron with SM 2 Event (outputs available)
1C33:02 Cycle time UINT32 RW 0x000F4240
(1000000
1C33:03 Shift time Time between SYNC0 event and reading of the inputs
(in ns, only DC mode)
1C33:04 Sync modes sup-
ported
Supported synchronization modes:
• Bit 0: free run is supported
UINT32 RO 0x00001388
(5000
UINT16 RO 0xC00B
(49163
• Bit 1: Synchron with SM 2 Event is supported (outputs available)
• Bit 1: Synchron with SM 3 Event is supported (no outputs available)
• Bit 2-3 = 01: DC mode is supported
• Bit 4-5 = 01: Input Shift through local event (outputs available)
• Bit 4-5 = 10: Input Shift with SYNC1 event (no outputs available)
• Bit 14 = 1: dynamic times (measurement through writing of 0x1C33:08)
1C33:05 Minimum cycle time UINT32 RO 0x0003D090
(250000
1C33:06 Calc and copy time Time between reading of the inputs and availability of
the inputs for the master (in ns, only DC mode)
UINT32 RO 0x00002710
(10000
1C33:07 Minimum delay time UINT32 RO 0x00001388
(5000
1C33:08 Command UINT16 RW 0x0000 (0
1C33:09 Maximum Delay
time
1C33:0B SM event missed
Time between SYNC1 event and reading of the inputs (in ns, only DC mode)
UINT32 RO 0x00001388
(5000
UINT16 RO 0x0000 (0
counter
1C33:0C Cycle exceeded
UINT16 RO 0x0000 (0
counter
1C33:0D Shift too short
UINT16 RO 0x0000 (0
counter
1C33:20 Sync error BOOLEAN RO 0x00 (0
dec
dec
)
dec
)
dec
dec
)
dec
)
dec
)
dec
)
dec
)
)
dec
)
)
)
dec
)
dec
)
dec
)
dec
Profile-specific objects (0x6000-0xFFFF)
The profile-specific objects have the same meaning for all EtherCAT slaves that support the profile 5001.
EPP3174, EPP318486 Version: 1.0.0
Page 87
Configuration
Index 6000 AI Inputs
Index (hex) Name Meaning Data type Flags Default
6000:0 AI inputs Maximum subindex UINT8 RO 0x11 (17
6000:01 Underrange Is set if the value falls below the operating range of the
sensor or the process data contains the lowest possible value.
6000:02 Overrange Is set if the value exceeds the operating range of the
sensor or the process data contains the highest possi­ble value.
6000:03 Limit 1 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6000:05 Limit 2 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6000:07 Error The error bit is set if the process data is invalid (wire
breakage, overrange, underrange).
6000:0E Sync error BOOLEAN RO 0x00 (0
6000:0F TxPDO State Validity of the data of the associated TxPDO BOOLEAN RO 0x00 (0
0 valid
1 invalid
6000:10 TxPDO Toggle TxPDO toggle is toggled by the slave when the data of
the associated TxPDO is updated.
6000:11 Value Analog input date INT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 6010 AI Inputs
Index (hex) Name Meaning Data type Flags Default
6010:0 AI inputs Maximum subindex UINT8 RO 0x11 (17
6010:01 Underrange Is set if the value falls below the operating range of the
sensor or the process data contains the lowest possi­ble value.
6010:02 Overrange Is set if the value exceeds the operating range of the
sensor or the process data contains the highest possi­ble value.
6010:03 Limit 1 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6010:05 Limit 2 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6010:07 Error The error bit is set if the process data is invalid (wire
breakage, overrange, underrange).
6010:0E Sync error BOOLEAN RO 0x00 (0
6010:0F TxPDO State Validity of the data of the associated TxPDO BOOLEAN RO 0x00 (0
0 valid
1 invalid
6010:10 TxPDO Toggle TxPDO toggle is toggled by the slave when the data of
the associated TxPDO is updated.
6010:11 Value Analog input date INT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
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Page 88
Configuration
Index 6020 AI Inputs
Index (hex) Name Meaning Data type Flags Default
6020:0 AI inputs Maximum subindex UINT8 RO 0x11 (17
6020:01 Underrange Is set if the value falls below the operating range of the
sensor or the process data contains the lowest possi­ble value.
6020:02 Overrange Is set if the value exceeds the operating range of the
sensor or the process data contains the highest possi­ble value.
6020:03 Limit 1 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6020:05 Limit 2 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6020:07 Error The error bit is set if the process data is invalid (wire
breakage, overrange, underrange).
6020:0E Sync error BOOLEAN RO 0x00 (0
6020:0F TxPDO State Validity of the data of the associated TxPDO BOOLEAN RO 0x00 (0
0 valid
1 invalid
6020:10 TxPDO Toggle TxPDO toggle is toggled by the slave when the data of
the associated TxPDO is updated.
6020:11 Value Analog input date INT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 6030 AI Inputs
Index (hex) Name Meaning Data type Flags Default
6030:0 AI inputs Maximum subindex UINT8 RO 0x11 (17
6030:01 Underrange Is set if the value falls below the operating range of the
sensor or the process data contains the lowest possi­ble value.
6030:02 Overrange Is set if the value exceeds the operating range of the
