Beckhoff EPP4374-0002 User Manual

Documentation | EN

EPP4374-0002

EtherCAT P Box with analog inputs and outputs

2020-09-22 | Version: 1.1

Table of contents

Table of contents

1 Foreword ....................................................................................................................................................5

1.1 Safety instructions .............................................................................................................................5

1.2 Notes on the documentation..............................................................................................................6

1.3 Documentation issue status ..............................................................................................................7

2 Product group: EtherCATP Box modules ..............................................................................................8

3 Product overview.......................................................................................................................................9

3.1 Introduction........................................................................................................................................9

3.2 Technical data .................................................................................................................................10

3.3 Scope of supply ...............................................................................................................................12

3.4 Process image.................................................................................................................................13

4 Mounting and cabling..............................................................................................................................15

4.1 Mounting..........................................................................................................................................15

4.1.1 Dimensions ...................................................................................................................... 15

4.1.2 Fixing ............................................................................................................................... 16

4.1.3 Functional earth (FE) ....................................................................................................... 16

4.1.4 Tightening torques for plug connectors ........................................................................... 16

4.2 Cabling ............................................................................................................................................17

4.2.1 EtherCATP...................................................................................................................... 18

4.2.2 Analog interfaces ............................................................................................................. 21

4.3 UL Requirements.............................................................................................................................24

5 Commissioning and configuration ........................................................................................................25

5.1 Integration in TwinCAT ....................................................................................................................25

5.2 Parameterizing signal ranges ..........................................................................................................26

5.3 Object overview ...............................................................................................................................27

5.4 Object description and parameterization .........................................................................................33

5.4.1 Objects to be parameterized during commissioning........................................................ 33

5.4.2 Standard objects (0x1000-0x1FFF) ................................................................................. 38

5.4.3 Profile-specific objects (0x6000-0xFFFF) ........................................................................ 43

5.5 Restoring the delivery state .............................................................................................................46

6 Appendix ..................................................................................................................................................47

6.1 General operating conditions...........................................................................................................47

6.2 Accessories .....................................................................................................................................48

6.3 Version identification of EtherCAT devices .....................................................................................49

6.3.1 Beckhoff Identification Code (BIC)................................................................................... 53

6.4 Support and Service ........................................................................................................................55

EPP4374-0002 3Version: 1.1

Table of contents

EPP4374-00024 Version: 1.1

Foreword

1 Foreword

1.1 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.

EPP4374-0002 5Version: 1.1

Foreword

1.2 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

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

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

Copyright

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

EPP4374-00026 Version: 1.1

Foreword

1.3 Documentation issue status

Version Comment

1.1 • Front page updated

• Structure update

1.0 • First release

0.1 • First preliminary version

Firmware and hardware versions

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

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

Documentation Firmware Hardware

1.1 04 03

1.0 04 03

The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on
the side of the EtherCAT Box.

Syntax of the batch number (D-number)

D: WW YY FF HH

WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version

Further information on this topic: Version identification of EtherCAT devices [}49].

Example with D no. 29 10 02 01:

29 - week of production 29
10 - year of production 2010
02 - firmware version 02
01 - hardware version 01

EPP4374-0002 7Version: 1.1

Product group: EtherCATP Box modules

2 Product group: EtherCATP Box modules

EtherCATP

EtherCATP supplements the EtherCAT technology with a process in which communication and supply
voltages are transmitted on a common line. All EtherCAT properties are retained with this process.

Two supply voltages are transmitted per EtherCATP line. The supply voltages are electrically isolated from
each other and can therefore be switched individually. The nominal supply voltage for both is 24 VDC.

EtherCAT P uses the same cable structure as EtherCAT: a 4-core Ethernet cable with M8 connectors. The
connectors are mechanically coded so that EtherCAT connectors and EtherCATP connectors cannot be
interchanged.

EtherCATP Box modules

EtherCATP Box modules are EtherCATP slaves with IP67 protection. They are designed for operation in
wet, dirty or dusty industrial environments.

Fig.1: EtherCATP

EtherCAT basics

A detailed description of the EtherCAT system can be found in the EtherCAT system documentation.

