Beckhoff EPP9022-9060 User Manual

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Documentation | EN

EPP9022-9060

EtherCAT P Box with diagnostics, TwinSAFE SC

2020-09-22 | Version: 1.1

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

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

3.1 Introduction........................................................................................................................................9

3.2 Technical data .................................................................................................................................10

3.3 Scope of supply ...............................................................................................................................11

3.4 Process image.................................................................................................................................12

4 Mounting and connections.....................................................................................................................17

4.1 Mounting..........................................................................................................................................17

4.1.1 Dimensions ...................................................................................................................... 17

4.1.2 Fixing ............................................................................................................................... 18

4.1.3 Functional earth (FE) ....................................................................................................... 18

4.2 Connections.....................................................................................................................................19

4.2.1 Connector overview ......................................................................................................... 19

4.2.2 EtherCATP...................................................................................................................... 20

4.2.3 Voltage measurement output........................................................................................... 23

4.3 UL Requirements.............................................................................................................................24

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

5.1 Integration in TwinCAT ....................................................................................................................25

5.2 Measured values .............................................................................................................................26

5.2.1 Representation ................................................................................................................ 26

5.2.2 Filter................................................................................................................................. 27

5.3 Warning and error messages ..........................................................................................................28

5.3.1 Set the threshold values .................................................................................................. 29

5.3.2 Disabling messages......................................................................................................... 30

5.4 LEDs................................................................................................................................................31

5.4.1 LED filter .......................................................................................................................... 32

5.5 Restoring the delivery state .............................................................................................................33

5.6 Decommissioning ............................................................................................................................34

6 CoE parameters .......................................................................................................................................35

6.1 Introduction......................................................................................................................................35

6.1.1 Accessing CoE parameters with TwinCAT ...................................................................... 35

6.1.2 Data format of CoE parameters....................................................................................... 35

6.2 Object overview ...............................................................................................................................36

6.3 Object description............................................................................................................................37

6.3.1 Objects to be parameterized during commissioning........................................................ 37

6.3.2 Profile-specific objects ..................................................................................................... 39

6.3.3 Standard objects.............................................................................................................. 41

7 Appendix ..................................................................................................................................................43

7.1 General operating conditions...........................................................................................................43

EPP9022-9060 3Version: 1.1

Table of contents

7.2 Accessories .....................................................................................................................................44

7.3 Version identification of EtherCAT devices .....................................................................................45

7.3.1 Beckhoff Identification Code (BIC)................................................................................... 49

7.4 Support and Service ........................................................................................................................51

EPP9022-90604 Version: 1.1

Foreword

1 Foreword

1.1 Notes on the documentation

Intended audience

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

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

Disclaimer

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

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

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

Trademarks

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

Patent Pending

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

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

© 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.

EPP9022-9060 5Version: 1.1

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.

EPP9022-90606 Version: 1.1

Foreword

1.3 Documentation issue status

Version Comment

1.1 • Front page updated

1.0 • First release

Firmware and hardware versions

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

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

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

Syntax of the batch number (D-number)

D: WW YY FF HH

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

Further information on this topic: Version identification of EtherCAT devices [}45].

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

EPP9022-9060 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.

EPP9022-90608 Version: 1.1

3 Product overview

3.1 Introduction

Product overview

Fig.2: EPP9022-9060

EPP9022-9060 | EtherCAT P Box with diagnostics, TwinSAFE SC

The EPP9022-9060 EtherCAT P Box in space-saving form factor can be used for diagnosing and measuring the voltages US and UP and currents IS und IP, both temporarily during commissioning and permanently during operation. Even without an EtherCAT master, the voltage range is displayed on the box by LEDs (green, yellow and red). In a running EtherCAT network, the values of US, UP, IS and IP can also be read out as process data in the master. The voltage levels for the LED displays can be adjusted by CoE. In addition the EPP9022-9060 is equipped with an M8 power socket to which an external multimeter can be connected for measuring the voltages.

With the help of the TwinSAFE SC technology it is possible to make the measured values from the EPP9022-9060 usable for safety tasks. A corresponding application example can be found in chapter 2.39 in

the TwinSAFE Application Guide. The user bears the responsibility for the safety evaluation in case of deviation from the application example.

