Beckhoff EPP4374-0002 User manual

Documentation | EN
EPP4374-0002
EtherCAT P Box with analog inputs and outputs
2023-02-01 | Version: 1.3

Table of contents
EPP4374-0002 3Version: 1.3
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 ............................................................................................................. 22
4.3 UL Requirements ............................................................................................................................26
4.4 Disposal ..........................................................................................................................................27
5 Commissioning and configuration........................................................................................................28
5.1 Integrating into a TwinCAT project..................................................................................................28
5.2 Setting signal ranges.......................................................................................................................29
5.3 Object overview...............................................................................................................................30
5.4 Object description and parameterization.........................................................................................36
5.4.1 Objects to be parameterized during commissioning ........................................................ 36
5.4.2 Standard objects (0x1000-0x1FFF) ................................................................................. 41
5.4.3 Profile-specific objects (0x6000-0xFFFF) ........................................................................ 46
5.5 Restoring the delivery state.............................................................................................................49
6 Appendix..................................................................................................................................................50
6.1 General operating conditions ..........................................................................................................50
6.2 Accessories.....................................................................................................................................51
6.3 Version identification of EtherCAT devices .....................................................................................52
6.3.1 General notes on marking................................................................................................ 52
6.3.2 Version identification of EP/EPI/EPP/ER/ERI boxes........................................................ 53
6.3.3 Beckhoff Identification Code (BIC) ................................................................................... 54
6.3.4 Electronic access to the BIC (eBIC)................................................................................. 56
6.4 Support and Service........................................................................................................................58

Table of contents
EPP4374-00024 Version: 1.3

Foreword
EPP4374-0002 5Version: 1.3
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.

Foreword
EPP4374-00026 Version: 1.3
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®, TwinCAT/BSD®, TC/BSD®, EtherCAT®, EtherCATG®, EtherCATG10®, EtherCATP®,
SafetyoverEtherCAT®, TwinSAFE®, XFC®, XTS® and XPlanar® are registered trademarks of and licensed by
Beckhoff Automation GmbH. Other designations used in this publication may be trademarks whose use by
third parties for their own purposes could violate the rights of the owners.
Patent Pending
The EtherCAT Technology is covered, including but not limited to the following patent applications and
patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding
applications or registrations in various other countries.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.
Copyright
© Beckhoff Automation GmbH & Co. KG, Germany.
The reproduction, distribution and utilization of this document as well as the communication of its contents to
others without express authorization are prohibited.
Offenders will be held liable for the payment of damages. All rights reserved in the event of the grant of a
patent, utility model or design.

Foreword
EPP4374-0002 7Version: 1.3
1.3 Documentation issue status
Version Comment
1.3 • EtherCATP status LEDs updated
1.2 • Dimensions updated
• UL requirements updated
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
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
Further information on this topic: Version identification of EtherCAT devices [}52].

Product group: EtherCATPBox modules
EPP4374-00028 Version: 1.3
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 degree of protection IP67. They are designed for
operation in wet, dirty or dusty industrial environments.
EtherCAT basics
A detailed description of the EtherCAT system can be found in the EtherCAT system documentation.

Product overview
EPP4374-0002 9Version: 1.3
3 Product overview
3.1 Introduction
EtherCATP
downstream connection
EtherCATP
input
Tx+ / GND
Rx+ / GND
Rx- / U
Tx- / U
1 |
2 |
3 |
4 |
S
P
P
S
Analog
outputs
Analog
inputs
1 |
2 |
3 |
4 |
5 |
Sensor Supply U
Input +
GND
Input -
Shield
P
P
1 |
2 |
3 |
4 |
5 |
Output +
+24 V U
Output -
GND
Shield
P
P
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 [}22]

Product overview
EPP4374-000210 Version: 1.3
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 US
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 3A 1)
Consumers Module electronics: 120mA at 24VDC
Peripheral voltage UP
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 3A 1)
Consumers • Sensors 2)
• Actuators 2)
Analog inputs
Number 2
Connection M12 socket, 5-pin connection
Signal range Parameterizable:
• -10 .. +10V (default)
• 0 .. 10V
• 0 .. 20mA
• 4 .. 20mA
Electrical specifications [}11]
Sensor/actuator
supply voltage 3)
from the peripheral voltage UP
max. 3A in total, not short-circuit proof
Analog outputs
Number 2
Connection M12 socket, 5-pin connection
Output signal range Parameterizable:
• -10 .. +10V (default)
• 0 .. 10V
• 0 .. 20mA
• 4 .. 20mA
Electrical specifications [}11]
Sensor/actuator
supply voltage 3)
from the peripheral voltage UP
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.

Product overview
EPP4374-0002 11Version: 1.3
Technical data EPP4374-0002
Environmental conditions
Ambient temperature during operation -25…+60°C
-25…+55°C according to cURus [}26]
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 CE, cURus [}26]
Analog inputs
The measuring range can be switched during operation. The following table shows the electrical
specifications depending on the selected measuring range.
Technical data Measuring 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
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
approx. 305µV approx. 305µV approx. 610µA approx. 488µA
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
-10…10V 0…10V 0…20mA 4…20mA
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…+55°C)
< 0.2 % (ambient temperature < 0°C or > 55°C)
related to the final value.
Conversion time approx. 40µs
Value of the least significant
bit
approx. 305µV approx. 305µV approx. 610µA approx. 488µA
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.

Product overview
EPP4374-000212 Version: 1.3
Additional tests
The devices have undergone the following additional tests:
Test 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.