EPP4374-00028 Version: 1.1

3 Product overview

3.1 Introduction

Product overview

Fig.2: EPP4374-0002

EtherCAT Box with analog inputs and outputs

EPP4374-0002 has two analog inputs and two analog outputs. The signal range can be individually
parameterized for each analog input and output:

• -10 .. +10V

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

Quick links

Technical data [}10]
Process image [}13]
Signal connection [}21]

EPP4374-0002 9Version: 1.1

Product overview

3.2 Technical data

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

Technical data EPP4374-0002

Fieldbus

Fieldbus EtherCAT
Connection EtherCAT P: Combined connection for EtherCAT and supply

voltages

Input: 1 x M8 socket, 4-pin, P-coded
Downstream connection: 1 x M8 socket, 4-pin, P-coded

Supply voltages

Connection See Fieldbus connection
Control voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 3A
Consumers Module electronics: 120mA at 24V
Peripheral voltage U
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 3A
Consumers • Sensors

Analog inputs

Number 2
Connection M12 socket, 5-pin connection
Signal range Parameterizable:

Electrical specifications [}11]
Sensor/actuator

supply voltage

Analog outputs

Number 2
Connection M12 socket, 5-pin connection
Output signal range Parameterizable:

Electrical specifications [}11]
Sensor/actuator

supply voltage

S

1)

DC

P

1)

2)

• Actuators

2)

• -10 .. +10V (default)

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

3)

from the peripheral voltage U

P

max. 3A in total, not short-circuit proof

• -10 .. +10V (default)

• 0 .. 10V

• 0 .. 20mA

• 4 .. 20mA

3)

from the peripheral voltage U

P

max. 3A in total, not short-circuit proof

1)

Sum current of consumers and power transmission.

2)

"Actuators": Field devices that are intended to be connected to outputs.

 "Sensors": Field devices that are intended to be connected to inputs.

3)

Supply voltage that is available on the plug connectors of the analog interfaces.

EPP4374-000210 Version: 1.1

Product overview

Technical data EPP4374-0002

Environmental conditions

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

-25…+55°C according to cURus [}24]

0…+55°C according to ATEX
Ambient temperature during storage -40…+85°C
Vibration/ shock resistance conforms to EN 60068-2-6 / EN 60068-2-27;

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

Mechanics

Weight approx. 165g
Installation position variable

Approvals and conformity

Approvals

Analog inputs

The signal range can be switched during operation. The following table shows the electrical specifications
depending on the selected signal range.

CE, cURus [}24]

Technical data Signal range

-10 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA

Input type Differential
Input resistance >200kΩ >200kΩ 85Ω typ. + diode

voltage
Digital resolution 16-bit 15-bit 15-bit 15-bit
Measuring error < 0.3% relative to full scale value
Conversion time approx. 100µs
Input filter limit frequency 5kHz
Value of the least significant

bit

The analog inputs and outputs have a common analog ground potential. The analog ground potential is
electrically isolated from all other ground potentials in the box.

Analog outputs

The output signal range can be switched during operation. The following table shows the electrical
specifications depending on the selected output signal range.

Technical data Output signal range

Load resistor / load >5kΩ >5kΩ <500Ω <500Ω
Digital resolution 16-bit 15-bit 15-bit 15-bit
Output error < 0.1 % (ambient temperature 0 °C ... +55 °C)

Conversion time approx. 40µs
Value of the least significant

bit

approx. 305µV approx. 305µV approx. 610µA approx. 488µA

-10 .. 10V 0 .. 10V 0 .. 20mA 4 .. 20mA

< 0.2 % (ambient temperature < 0 °C or > 55 °C)

related to the final value.

approx. 305µV approx. 305µV approx. 610µA approx. 488µA

85Ω typ. + diode
voltage

The analog inputs and outputs have a common analog ground potential. The analog ground potential is
electrically isolated from all other ground potentials in the box.

EPP4374-0002 11Version: 1.1

Product overview

Additional checks

The boxes have been subjected to the following checks:

Verification Explanation

Vibration 10 frequency sweeps in 3 axes

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

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

Shocks 1000 shocks in each direction, in 3 axes

35g, 11ms

3.3 Scope of supply

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

• 1x EtherCAT P Box EPP4374-0002

• 2x protective cap for EtherCATP socket, M8, red (pre-assembled)

• 10x labels, blank (1 strip of 10)

Pre-assembled protective caps do not ensure IP67 protection

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

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

EPP4374-000212 Version: 1.1

3.4 Process image

3.4.1 Assignment of connectors to process data objects

Process image in TwinCAT Connector Process data object

X01

AI Inputs Channel1

Product overview

X02

X03

X04

AI Inputs Channel2

AO Outputs Channel 3

AO Outputs Channel 4

3.4.2 Content of the process data objects

AI Inputs Channel1

The data for the first analog channel can be found under AI Inputs Channel1.