Quick links

Technical data [}10] Process image [}12] Dimensions [}17] Commissioning and configuration [}25]

EPP9022-9060 9Version: 1.1

Product overview

3.2 Technical data

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

Technical data EPP9022-9060

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 Current consumption from U Peripheral voltage U Nominal voltage 24VDC (-15%/ +20%) Sum current max. 3A

Measured voltage values

Measuring range 0 .. 32V Resolution 10mV Representation

Measured current values

Measuring range 0..8A Resolution 10mA Representation

Voltage measurement output

Input resistance of the measuring device min. 1MΩ Short-circuit proof yes

Environmental conditions

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

Ambient temperature during storage -40…+85°C 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)

Mechanics

Installation position variable Weight approx. 90g

Approvals and conformity

Approvals

100mA at 24V

Adjustable [}26]

• 1mV perLSB (factory setting)

• 1µVperLSB

Adjustable [}26]

• 1mA perLSB (factory setting)

• 1µAperLSB

-25…+55°C according to cULus

Additional checks

CE, cULus [}24]

The measuring ranges are larger than the permissible voltage and current ranges for continuous operation.

However, continuous operation is permitted only within the limits of nominal voltage and sum current.

EPP9022-906010 Version: 1.1

3.3 Scope of supply

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

• 1 EPP9022-9060 EtherCAT P Box

• 1x protective cap for EtherCATP socket, M8, red (pre-assembled)

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

• 10x labels, blank (1 strip of 10)

Pre-assembled protective caps do not ensure IP67 protection

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

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

Product overview

EPP9022-9060 11Version: 1.1

Product overview

3.4 Process image

Fig.3: Process image

The process image contains two process data objects:

Process data object Contents

EPM Inputs Channel 1 [}13]

EPM Inputs Channel 2 [}15]

The content of the process data objects is described on the following pages.

Measured values and status information for the control voltage U

Measured values and status information for the peripheral voltage U

EPP9022-906012 Version: 1.1

EPM Inputs Channel 1

Product overview

Status

The status bits indicate warnings and errors [}28]:

• Voltage min error Error message in case of undervoltage. This bit is TRUE if the supply voltage US is lower than CoE index 8000:11 "Voltage min error limit" (unit: mV). Requirement: CoE parameter 8000:02 "Enable voltage min error" is TRUE.

• Voltage max error Error message in case of overvoltage. This bit is TRUE if the supply voltage US is higher than CoE parameter 8000:12 "Voltage max error limit" (unit: mV). Requirement: CoE parameter 8000:03 "Enable voltage max error" is TRUE.

• Current max error Error message in case of overcurrent. This bit is TRUE if the output current IS is higher than CoE parameter 8000:13 "Current max error limit" (unit: mA). Requirement: CoE parameter 8000:04 "Enable current max Error" is TRUE (default).

• Voltage min warning Warning message in case of undervoltage. This bit is TRUE if the supply voltage US is lower than CoE parameter 8000:14 "Voltage min warning limit" (unit: mV). Requirement: CoE parameter 8000:05 "Enable voltage min warning" is TRUE (default).

• Voltage max warning Warning message in case of overvoltage. This bit is TRUE if the supply voltage US is higher than CoE parameter 8000:15 "Voltage max warning limit" (unit: mV). Requirement: CoE parameter 8000:06 "Enable voltage max warning" is TRUE (default).

• Current max warning Warning message in case of overcurrent. This bit is TRUE if the output current IS is higher than CoE parameter 8000:16 "Current max warning limit" (unit: mV). Requirement: CoE parameter 8000:07 "Enable current max warning" is TRUE (default).

• Channel error This bit is TRUE if at least one status bit of "EPM Inputs Channel 1" that signals an error message is TRUE: Voltage min error Voltage max error Current max error

• Channel warning This bit is TRUE if at least one Status bit of "EPM Inputs Channel 1" that signals a warning message is TRUE: Voltage min warning Voltage max warning Current max warning

• TxPDO State This bit is TRUE if an internal error occurs. The current

measured values [}14] of "EPM Inputs Channel 1" are invalid if this bit is TRUE.

• TxPDO Toggle This bit is inverted on each update of the measured values [}14].

EPP9022-9060 13Version: 1.1

Product overview

Voltage

Contents: The measured value of the supply voltage US.

Data type: DINT

Presentation: Default: 1mV perLSB (factory setting) Adjustable in the CoE parameter 8000:17 "Voltage scaling".

Current

Contents: The measured value of the output current IS.