sensor or the process data contains the highest possi­ble value.
6030:03 Limit 1 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6030:05 Limit 2 Only when limit check is active BIT2 RO 0x00 (0
1 Value below set limit
2 Set limit exceeded
3 Set limit reached
6030:07 Error The error bit is set if the process data is invalid (wire
breakage, overrange, underrange).
6030:0E Sync error BOOLEAN RO 0x00 (0
6030:0F TxPDO State Validity of the data of the associated TxPDO BOOLEAN RO 0x00 (0
0 valid
1 invalid
6030:10 TxPDO Toggle TxPDO toggle is toggled by the slave when the data of
the associated TxPDO is updated.
6030:11 Value Analog input date INT16 RO 0x0000 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
BOOLEAN RO 0x00 (0
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
)
dec
Index 800E AI Internal data
Index (hex) Name Meaning Data type Flags Default
800E:0 AI internal data Maximum subindex UINT8 RO 0x01 (1
800E:01 ADC raw value Raw value of the analog/digital converter INT16 RO 0x0000 (0
EPP3174, EPP318488 Version: 1.0.0
)
dec
)
dec
Page 89
Configuration
Index 800F AI Vendor data
Index (hex) Name Meaning Data type Flags Default
800F:0 AI vendor data Maximum subindex UINT8 RO 0x06 (6
800F:01 R0 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
)
dec
dec
800F:02 R0 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
800F:03 R1 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
dec
800F:04 R1 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
800F:05 R2 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
dec
800F:06 R2 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
Index 801E AI Internal data
Index (hex) Name Meaning Data type Flags Default
801E:0 AI internal data Maximum subindex UINT8 RO 0x01 (1
801E:01 ADC raw value Raw value of the analog/digital converter INT16 RO 0x0000 (0
)
dec
dec
Index 801F AI Vendor data
Index (hex) Name Meaning Data type Flags Default
801F:0 AI vendor data Maximum subindex UINT8 RO 0x06 (6
801F:01 R0 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
801F:02 R0 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
801F:03 R1 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
801F:04 R1 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
801F:05 R2 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
801F:06 R2 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
)
dec
dec
dec
dec
)
)
dec
)
)
dec
)
)
dec
)
)
)
dec
)
)
dec
)
)
dec
Index 802E AI Internal data
Index (hex) Name Meaning Data type Flags Default
802E:0 AI internal data Maximum subindex UINT8 RO 0x01 (1
802E:01 ADC raw value Raw value of the analog/digital converter INT16 RO 0x0000 (0
)
dec
dec
Index 802F AI Vendor data
Index (hex) Name Meaning Data type Flags Default
802F:0 AI vendor data Maximum subindex UINT8 RO 0x06 (6
802F:01 R0 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
)
dec
dec
802F:02 R0 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
802F:03 R1 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
dec
802F:04 R1 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
802F:05 R2 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
dec
802F:06 R2 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
Index 803E AI Internal data
Index (hex) Name Meaning Data type Flags Default
803E:0 AI internal data Maximum subindex UINT8 RO 0x01 (1
803E:01 ADC raw value Raw value of the analog/digital converter INT16 RO 0x0000 (0
)
dec
dec
Index 803F AI Vendor data
Index (hex) Name Meaning Data type Flags Default
803F:0 AI vendor data Maximum subindex UINT8 RO 0x06 (6
803F:01 R0 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
803F:02 R0 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
803F:03 R1 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
803F:04 R1 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
803F:05 R2 Offset Offset (vendor calibration) INT16 RW 0x0000 (0
803F:06 R2 Gain Gain (vendor calibration) INT16 RW 0x4000 (16384
)
dec
dec
dec
dec
)
)
)
dec
)
)
dec
)
)
dec
)
)
)
dec
)
)
dec
)
)
dec
Page 90
Configuration
Index F000 Modular device profile
Index (hex) Name Meaning Data type Flags Default
F000:0 Modular device pro-
file
F000:01 Module index dis-
tance
F000:02 Maximum number
of modules
General information for the modular device profile UINT8 RO 0x02 (2
dec
Index distance of the objects of the individual channels UINT16 RO 0x0010 (16
Number of channels UINT16 RO 0x0004 (4
)
dec
dec
Index F008 Code word
Index (hex) Name Meaning Data type Flags Default
F008:0 Code word reserved UINT32 RW 0x00000000 (0
Index F010 Module list
Index (hex) Name Meaning Data type Flags Default
F010:0 Module list Maximum subindex UINT8 RW 0x05 (5
F010:01 SubIndex 001 UINT32 RW 0x0000012C
(300
F010:02 SubIndex 002 UINT32 RW 0x0000012C
(300
F010:03 SubIndex 003 UINT32 RW 0x0000012C
(300
F010:04 SubIndex 004 UINT32 RW 0x0000012C
(300
)
dec
)
dec
)
dec
)
dec
)
dec
)
)
)
dec
EPP3174, EPP318490 Version: 1.0.0
Page 91
Configuration