• Underrange: Value of the analog input is less than 0/4mA or -10/0V

• Overrange: Value of the analog input is greater than 20mA or +10V

• Limit1: with activated limit 1 (object 0x80x0:07 [}35]= 1) means
1: value less than limit 1 (set in object 0x80x0:13 [}35])
2: value greater than limit 1 (set in object 0x80x0:13 [}35])
3: value equal to limit 1 (set in object 0x80x0:13 [}35])

• Limit2: with activated limit 2 (object 0x80x0:08 [}35]= 1) means
1: value less than limit 2 (set in object 0x80x0:14 [}35])
2: value greater than limit 2 (set in object 0x80x0:14 [}35])
3: value equal to limit 2 (set in object 0x80x0:14 [}35])

• Error: This bit is set if overrange or underrange was detected.

EPP4374-0002 13Version: 1.1

Product overview

AI Inputs Channel2

The data of the second analog channelhave the same structure as those of the first channel.

AO Outputs Channel3

The data for the third analog channel can be found under AO Outputs Channel3.

AO Outputs Channel4

The data of the forth analog channelhave the same structure as those of the third channel.

EPP4374-000214 Version: 1.1

4 Mounting and cabling

119

126

23

3026.5

14

Ø 3.5

13.5

4.1 Mounting

4.1.1 Dimensions

Mounting and cabling

Fig.3: Dimensions

All dimensions are given in millimeters.

Housing features

Housing material PA6 (polyamide)
Sealing compound polyurethane
Mounting two fastening holes Ø 3.5 mm for M3
Metal parts brass, nickel-plated
Contacts CuZn, gold-plated
Installation position variable
Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together
Dimensions (H x W x D) approx. 126 x 30 x 26.5 mm (without connectors)
Weight approx. 165g

EPP4374-0002 15Version: 1.1

Mounting and cabling

FE

4.1.2 Fixing

NOTE

Dirt during assembly

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

• Protect the plug connectors against dirt during the assembly.

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

4.1.3 Functional earth (FE)

The upper fastening hole also serves as a connection for functional earth (FE).

Make sure that the box is grounded to low impedance via the functional earth (FE) connection. You can
achieve this, for example, by mounting the box on a grounded machine bed.

Fig.4: Connection for functional earth (FE)

4.1.4 Tightening torques for plug connectors

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

Connector diameter Tightening torque

M8 0.4Nm
M12 0.6Nm

EPP4374-000216 Version: 1.1

Mounting and cabling

X50 X51

X01

X02

X03

X04

4.2 Cabling

Guidelines

Follow these guidelines to ensure IP67 protection:

• Mount plugs with the torque values specified below. Use a torque wrench, e.g. Beckhoff ZB8801.

• Seal unused connectors with protective caps.

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

Connector overview

NOTE

Risk of confusion: Inputs and outputs

Defects possible due to mixing up of inputs and outputs. The connectors of the inputs and outputs are of
the same type.

• Observe the names of the connectors in order to avoid mistakes.

Fig.5: Connector overview

Name Connector

type

X01 M12 0.6Nm
X02
X03 M12 0.6Nm
X04
X50 M8 socket, p-coded 0.4Nm

X51 M8 socket, p-coded 0.4Nm

EPP4374-0002 17Version: 1.1

Tightening
torque

Function

Analog inputs [}21]

Analog outputs [}21]

EtherCATP [}18] input

EtherCAT P [}18] downstream

connection

Mounting and cabling

1 2

1

2

3

4

4.2.1 EtherCATP

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!

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!

4.2.1.1 Connectors

Fig.6: Plug connectors for EtherCAT P

1 - input

2 - downstream connection

Connection

Fig.7: M8 socket, P-coded

Contact Signal Voltage Core color

1 Tx + GND
2 Rx + GND

S

P

3 Rx - UP: Peripheral voltage, +24V
4 Tx - US: Control voltage, +24V

DC

DC

yellow
white
blue
orange

Housing Shield Shield Shield

1)

The core colors apply to EtherCAT P cables and ECP cables from Beckhoff.

1)

EPP4374-000218 Version: 1.1