Data type: DINT

Presentation: 1mA perLSB (factory setting) Adjustable in the CoE parameter 8000:18 "Current scaling".

EPP9022-906014 Version: 1.1

EPM Inputs Channel 2

Product overview

Status

The status bits indicate warnings and errors [}28]:

• Voltage min error Error message in case of undervoltage. This bit is TRUE if the supply voltage UP is lower than CoE index 8010:11 "Voltage min error limit" (unit: mV). Requirement: CoE index 8010:02 "Enable voltage min error" is TRUE.

• Voltage max error Error message in case of overvoltage. This bit is TRUE if the supply voltage UP is higher than CoE index 8010:12 "Voltage max error limit" (unit: mV). Requirement: CoE index 8010:03 "Enable voltage max error" is TRUE.

• Current max error Error message in case of overcurrent. This bit is TRUE if the output current IP is higher than CoE index 8010:13 "Current max error limit" (unit: mA). Requirement: CoE index 8010:04 "Enable current max Error" is TRUE (default).

• Voltage min warning Warning message in case of undervoltage. This bit is TRUE if the supply voltage UP is lower than CoE index 8010:14 "Voltage min warning limit" (unit: mV). Requirement: CoE index 8010:05 "Enable voltage min warning" is TRUE (default).

• Voltage max warning Warning message in case of overvoltage. This bit is TRUE if the supply voltage UP is higher than CoE index 8010:15 "Voltage max warning limit" (unit: mV). Requirement: CoE index 8010:06 "Enable voltage max warning" is TRUE (default).

• Current max warning Warning message in case of overcurrent. This bit is TRUE if the output current IP is higher than CoE index 8010:16 "Current max warning limit" (unit: mV). Requirement: CoE index 8010:07 "Enable current max warning" is TRUE (default).

• Channel error This bit is TRUE if at least one status bit of "EPM Inputs Channel 2" that signals an error message is TRUE: Voltage min error Voltage max error Current max error

• Channel warning This bit is TRUE if at least one Status bit of "EPM Inputs Channel 2" that signals a warning message is TRUE: Voltage min warning Voltage max warning Current max warning

• TxPDO State This bit is TRUE if an internal error occurs. The current

measured values [}16] of "EPM Inputs Channel 2" are invalid if this bit is TRUE.

• TxPDO Toggle This bit is inverted on each update of the measured values [}16].

EPP9022-9060 15Version: 1.1

Product overview

Voltage

Contents: The measured value of the supply voltage UP.

Data type: DINT

Presentation: Default: 1mV perLSB (factory setting) Adjustable in the CoE index 8010:17 "Voltage scaling".

Current

Contents: The measured value of the output current IP.

Data type: DINT

Presentation: 1mA perLSB (factory setting) Adjustable in the CoE index 8010:18 "Current scaling".

EPP9022-906016 Version: 1.1

4 Mounting and connections

3022

Ø 3,5

6,5

4.1 Mounting

4.1.1 Dimensions

Mounting and connections

Fig.4: 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. 86 x 30 x 22mm Weight approx. 90g

EPP9022-9060 17Version: 1.1

Mounting and connections

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.5: Connection for functional earth (FE)

EPP9022-906018 Version: 1.1

4.2 Connections

X61

X40 X51

4.2.1 Connector overview

Mounting and connections

Fig.6: Connector overview

Name Connector

type

X50 M8 socket, p-

coded

X51 M8 socket, p-

coded

X61 M8 socket 0.4Nm

Mount connectors on these plug connectors using a torque wrench, e.g. ZB8801 from Beckhoff.

Protective caps

• 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.

Tightening torque

0.4Nm

Function

EtherCATP [}20] input

EtherCAT P [}20] downstream connection

Voltage measurement output [}23]

EPP9022-9060 19Version: 1.1

Mounting and connections

1 2

4.2.2 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!

4.2.2.1 Connectors

Fig.7: Plug connectors for EtherCAT P

1 - input

2 - downstream connection

Connection

Fig.8: M8 socket, P-coded

Contact Signal Voltage Core color

1 Tx + GND 2 Rx + GND

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

yellow white blue orange

Housing Shield Shield Shield

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

EPP9022-906020 Version: 1.1

Mounting and connections

4.2.2.2 Status LEDs

4.2.2.2.1 Supply voltages

Fig.9: Status LEDs for the supply voltages

EtherCAT P Box Modules have two LEDs that display the status of the supply voltages. The status LEDs are labelled with the designations of the supply voltages: Us and Up.