4.13 Restoring the delivery state

To restore the delivery state for backup objects in ELxxxx terminals / EPxxxx- and EPPxxxx boxes, the CoE object Restore default parameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode).
Fig.67: Selecting the Restore default parameters PDO
Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or the value 0x64616F6C in field Hex and confirm with OK.
All backup objects are reset to the delivery state.
Fig.68: Entering a restore value in the Set Value dialog
Alternative restore value
In some older terminals / boxes the backup objects can be switched with an alternative restore value: Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164
An incorrect entry for the restore value has no effect.
Page 92
Appendix

5 Appendix

5.1 General operating conditions

Protection degrees (IP-Code)
The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.
1. Number: dust protection and touch guard
0 Non-protected
1 Protected against access to hazardous parts with the back of a hand. Protected against solid foreign ob-
2 Protected against access to hazardous parts with a finger. Protected against solid foreign objects of
3 Protected against access to hazardous parts with a tool. Protected against solid foreign objects
4 Protected against access to hazardous parts with a wire. Protected against solid foreign objects
5 Protected against access to hazardous parts with a wire. Dust-protected. Intrusion of dust is not totally
6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusion of dust.
Definition
jects of Ø50mm
Ø12,5mm.
Ø2,5mm.
Ø1mm.
prevented, but dust shall not penetrate in a quantity to interfere with satisfactory operation of the device or to impair safety.
2. Number: water* protec­tion
0 Non-protected
1 Protected against water drops
2 Protected against water drops when enclosure tilted up to 15°.
3 Protected against spraying water. Water sprayed at an angle up to 60° on either side of the vertical shall
4 Protected against splashing water. Water splashed against the disclosure from any direction shall have
5 Protected against water jets
6 Protected against powerful water jets
7 Protected against the effects of temporary immersion in water. Intrusion of water in quantities causing
Definition
have no harmful effects.
no harmful effects
harmful effects shall not be possible when the enclosure is temporarily immersed in water for 30min. in 1m depth.
*) These protection classes define only protection against water!
Chemical Resistance
The Resistance relates to the Housing of the Fieldbus/EtherCAT Box and the used metal parts. In the table below you will find some typical resistance.
Character Resistance
Steam at temperatures >100°C: not resistant
Sodium base liquor (ph-Value > 12)
Acetic acid not resistant
Argon (technical clean) resistant
at room temperature: resistant > 40°C: not resistant
Key
• resistant: Lifetime several months
• non inherently resistant: Lifetime several weeks
• not resistant: Lifetime several hours resp. early decomposition
EPP3174, EPP318492 Version: 1.0.0
Page 93
5.2 EtherCAT Box- / EtherCATPBox - Accessories
Fixing
Ordering information Description
ZS5300-0001 Mounting rail (500mmx129mm)
Marking material, plugs
Ordering information Description
ZS5000-0000 Fieldbus Box set M8 (contact labels, plugs) ZS5000-0002 Fieldbus Box set M12 (contact labels, plugs) ZS5000-0010 plugs M8, IP67 (50 pieces) ZS5000-0020 plugs M12, IP67 (50 pieces) ZS5100-0000 marking labels, not printed, 4 stripes at 10 pieces ZS5100-xxxx printed marking labels, on request
Tools
Ordering information Description
ZB8800 torque wrench for M8 cables with knurl, incl. ratchet ZB8800-0001 M12 ratchet for torque wrench ZB8800 ZB8800-0002 M8 ratchet (field assembly) for torque wrench ZB8800 ZB8801-0000 torque wrench for hexagonal plugs, adjustable ZB8801-0001 torque cable key, M8/wrench size 9, for torque wrench ZB8801-0000 ZB8801-0002 torque cable key, M12/wrench size 13, for torque wrench ZB8801-0000 ZB8801-0003 torque cable key, M12 field assembly/wrench size 13, for torque wrench
ZB8801-0000
Appendix
Further accessories
Further accessories may be found at the price list for Beckhoff fieldbus components and at the inter­net under https://www.beckhoff.com
Page 94
Appendix

