Beckhoff EPP3752-0000 Operator's manual

Documentation | EN
EPP3752-0000
2 x 3-axis accelerometers
2022-09-19 | Version: 1.2

Table of contents
EPP3752-0000 3Version: 1.2
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 Process image ................................................................................................................................12
4 Mounting and cabling .............................................................................................................................13
4.1 Mounting .........................................................................................................................................13
4.1.1 Dimensions ......................................................................................................................13
4.1.2 Fixing................................................................................................................................ 14
4.1.3 Functional earth (FE) ....................................................................................................... 14
4.1.4 Nut torque for connectors................................................................................................. 14
4.2 EtherCATP .....................................................................................................................................15
4.2.1 Connectors....................................................................................................................... 16
4.2.2 Status LEDs ..................................................................................................................... 17
4.2.3 Conductor losses ............................................................................................................. 18
4.3 UL Requirements ............................................................................................................................19
4.4 Disposal ..........................................................................................................................................20
5 Commissioning/Configuration...............................................................................................................21
5.1 Integrating into a TwinCAT project..................................................................................................21
5.2 Acceleration sensors.......................................................................................................................22
5.2.1 Settings ............................................................................................................................23
5.2.2 Inclination measurement .................................................................................................. 27
5.3 Restore the delivery state ...............................................................................................................29
5.4 Decommissioning............................................................................................................................30
6 CoE parameters.......................................................................................................................................31
6.1 Object overview...............................................................................................................................31
6.2 Object description and parameterization.........................................................................................35
7 Appendix..................................................................................................................................................46
7.1 General operating conditions ..........................................................................................................46
7.2 Accessories.....................................................................................................................................47
7.3 Version identification of EtherCAT devices .....................................................................................48
7.3.1 General notes on marking................................................................................................ 48
7.3.2 Version identification of EP/EPI/EPP/ER/ERI boxes........................................................ 49
7.3.3 Beckhoff Identification Code (BIC) ................................................................................... 50
7.3.4 Electronic access to the BIC (eBIC)................................................................................. 52
7.4 Support and Service........................................................................................................................54

Table of contents
EPP3752-00004 Version: 1.2

Foreword
EPP3752-0000 5Version: 1.2
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®, 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
EPP3752-00006 Version: 1.2
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.

Foreword
EPP3752-0000 7Version: 1.2
1.3 Documentation issue status
Version Comment
1.2 • Chapter "Scaling of measured values" updated
• Structure update
1.1 • Dimensions updated
• UL requirements 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.
Documentation Firmware Hardware
1.1 02 00
1.0 02 00
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 [}48].

Product group: EtherCATPBox modules
EPP3752-00008 Version: 1.2
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
EPP3752-0000 9Version: 1.2
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
2 x 3-axis accelerometers
The EPP3752-0000 EtherCAT P Box has two internal 3-axis accelerometers with 10 bits and a selectable
measuring range of ±2 g, ±4 g, ±8 g and ±16 g. The sampling frequency is 1 Hz to 5 kHz. Possible
applications include the recording of vibrations and shocks/oscillations, and furthermore inclination
measurements in all three axes. Since measurement is carried out with two sensors that are positioned at an
angle of 90° to each other, the control system can check measured data for plausibility. Extended integrated
filter functions allow measured data to be pre-processed and appropriately scaled in order to filter
disturbances and to relieve the workload of the control system.