A status LED lights up green when the respective supply voltage is present.

A Status LED lights up red if the respective supply voltage is short-circuited.

4.2.2.2.2 EtherCAT

Fig.10: Status LEDs for EtherCAT

L/A (Link/Act)

A green LED labelled "L/A" or “Link/Act” is located next to each EtherCAT/EtherCATP socket. The LED indicates the communication state of the respective socket:

LED Meaning

off no connection to the connected EtherCAT device lit LINK: connection to the connected EtherCAT device flashes ACT: communication with the connected EtherCAT device

Run

Each EtherCAT slave has a green LED labelled "Run". The LED signals the status of the slave in the EtherCAT network:

LED Meaning

off Slave is in "Init" state flashes uniformly Slave is in "Pre-Operational“ state flashes sporadically Slave is in "Safe-Operational" state lit Slave is in "Operational" state

Description of the EtherCAT slave states

EPP9022-9060 21Version: 1.1

Mounting and connections

I = 3 A

10 20

300

Vert. Faktor: 0,22 cm / V

Voltage drop (V)

Cable length (m)

0.14 mm²

0.22 mm²

0.34 mm²

4.2.2.3 Conductor losses

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

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

Use the planning tool for EtherCAT P in TwinCAT.

Voltage drop on the supply line

Fig.11: Voltage drop on the supply line

EPP9022-906022 Version: 1.1

Mounting and connections

3 1

4.2.3 Voltage measurement output

You can check the supply voltages manually at the voltage measurement output, for example using a multimeter.

An unsuitable measuring device can falsify the measurement.

The measurement will be falsified if the input resistance of the connected measuring device is too small.

• Use a measuring device that meets the requirements in the technical data [}10].

The measurement output cannot be used as a supply voltage output

The output voltages will collapse if they are loaded.

• Do not use the measurement output as a supply voltage output.

If you wish to decouple the supply voltages from an EtherCATP signal, use an EPP9001-0060, for example.

Fig.12: Voltage measurement output, M8 socket

Contact Potential Description Core color

1 U 2 U 3 GND 4 GND

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

Control voltage Brown Peripheral voltage White Reference ground to U Reference ground to U

Blue Black

EPP9022-9060 23Version: 1.1

Mounting and connections

4.3 UL Requirements

The installation of the EtherCAT Box Modules certified by UL has to meet the following requirements.

Supply voltage

CAUTION

CAUTION!

This UL requirements are valid for all supply voltages of all marked EtherCAT Box Modules! For the compliance of the UL requirements the EtherCAT Box Modules should only be supplied

• by a 24 VDC supply voltage, supplied by an isolating source and protected by means of a fuse (in accordance with UL248), rated maximum 4 Amp, or

• by a 24 VDC power source, that has to satisfy NEC class 2. A NEC class 2 power supply shall not be connected in series or parallel with another (class 2) power source!

CAUTION

CAUTION!

To meet the UL requirements, the EtherCAT Box Modules must not be connected to unlimited power sources!

Networks

CAUTION

CAUTION!

To meet the UL requirements, EtherCAT Box Modules must not be connected to telecommunication networks!

Ambient temperature range

CAUTION

CAUTION!

To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature range of 0 to 55°C!

Marking for UL

All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label.

Fig.13: UL label

EPP9022-906024 Version: 1.1

Commissioning and configuration

5 Commissioning and configuration

5.1 Integration in TwinCAT

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

EPP9022-9060 25Version: 1.1

Commissioning and configuration

5.2 Measured values

5.2.1 Representation

• All measured voltage values are represented in mV/LSB in the factory setting.

They can optionally also be represented in µV/LSB.

• All measured current values are represented in mA/LSB in the factory setting.

They can optionally also be represented in µA/LSB.

The type of representation has no effect on the resolution of the measured values.

You can set the representation of the measured values individually for each measured value:

Input channel CoE parameters for setting the representation

for the measured voltage value for the measured current value

1 Control voltage U

2 Peripheral voltage U

8000:17 "Voltage scaling [}37]" 8000:18 "Current scaling [}37]"

8010:17 "Voltage scaling" [}38] 8010:18 "Current scaling" [}38]

EPP9022-906026 Version: 1.1

Commissioning and configuration

5.2.2 Filter

The measured value of each input channel can be filtered with a digital filter.

