Beckhoff EP3751-0160 Operator's manual

Documentation | EN
EP3751-0160
3-axis accelerometer
2023-10-04 | Version: 1.0

Table of contents
EP3751-0160 3Version: 1.0
Table of contents
1 Foreword....................................................................................................................................................5
1.1 Notes on the documentation .............................................................................................................5
1.2 Safety instructions.............................................................................................................................6
1.3 Documentation issue status ..............................................................................................................7
2 EtherCAT Box - Introduction....................................................................................................................8
3 Product overview ....................................................................................................................................10
3.1 Introduction .....................................................................................................................................10
3.2 Technical data.................................................................................................................................11
3.3 Scope of supply...............................................................................................................................12
3.4 Process image ................................................................................................................................13
3.4.1 Process data objects........................................................................................................13
4 Mounting and connection.......................................................................................................................15
4.1 Mounting .........................................................................................................................................15
4.1.1 Dimensions ......................................................................................................................15
4.1.2 Fixing................................................................................................................................16
4.1.3 Tightening torques for plug connectors............................................................................16
4.1.4 Functional earth (FE) .......................................................................................................16
4.2 Connection ......................................................................................................................................17
4.2.1 EtherCAT .........................................................................................................................17
4.2.2 Supply voltages................................................................................................................19
4.3 Function test....................................................................................................................................22
4.4 UL Requirements ............................................................................................................................23
4.5 Disposal ..........................................................................................................................................24
5 Commissioning and configuration........................................................................................................25
5.1 Integrating into a TwinCAT project..................................................................................................25
5.2 Acceleration measurement .............................................................................................................26
5.2.1 Measuring range ..............................................................................................................27
5.2.2 Measured value resolution...............................................................................................28
5.2.3 Sampling rate...................................................................................................................29
5.2.4 Measured value filter........................................................................................................30
5.2.5 Measured value noise......................................................................................................32
5.2.6 Status display...................................................................................................................33
5.2.7 Self test ............................................................................................................................34
5.3 Inclination measurement .................................................................................................................35
5.4 Distributed Clocks ...........................................................................................................................37
5.5 Controlling LEDs .............................................................................................................................38
5.6 Restore the delivery state ...............................................................................................................39
5.7 Decommissioning............................................................................................................................40
6 CoE objects .............................................................................................................................................41
6.1 Objects for parameterization ...........................................................................................................41
6.2 Standard objects .............................................................................................................................43
6.3 Profile-specific objects ....................................................................................................................49
7 Appendix..................................................................................................................................................51

Table of contents
EP3751-01604 Version: 1.0
7.1 General operating conditions ..........................................................................................................51
7.2 Accessories.....................................................................................................................................52
7.3 Version identification of EtherCAT devices .....................................................................................53
7.3.1 General notes on marking................................................................................................53
7.3.2 Version identification of IP67 modules.............................................................................54
7.3.3 Beckhoff Identification Code (BIC)...................................................................................55
7.3.4 Electronic access to the BIC (eBIC).................................................................................57
7.4 Support and Service........................................................................................................................59

Foreword
EP3751-0160 5Version: 1.0
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.
The qualified personnel is obliged to always use the currently valid documentation.
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
EP3751-01606 Version: 1.0
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.
Signal words
The signal words used in the documentation are classified below. In order to prevent injury and damage to
persons and property, read and follow the safety and warning notices.
Personal injury warnings
DANGER
Hazard with high risk of death or serious injury.
WARNING
Hazard with medium risk of death or serious injury.
CAUTION
There is a low-risk hazard that could result in medium or minor injury.
Warning of damage to property or environment
NOTICE
The environment, equipment, or data may be damaged.
Information on handling the product
This information includes, for example:
recommendations for action, assistance or further information on the product.

Foreword
EP3751-0160 7Version: 1.0
1.3 Documentation issue status
Version Comment
1.0 • First release
Firmware and hardware versions
This documentation refers to the firmware and hardware version that was applicable at the time the
documentation was written.
The module features are continuously improved and developed further. Modules having earlier production
statuses cannot have the same properties as modules with the latest status. However, existing properties
are retained and are not changed, so that older modules can always be replaced with new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on
the side of the EtherCAT Box.
Syntax of the batch number (D-number)
D: WW YY FF HH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
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 [}53].

EtherCAT Box - Introduction
EP3751-01608 Version: 1.0
2 EtherCAT Box - Introduction
The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through
the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an
additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.
The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus
Box extension modules. They are thus particularly suitable for use where space is at a premium. The small
mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The
EtherCAT connection is established via screened M8connectors.
Fig.1: EtherCAT Box Modules within an EtherCAT network
The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control
cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally
prepared for wet, dirty or dusty conditions.
Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so
that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, field-
configurable connectors and cables are available for maximum flexibility. Depending on the application, the
sensors and actuators are connected through M8 or M12connectors.
The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:
• digital inputs with different filters (3.0ms or 10μs)
• digital outputs with 0.5 or 2A output current
• analog inputs and outputs with 16bit resolution
• Thermocouple and RTD inputs
• Stepper motor modules
XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.