Product overview
EPP4374-0002 13Version: 1.3
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
X02 AI Inputs Channel2
X03 AO Outputs Channel 3
X04 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 [}38]= 1) means
1: value less than limit 1 (set in object 0x80x0:13 [}38])
2: value greater than limit 1 (set in object 0x80x0:13 [}38])
3: value equal to limit 1 (set in object 0x80x0:13 [}38])
• Limit2: with activated limit 2 (object 0x80x0:08 [}38]= 1) means
1: value less than limit 2 (set in object 0x80x0:14 [}38])
2: value greater than limit 2 (set in object 0x80x0:14 [}38])
3: value equal to limit 2 (set in object 0x80x0:14 [}38])
• Error: This bit is set if overrange or underrange was detected.

Product overview
EPP4374-000214 Version: 1.3
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.

Mounting and cabling
EPP4374-0002 15Version: 1.3
4 Mounting and cabling
4.1 Mounting
4.1.1 Dimensions
30
126
119
26.52314
Ø 3.5 13.5
All dimensions are given in millimeters.
The drawing is not true to scale.
Housing features
Housing material PA6 (polyamide)
Sealing compound polyurethane
Mounting two mounting 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)

Mounting and cabling
EPP4374-000216 Version: 1.3
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 mounting holes in the corners of the module. The mounting
holes have no thread.
4.1.3 Functional earth (FE)
The upper mounting holes 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.
FE
Fig.1: 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

Mounting and cabling
EPP4374-0002 17Version: 1.3
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.
X50 X51
X01
X02
X03
X04
Fig.2: Connector overview
Name Connector
type
Tightening
torque
Function
X01 M12 0.6Nm Analog inputs [}22]
X02
X03 M12 0.6Nm Analog outputs [}22]
X04
X50 M8 socket, p-coded 0.4Nm EtherCATP [}18] input
X51 M8 socket, p-coded 0.4Nm EtherCATP [}18] downstream
connection

Mounting and cabling
EPP4374-000218 Version: 1.3
4.2.1 EtherCATP
WARNING
Power supply from SELV/PELV power supply unit!
SELV/PELV circuits (Safety Extra Low Voltage, Protective Extra Low Voltage) according to
IEC61010-2-201 must be used to supply the EtherCATP Power Sourcing Device (PSD).
Notes:
• SELV/PELV circuits may give rise to further requirements from standards such as IEC60204-1etal, for
example with regard to cable spacing and insulation.
• A SELV (Safety Extra Low Voltage) supply provides safe electrical isolation and limitation of the voltage
without a connection to the protective conductor,
a PELV (Protective Extra Low Voltage) supply also requires a safe connection to the protective conduc-
tor.
CAUTION
Observe the UL requirements
• When operating under UL conditions, observe the warnings in the chapter UL Requirements [}26].
EtherCATP transmits two supply voltages:
•Control voltage US
The following sub-functions are supplied from the control voltage US:
◦ the fieldbus
◦ the processor logic
◦ typically the inputs and the sensors if the EtherCATPBox has inputs.
•Peripheral voltage UP
The digital outputs are typically supplied from the peripheral voltage UP for EtherCATPBox modules
with digital outputs. UP can be supplied separately. If UP is switched off, the fieldbus function, the
function of the inputs and the supply of the sensors are maintained.
The exact assignment of US and UP can be found in the pin assignment of the I/O connections.
Redirection of the supply voltages
The supply voltages are passed on internally from the "IN" connection to the "OUT" connection. Hence, the
supply voltages US and UP can be passed from one EtherCATPBox to the next EtherCATPBox in a simple
manner.
NOTE
Note the maximum current.
Ensure that the maximum permitted current of 3A for the M8 connectors is not exceeded when redirecting
EtherCATP.

Mounting and cabling
EPP4374-0002 19Version: 1.3
4.2.1.1 Connectors
NOTE
Risk of damage to the device!
Bring the EtherCAT/EtherCATP system into a safe, powered down state before starting installation, disas-
sembly or wiring of the modules!
Two M8 sockets at the upper end of the modules are provided for supply and downstream connection of
EtherCATP:
• IN: left M8 socket for EtherCATP supply
• OUT: right M8 socket for downstream connection of EtherCATP
The metal threads of the M8 EtherCAT P sockets are internally linked to the FE connection via high
impedance RC combination. See chapter Functional earth (FE) [}16].
Fig.3: Connectors for EtherCATP
1
2
3
4
Fig.4: M8 socket, p-coded
Contact Signal Voltage Core color1)
1 Tx + GNDSyellow
2 Rx + GNDPwhite
3 Rx - UP: peripheral voltage, +24VDC blue
4 Tx - US: control voltage, +24VDC orange
Housing Shield Shield Shield
1) The core colors apply to EtherCATP cables and ECP cables from Beckhoff.

Mounting and cabling
EPP4374-000220 Version: 1.3
4.2.1.2 Status LEDs
4.2.1.2.1 Supply voltages
EtherCATPBox modules indicate the status of the supply voltages via two status LEDs. The status LEDs
are labeled with the designations of the supply voltages: Us and Up.
LED Display Meaning
US
(control voltage)
off The supply voltage US is not available.
green illuminated The supply voltage US is available.
UP
(peripheral voltage)
off The supply voltage UP is not available.
green illuminated The supply voltage UP is available.
4.2.1.2.2 EtherCAT
L/A (Link/Act)
A green LED labeled "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