Enable filter

NOTE

Measured value jumps when enabling or disabling filters

When filters are enabled or disabled, short-term measured value jumps can occur in the process data that do not correspond to the physical values.

You can enable the filter individually for each input channel. All filters are disabled in the factory setting. Enable the filters by setting the following CoE parameters to TRUE:

Input channel CoE parameters for enabling the filter

1 Control voltage U

2 Peripheral voltage U

Select filter characteristic

You can select the filter characteristic individually for each input. Factory setting: "50HzFIR".

8000:01 "Enable filter" [}37]

8010:01 "Enable filter" [}38]

Input channel CoE parameter for selecting the filter characteristic

1 Control voltage U

2 Peripheral voltage U

8000:19 "Filter characteristic" [}37]

8010:19 "Filter characteristic" [}38]

There is a choice of two filter types:

FIR filter

The filter works as a notch filter and determines the conversion time of the module. 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.

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.

EPP9022-9060 27Version: 1.1

Commissioning and configuration

Nominal voltage range

Warning

Error

Undervoltage Overvoltage

8000:11 8010:11

"Voltage min

error limit"

"Voltage min

warning limit"

8000:15 8010:15

"Voltage max warning limit"

"Voltage max

error limit"

8000:14 8010:14 8000:12 8010:12

Warning message Warning message

Error message Error message

Nominal current range

8000:16 8010:16

8000:13 8010:13

0 mA

"Current max warning limit"

"Current max

error limit"

Overcurrent

Warning message

Error message

5.3 Warning and error messages

Warning messages and error messages inform you of potentially critical operating states. EPP9022 signals warning messages and error messages in two ways:

• Status bits [}13]

• LEDs [}31]

There are two categories of messages:

• A warning message is output if a measured value (current, voltage) is borderline. However, continuous

operation is still possible under unchanged conditions.

• An error message is output if continuous operation under unchanged conditions could lead to a defect

or to the tripping of a safety device.

The following diagrams show the threshold values for warning messages and error messages in the factory setting.

Threshold values for supply voltages (factory setting)

Fig.14: Threshold values for supply voltages (factory setting)

Threshold values for output currents (factory setting)

Fig.15: Threshold values for output currents (factory setting)

EPP9022-906028 Version: 1.1

Commissioning and configuration

5.3.1 Set the threshold values

NOTE

Critical operating states may not be reported under certain circumstances.

If you set the threshold values for warning messages and error messages incorrectly, EPP9022 may not inform you of critical operating states: overcurrent, overvoltage, undervoltage.

• Be very careful when changing the threshold values.

• Enlarge the permissible range only if you have good reasons to do so.

You can set the threshold values for warning messages and error messages via the CoE parameters shown in the following tables. Observe the recommended value range.

Input channel 1: Control voltage U

Reason for

Type of message CoE parameters for setting

message

the threshold value

Undervoltage Warning message 8000:14

"Voltage min warning limit"

Error message 8000:11

"Voltage min error limit"

Overvoltage Warning message 8000:15

"Voltage max warning limit"

Error message 8000:12

"Voltage max error limit"

Overcurrent Warning 8000:16

"Current max warning limit"

Error message 8000:13

"Current max error limit"

Input channel 2: Peripheral voltage U

Reason for

Type of message CoE parameters for setting

message

the threshold value

Undervoltage Warning message 8010:14

"Voltage min warning limit"

Error message 8010:11

"Voltage min error limit"

Overvoltage Warning message 8010:15

"Voltage max warning limit"

Error message 8010:12

"Voltage max error limit"

Overcurrent Warning 8010:16

"Current max warning limit"

Error message 8010:13

"Current max error limit"

Unit Recom-

mended value range

mV min. 20400

mV min. 18000

mV max.28800

mV max. 30000

mA 0..2500

mA 0..3000

dec

Unit Recom-

mended value range

mV min. 20400

mV min. 18000

mV max.28800

mV max. 30000

mA 0..2500

mA 0..3000

dec

Factory setting

20400

dec

18000

dec

28800

dec

30000

dec

2500

dec

3000

dec

Factory setting

20400

dec

18000

dec

28800

dec

30000

dec

2500

dec

3000

dec

EPP9022-9060 29Version: 1.1

Commissioning and configuration

5.3.2 Disabling messages

NOTE

Critical operating states may not be reported under certain circumstances.