EtherCAT Box - Introduction
EP3751-0160 9Version: 1.0
Fig.2: EtherCAT Box with M8 connections for sensors/actuators
Fig.3: EtherCAT Box with M12 connections for sensors/actuators
Basic EtherCAT documentation
You will find a detailed description of the EtherCAT system in the Basic System Documentation for
EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.

Product overview
EP3751-016010 Version: 1.0
3 Product overview
3.1 Introduction
Supply voltage
input
EtherCAT
downstream connection
EtherCAT input
Supply voltage
downstream connection
1 |
2 |
3 |
4 |
Tx+
Rx+
Rx-
Tx-
1 |
2 |
3 |
4 |
+24 V U
+24 V U
GND
GNDS
P
S
P
The EP3751-0160 EtherCAT Box has an internal ultra-low-noise 3-axis accelerometer with 20-bit resolution
and a selectable measuring range of ±2g, ±4g and ±8g. The sampling rate is 4kHz. The built-in sensor is
suitable for applications where low frequencies must be monitored with the lowest possible noise.
Applications can be building monitoring, bridge monitoring, robotics or Condition Monitoring, for example.
The EtherCAT connection ensures an almost delay-free transmission and thus evaluation in the measuring
system, with TwinCATAnalytics, for example. Parameterizable, the sensor data can also be transmitted as
raw values (unprocessed, unfiltered).
Quick links
Technical data [}11]
Process image [}13]
Acceleration measurement [}26]
Inclination measurement [}35]

Product overview
EP3751-0160 11Version: 1.0
3.2 Technical data
All values are typical values over the entire temperature range, unless stated otherwise.
EtherCAT
Connection 2x M8 socket, 4-pin, green
Electrical isolation 500V
Distributed Clocks From Firmware 03
Supply voltages
Connection Input: M8 connector, 4-pin
Downstream connection: M8 socket, 4-pin, black
US nominal voltage 24VDC (-15%/ +20%)
US sum current: IS,sum max. 4A
Current consumption from US100 mA
Rated voltage UP24VDC (-15%/ +20%)
UP sum current: IP,sum max. 4A
Current consumption from UPNone. UP is only forwarded.
Accelerometer
Measuring ranges ±2g (default) / ±4g / ±8g, adjustable
Sampling rate 4kHz (default)
From firmware03 adjustable from 3.906Hz to 4kHz.
Measured value resolution 20-bit incl. sign, default: 1 mg/LSB
Noise < 25μg/√Hz in measuring range ±2g
Housing data
Dimensions WxHxD 30mmx 86mmx 22mm (without plug connectors)
Weight approx. 95g
Installation position variable
Material PA6 (polyamide)
Environmental conditions
Ambient temperature during operation -25… +60°C
-25… +55°C according to cURus
Ambient temperature during storage -40… +85°C
Vibration resistance, shock resistance conforms to EN60068-2-6/ EN60068-2-27
Additional tests [}12]
EMC immunity / emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP65, IP66, IP67 (conforms to EN60529)
Approvals/markings
Approvals/markings*) CE, cURus [}23]
*) Real applicable approvals/markings see type plate on the side (product marking).

Product overview
EP3751-016012 Version: 1.0
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 EP3751-0160
• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)
• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)
• 1x protective cap for supply voltage output, M8, black (pre-assembled)
• 10x labels, blank (1 strip of 10)
Pre-assembled protective caps do not ensure IP67 protection
Protective caps are pre-assembled at the factory to protect connectors during transport. They may
not be tight enough to ensure IP67 protection.
Ensure that the protective caps are correctly seated to ensure IP67 protection.

Product overview
EP3751-0160 13Version: 1.0
3.4 Process image
The following figure shows the representation of the process image in TwinCAT.
3.4.1 Process data objects
AI Acc X/Y/Z Inputs
Status > Self test status
Status of the self test.
See chapter Self test [}34].
Status > Slope detected
This bit reports jumpy changes of the acceleration
measuring value.
See chapter Status display [}33].
Status > TxPDO State
This bit is 1 if the current measured acceleration
value is invalid, e.g. if the self test is running.
Status > TxPDO Toggle
This bit is inverted each time the measured
acceleration value is updated.
Value
The current measured acceleration value.
Unit: mg/LSB (factory setting).
See chapter Acceleration measurement [}26].
AI Temp Inputs
Status > TxPDO State
This bit is 1 if the current measured temperature
value is invalid.
Status > TxPDO Toggle
This bit is inverted each time the measured
temperature value is updated.
Value
The current measured value of the internal
temperature measurement.
Unit: °C
AI Acc Outputs
Start self test
This bit starts the self test of the accelerometer.
See chapter Self test [}34].