5.3 Support and Service

Beckhoff and their partners around the world offer comprehensive support and service, making available fast and competent assistance with all questions related to Beckhoff products and system solutions.
Beckhoff's branch offices and representatives
Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products!
The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages:
http://www.beckhoff.com
You will also find further documentation for Beckhoff components there.
Beckhoff Headquarters
Beckhoff Automation GmbH & Co. KG
Huelshorstweg 20 33415 Verl Germany
Phone: +49(0)5246/963-0 Fax: +49(0)5246/963-198 e-mail: info@beckhoff.com
Beckhoff Support
Support offers you comprehensive technical assistance, helping you not only with the application of individual Beckhoff products, but also with other, wide-ranging services:
• support
• design, programming and commissioning of complex automation systems
• and extensive training program for Beckhoff system components
Hotline: +49(0)5246/963-157 Fax: +49(0)5246/963-9157 e-mail: support@beckhoff.com
Beckhoff Service
The Beckhoff Service Center supports you in all matters of after-sales service:
• on-site service
• repair service
• spare parts service
• hotline service
Hotline: +49(0)5246/963-460 Fax: +49(0)5246/963-479 e-mail: service@beckhoff.com
EPP3174, EPP318494 Version: 1.0.0
Page 95

Table of figures

Table of figures
Fig. 1 EtherCATP Box Modules within an EtherCAT network .............................................................. 8
Fig. 2 EtherCATP Box with M8 connections for sensors/actuators ...................................................... 9
Fig. 3 EtherCATP Box with M12 connections for sensors/actuators .................................................... 9
Fig. 4 EPP3174-0002 ............................................................................................................................ 10
Fig. 5 EPP3184-0002 ............................................................................................................................ 11
Fig. 6 Dimensions of the EtherCAT-P-Box Modules.............................................................................. 14
Fig. 7 FE socket in housing of EtherCAT-P-Box.................................................................................... 15
Fig. 8 Mounting Rail ZS5300-000 .......................................................................................................... 16
Fig. 9 EtherCAT P Box with M8 connectors .......................................................................................... 17
Fig. 10 EtherCAT P Box with M8 and M12 connectors ........................................................................... 17
Fig. 11 7/8" connectors ............................................................................................................................ 18
Fig. 12 ZB8801 torque socket wrench ..................................................................................................... 18
Fig. 13 EtherCATP Box: M8 (30mm housing) ....................................................................................... 19
Fig. 14 EtherCAT P LEDs ........................................................................................................................ 20
Fig. 15 EtherCAT-P-Box, Connectors for EtherCATP ............................................................................ 21
Fig. 16 Pin assignment M8, EtherCATP In and EtherCATP Out ........................................................... 21
Fig. 17 Status LEDs for power supply ..................................................................................................... 23
Fig. 18 Conductor losses on the EtherCATP cables .............................................................................. 24
Fig. 19 EtherCAT P cable: ZK700x-0100-0xxx, ZK700x-0101-0xxx and ZK700x-0102-0xxx ................. 25
Fig. 20 EtherCAT-P-Box-accessories ...................................................................................................... 26
Fig. 21 EtherCAT P: field assembly connectors ...................................................................................... 26
Fig. 22 Selection of different Sensor cables from Beckhoff .................................................................... 27
Fig. 23 M12 analog voltage inputs, one differential input per socket ....................................................... 28
Fig. 24 M12 analog current inputs, one differential input per socket ....................................................... 29
Fig. 25 Analog voltage inputs M12, one single-ended input per socket .................................................. 30
Fig. 26 M12 analog current inputs, one single-ended input per socket ................................................... 30
Fig. 27 Status LEDs at the M12 connections........................................................................................... 31
Fig. 28 Appending a new I/O device (I/O Devices -> right-click -> Append Device...)............................. 34
Fig. 29 Selecting the device EtherCAT .................................................................................................... 34
Fig. 30 Appending a new box (Device -> right-click -> Append Box...) ................................................... 35