If you disable warning messages or error messages, EPP9022 will no longer inform you of critical operating states: overcurrent, overvoltage, undervoltage.

• Disable warning messages or error messages only if you have good reasons to do so.

You can disable the corresponding warning message/error message for each threshold value. All warning messages and error messages are enabled in the factory setting.

To disable a warning message or error message, search for the CoE parameter for the desired message in the tables below and set it to FALSE:

Input channel 1: Control voltage U

Reason for

Type of message CoE parameter for enabling/

message

disabling the message

Undervoltage Warning message 8000:05 "Enable voltage min warning"

Error message 8000:02 "Enable voltage min error"

Overvoltage Warning message 8000:06 "Enable voltage max warning"

Error message 8000:03 "Enable voltage max error"

Overcurrent Warning message 8000:07 "Enable current max warning"

Error message 8000:04 "Enable current max error"

Input channel 2: Peripheral voltage U

Reason for

Type of message CoE parameter for enabling/

message

disabling the message

Undervoltage Warning message 8010:05 "Enable voltage min warning"

Error message 8010:02 "Enable voltage min error"

Overvoltage Warning message 8010:06 "Enable voltage max warning"

Error message 8010:03 "Enable voltage max error"

Overcurrent Warning message 8010:07 "Enable current max warning"

Error message 8010:04 "Enable current max error"

EPP9022-906030 Version: 1.1

Commissioning and configuration

LEDs für die Steuerspannung Us (Eingangskanal 1)

LEDs für die Peripheriepannung Up (Eingangskanal 2)

grün

gelb

rot

grün

gelb

rot

5.4 LEDs

LEDs signal warning messages and error messages [}28]. There are three LEDs for each input channel (US/UP):

• Green = no message

• Yellow = warning message. At least one warning threshold value has been exceeded.

• Red = error message. At least one error threshold value has been exceeded.

Fig.16: Assignment of the LEDs

Precisely one LED lights up per input channel at any one time. If warning messages and error messages are present simultaneously, only the red LED lights up.

Check the Status bits [}13] in order to further localize the cause of the warning message or error message.

You can also use the LEDs for offline diagnostics: The LEDs are also active if no EtherCAT Master is present.

You can influence the behavior of the LEDs:

• Change threshold values [}29].

• Disable [}30] individual warning messages and error messages.

• Limit LED display to currents or voltages: LED filter [}32].

EPP9022-9060 31Version: 1.1

Commissioning and configuration

5.4.1 LED filter

NOTE

Critical operating states may not be displayed under certain circumstances.

If you filter out messages with the LED filter, critical operating states may no longer be displayed by the LEDs under certain circumstances.

• Only use the LED filter if you have good reasons to do so.

Use the LED filter if you do not wish certain messages to be displayed by the LEDs. The LED filter can filter out two types of message:

• Messages that concern currents.

• Messages that concern voltages.

The LED filter can be set individually for each input channel:

Input channel CoE parameters for setting the LED filter

1 Control voltage U

2 Peripheral voltage U

The following options are available:

8000:1A "LED filter" [}37]

8010:1A "LED filter" [}37]

Value Enum Description

0 "Voltage and current" The LEDs signal all messages. 1 "Voltage only" The LEDs signal only messages that concern currents. 2 "Current only" The LEDs signal only messages that concern voltages. 255

"LEDs off" All LEDs are off.

dec

EPP9022-906032 Version: 1.1

Commissioning and configuration

5.5 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.17: 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.18: 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.

EPP9022-9060 33Version: 1.1

Commissioning and configuration

5.6 Decommissioning

WARNING

Risk of electric shock!

Bring the bus system into a safe, de-energized state before starting disassembly of the devices!

Disposal

In order to dispose of the device, it must be removed.

In accordance with the WEEE Directive 2012/19/EU, Beckhoff takes back old devices and accessories in Germany for proper disposal. Transport costs will be borne by the sender.

Return the old devices with the note "for disposal" to:

Beckhoff Automation GmbH & Co. KG Service Department Stahlstraße 31 D-33415 Verl

EPP9022-906034 Version: 1.1

6 CoE parameters

6.1 Introduction

6.1.1 Accessing CoE parameters with TwinCAT

CoE parameters

Fig.19: Accessing CoE parameters with TwinCAT

ü Requirement: EPP9022-9060 exists as an IO module in the Solution Explorer under the menu item "IO".