Product overview
EP3751-016014 Version: 1.0
DIG Outputs
LED1, LED2, LED3
Variables for controlling LEDs on the housing.
See chapter Controlling LEDs [}38].

Mounting and connection
EP3751-0160 15Version: 1.0
4 Mounting and connection
4.1 Mounting
4.1.1 Dimensions
30
22
6.5
7
Ø 3.5
79
Ø 3.5
86
23
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. 86 x 30 x 22mm
Weight approx. 90g

Mounting and connection
EP3751-016016 Version: 1.0
4.1.2 Fixing
NOTICE
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 Tightening torques for plug connectors
Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)
Torque: 0.4Nm.
4.1.4 Functional earth (FE)
The mounting holes also serve as connections for the 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
FE

Mounting and connection
EP3751-0160 17Version: 1.0
4.2 Connection
4.2.1 EtherCAT
4.2.1.1 Connectors
NOTICE
Risk of confusion: supply voltages and EtherCAT
Defect possible through incorrect insertion.
• Observe the color coding of the connectors:
black: Supply voltages
green: EtherCAT
EtherCAT Box Modules have two green M8 sockets for the incoming and downstream EtherCAT
connections.
Connection
3 1
24
Fig.4: M8 socket
EtherCAT M8
connector
Core colors
Signal Contact ZB9010, ZB9020, ZB9030, ZB9032,
ZK1090-6292,
ZK1090-3xxx-xxxx
ZB9031 and old versions of
ZB9030, ZB9032, ZK1090-3xxx-
xxxx
TIA-568B
Tx + 1 yellow1) orange/white white/orange
Tx - 4 orange1) orange orange
Rx + 2 white1) blue/white white/green
Rx - 3 blue1) blue green
Shield Housing Shield Shield Shield
1) Core colors according to EN61918
Adaptation of core colors for cables ZB9030, ZB9032 and ZK1090-3xxxx-xxxx
For standardization, the core colors of the ZB9030, ZB9032 and ZK1090-3xxx-xxxx cables have
been changed to the EN61918 core colors: yellow, orange, white, blue. So there are different color
codes in circulation. The electrical properties of the cables have been retained when the core colors
were changed.

Mounting and connection
EP3751-016018 Version: 1.0
4.2.1.2 Status LEDs
L/A (Link/Act)
A green LED labelled "L/A" is located next to each EtherCAT socket. The LED indicates the communication
state of the respective socket:
LED Meaning
off no connection to the connected EtherCAT device
lit LINK: connection to the connected EtherCAT device
flashes ACT: communication with the connected EtherCAT device
Run
Each EtherCAT slave has a green LED labelled "Run". The LED signals the status of the slave in the
EtherCAT network:
LED Meaning
off Slave is in "Init" state
flashes uniformly Slave is in "Pre-Operational“ state
flashes sporadically Slave is in "Safe-Operational" state
lit Slave is in "Operational" state
Description of the EtherCAT slave states
4.2.1.3 Cables
For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least
category5 (CAT5) according to EN50173 or ISO/IEC11801 should be used.
EtherCAT uses four wires for signal transmission.
Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be used
between Beckhoff EtherCAT.
Detailed recommendations for the cabling of EtherCAT devices

Mounting and connection
EP3751-0160 19Version: 1.0
4.2.2 Supply voltages
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 this device.
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
conductor.
CAUTION
Observe the UL requirements
• When operating under UL conditions, observe the warnings in the chapter UL Requirements [}23].
The EtherCATBox has one input for 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Box has inputs.
•Peripheral voltage UP
For EtherCATBox modules with digital outputs the digital outputs are typically supplied from the
peripheral voltage UP. 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 power IN and OUT connections are bridged in the module. Hence, the supply voltages Us and Up can be
passed from EtherCATBox to EtherCATBox in a simple manner.
NOTICE
Note the maximum current!
Ensure that the permitted current for the connectors is not exceeded when routing the supply voltages US
and UP:
M8 connector: max. 4A
7/8" connector: max 16A
NOTICE
Unintentional cancellation of the electrical isolation of GNDS and GNDP possible.
In some types of EtherCAT Box modules the ground potentials GNDS and GNDP are connected.
• If several EtherCAT Box modules are supplied with the same electrically isolated voltages, check
whether there is an EtherCAT Box among them in which the ground potentials are connected.

Mounting and connection
EP3751-016020 Version: 1.0
4.2.2.1 Connectors
NOTICE
Risk of confusion: supply voltages and EtherCAT
Defect possible through incorrect insertion.
• Observe the color coding of the connectors:
black: Supply voltages
green: EtherCAT
Plug
Input
Socket
Forwarding
3 1
24
1 3
42
Fig.5: M8 connector
Contact Function Description Core color 1)
1 USControl voltage Brown
2 UPPeripheral voltage White
3 GNDSGND to USBlue
4 GNDPGND to UPBlack
1) The core colors apply to cables of the type: Beckhoff ZK2020-3xxx-xxxx
4.2.2.2 Status LEDs
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.