Product overview
EPP3752-000010 Version: 1.2
3.2 Technical data
All values are typical values over the entire temperature range, unless stated otherwise.
EtherCATP
Connection 2xM8 socket, 4-pin, P-coded, red
Minimum cycle time 200µs
Supply voltages
Connection See EtherCATP connection
US nominal voltage 24VDC (-15%/ +20%)
US sum current: IS,sum max. 3A
Current consumption from US100mA
Rated voltage UP24VDC (-15%/ +20%)
UP sum current: IP,sum max. 3A
Current consumption from UPNone. UP is only forwarded.
Accelerometers
Sensor type Two 3-axis sensors / offset by 90°
Resolution1)2) Measured values: 4mg (default)
Raw values: 10-bit (default)
Representation1) Measured values: 1mg/LSB
Raw values: 10-bit in 16-bit (left aligned)
Measuring range1) ±2g / ±4g / ±8g / ±16g selectively
Sampling rate 200Hz to 5kHz
1) Unit of measurement: 1g = 9.81m/s2 (acceleration of gravity). 1mg = 1/1000g.
2) The resolution depends on the parameterization of the box. See section Resolution [}11].
Housing data
Dimensions WxHxD 30mmx 126mmx 26.5mm (without connectors)
Weight approx. 165 g
Installation position variable
Material PA6 (polyamide)
Environmental conditions
Ambient temperature during operation -25 … +60°C
-25 … +55°C according to cULus
Ambient temperature during storage -40 … +85°C
Vibration resistance, shock resistance conforms to EN60068-2-6/ EN60068-2-27
Additional checks [}11]
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, cULus [}19]
*) Real applicable approvals/markings see type plate on the side (product marking).

Product overview
EPP3752-0000 11Version: 1.2
Resolution
The resolution of measured values and raw values depends on the parameters "Measuring range" and
"Sampling rate". The table below shows how these parameters influence the resolution:
Measuring range Sampling rate /
EtherCAT cycle time
Resolution
Raw values Measured values
±2g ≤1kHz /
≥1ms
10-bit 4mg
±4g 8mg
±8g 16mg
±16g 48mg
±2g >1kHz /
<1ms
8-bit 16mg
±4g 32mg
±8g 64mg
±16g 192mg
The setting of the "Measuring range" and "Sampling rate" parameters is described in the chapter Settings
[}23].
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

Product overview
EPP3752-000012 Version: 1.2
3.3 Process image
The data for the two accelerometers can be found under AI Inputs Channel.
• Status Error: An error occurred during communication with the accelerometer.
• Value: 16-bit acceleration value
The assignment of the process values to the sensor axes can be found in the chapter Acceleration sensors
[}22].

Mounting and cabling
EPP3752-0000 13Version: 1.2
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
EPP3752-000014 Version: 1.2
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 Nut torque for connectors
Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)
Torque: 0.4Nm.

Mounting and cabling
EPP3752-0000 15Version: 1.2
4.2 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 [}19].
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
EPP3752-000016 Version: 1.2
4.2.1 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) [}14].
1 2
1 - input
2 - downstream connection
Connection
1
2
3
4
Fig.2: 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
EPP3752-0000 17Version: 1.2
4.2.2 Status LEDs
4.2.2.1 Supply voltages
Fig.3: 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
labeled 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 EtherCAT
Fig.4: Status LEDs for 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

Mounting and cabling
EPP3752-000018 Version: 1.2
4.2.3 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.
Planning tool for EtherCATP
You can plan cable lengths, voltages and currents of your EtherCATP system using TwinCAT3. The
requirement for this is TwinCAT3 Build4020 or higher.
Further information can be found in the quick start guide IO configuration in TwinCAT in chapter
"Configuration of EtherCAT P with TwinCAT".
Voltage drop on the supply line
I = 3 A
10 20
5
10
15
20
300
0
25
40
Vert. Faktor: 0,22 cm / V
Voltage drop (V)
Cable length (m)
0.14 mm²
0.22 mm²
0.34 mm²

Mounting and cabling
EPP3752-0000 19Version: 1.2
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 accor-
dance 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 net-
works!
Ambient temperature range
CAUTION
CAUTION!
To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature
range of -25°C to +55°C!
Marking for UL
All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label.
Fig.5: UL label

Mounting and cabling
EPP3752-000020 Version: 1.2
4.4 Disposal
Products marked with a crossed-out wheeled bin shall not be discarded
with the normal waste stream. The device is considered as waste
electrical and electronic equipment. The national regulations for the
disposal of waste electrical and electronic equipment must be observed.