1. Click the IO module of the EPP9022-9060 in the "Solution Explorer".

2. Click on the "CoE - Online" tab.

ð You will see the parameter directory of the EPP9022-9060, where you can check and adjust parameters.

6.1.2 Data format of CoE parameters

CoE parameters have different data formats.

The data format of the CoE parameters is specified by data type identifiers in the chapter Object description [}37]:

Data type identifier Format Size

BOOL True / false 8-bit SINT Short integer 8-bit USINT Unsigned short integer 8-bit INT Integer 16-bit UINT Unsigned integer 16-bit DINT Double integer 32-bit UDINT Unsigned double integer 32-bit STRING String max. 255characters,

1byte per character

The data type identifiers correspond to the data types that can also be used in TwinCAT in a PLC program.

EPP9022-9060 35Version: 1.1

CoE parameters

6.2 Object overview

Index (hex) Name

1000

1008

1009

100A

100B Bootloader version 1011

1018

10F0

1600 TSC RxPDO-Map Master Message 1A00 EPM TxPDO-Map Inputs Ch.1 1A01 EPM TxPDO-Map Inputs Ch.2 1A02 TSC TxPDO-Map Slave Message 1C00 Sync manager type 1C12 RxPDO assign 1C13 TxPDO assign 1C32 SM output parameter 1C33 SM input parameter 6000

6010

6020 TSC Slave Frame Elements 7020 TSC Master Frame Elements 8000

800F

8010

801F

8020 TSC Settings A000

A010

F000

F008

F010

FB00 Command

Device type [}41]

Device name [}41]

Hardware version [}41]

Software version [}41]

Restore default parameters [}41]

Identity [}41]

Backup parameter handling [}42]

EPM Inputs Ch.1 [}39]

EPM Inputs Ch.2 [}39]

EPM Settings Ch.1 [}37]

EPM Vendor data Ch.1 [}39]

EPM Settings Ch.2 [}38]

EPM Vendor data Ch.2 [}39]

EPM Diag data Ch.1 [}40]

EPM Diag data Ch.2 [}40]

Modular device profile [}40]

Code word [}41]

Module list [}40]

EPP9022-906036 Version: 1.1

CoE parameters

6.3 Object description

6.3.1 Objects to be parameterized during commissioning

Index 8000 EPM Settings Ch.1

Access rights: read/write

Subindex (hex)

01 Enable Filter

02 Enable voltage min error Enables the error message in case of undervoltage - BOOL TRUE

03 Enable voltage max error Enables the error message in case of overvoltage - BOOL TRUE

04 Enable current max error Enables the error message in case of overcurrent - BOOL TRUE

05 Enable voltage min warning Enables the warning message in case of undervoltage - BOOL TRUE

06 Enable voltage max warning Enables the warning message in case of overvoltage - BOOL TRUE

07 Enable current max warning Enables the warning message in case of overcurrent - BOOL TRUE

11 Voltage min error limit Threshold value for the undervoltage error message mV UDINT 18000

12 Voltage max error limit Threshold value for the overvoltage error message mV UDINT 30000

13 Current max error limit Threshold value for the overcurrent error message mA UDINT 3000

14 Voltage min warning limit Threshold value for the undervoltage warning message mV UDINT 20400

15 Voltage max warning limit Threshold value for the overvoltage warning message mV UDINT 28800

16 Current max warning limit Threshold value for the overcurrent warning message mA UDINT 2500

17 Voltage scaling

18 Current scaling

19 Filter characteristic

1A LED filter

Name Description Unit Data type Default

Enables the measured value filter [}27]

Representation [}26] of the measured voltage value.

- BOOL FALSE

- UINT 0

0: 1mV perLSB (factory setting) 1: 1µVperLSB

Representation [}26] of the measured current value.

- UINT 0

0: 1mA perLSB (factory setting) 1: 1µAperLSB

Filter characteristic of the measured value filter [}27].

- UINT 0

0: 50Hz FIR (factory setting) 1: 60Hz FIR 2: IIR1 3: IIR2 4: IIR3 5: IIR4 6: IIR5 7: IIR6 8: IIR7 9: IIR8

LED filter [}32]

- UINT 0

0: "Voltage and current" (factory setting) 1: “Voltage only” 2: “Current only” 255

: “LEDs off”

dec

EPP9022-9060 37Version: 1.1

CoE parameters

Index 8010 EPM Settings Ch.2