Fig. 31 Selecting a Box (e.g. EPP1322-0001) ......................................................................................... 35
Fig. 32 TwinCAT CONFIG mode display ................................................................................................. 37
Fig. 33 Scan Devices ............................................................................................................................... 38
Fig. 34 note for automatic device scan .................................................................................................... 38
Fig. 35 detected Ethernet devices ........................................................................................................... 38
Fig. 36 scan query after automatic creation of an EtherCAT device ....................................................... 39
Fig. 37 online display example ................................................................................................................ 39
Fig. 38 Master display after scan for boxes ............................................................................................. 40
Fig. 39 identical configuration .................................................................................................................. 40
Fig. 40 correction dialog .......................................................................................................................... 41
Fig. 41 correction dialog with modifications ............................................................................................. 42
Fig. 42 Branch of the EtherCAT P box to be configured.......................................................................... 43
Fig. 43 General tab .................................................................................................................................. 43
Fig. 44 EtherCAT tab ............................................................................................................................... 44
Page 96
Table of figures
Fig. 45 Tab EtherCAT P: No device connected to junction device .......................................................... 45
Fig. 46 Tab EtherCAT P: One device connected to junction device ........................................................ 45
Fig. 47 Tab EtherCAT P: Three devices connected to junction device ................................................... 46
Fig. 48 Check EtherCAT P System ......................................................................................................... 47
Fig. 49 Check EtherCAT P system without problem................................................................................ 48
Fig. 50 Check EtherCAT P System with problem .................................................................................... 48
Fig. 51 Topology of the EtherCAT P system ........................................................................................... 49
Fig. 52 Process Data tab ......................................................................................................................... 50
Fig. 53 Startup tab ................................................................................................................................... 52
Fig. 54 CoE - Online tab .......................................................................................................................... 53
Fig. 55 Advanced Settings ....................................................................................................................... 54
Fig. 56 Online tab .................................................................................................................................... 55
Fig. 57 Measuring range .......................................................................................................................... 56
Fig. 58 Single-ended/differential typification ............................................................................................ 57
Fig. 59 2/3/4-wire connection as single-ended or differential connection technology.............................. 60
Fig. 60 EPP3174-0002, EPP3184-0002: Selection of the signal type ..................................................... 61
Fig. 61 typical attenuation curve of notch filter at 50 Hz .......................................................................... 66
Fig. 62 Diagram showing the data stream in the EPP31xx ..................................................................... 67
Fig. 63 Data flow with correction calculation for 0…20mA ..................................................................... 68
Fig. 64 Data flow with correction calculation for 4…20mA ..................................................................... 68
Fig. 65 Data flow with correction calculation for +/- 10V......................................................................... 68
Fig. 66 Data flow with correction calculation for 0…10V ........................................................................ 69
Fig. 67 Selecting the Restore default parameters PDO........................................................................... 91
Fig. 68 Entering a restore value in the Set Value dialog.......................................................................... 91
EPP3174, EPP318496 Version: 1.0.0
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