Beckhoff EtherCAT EP3752-0000 Operator's manual
Documentation | EN
EP3752-0000
2 x 3-axis accelerometers
2022-09-19 | Version: 1.4
Table of contents
EP3752-0000 3Version: 1.4
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 Process image ................................................................................................................................13
4 Mounting and cabling .............................................................................................................................14
4.1 Mounting .........................................................................................................................................14
4.1.1 Dimensions ......................................................................................................................14
4.1.2 Fixing................................................................................................................................ 15
4.1.3 Nut torque for connectors................................................................................................. 15
4.2 Supply voltages...............................................................................................................................16
4.2.1 Connectors....................................................................................................................... 17
4.2.2 Status LEDs ..................................................................................................................... 17
4.2.3 Conductor losses ............................................................................................................. 18
4.3 EtherCAT ........................................................................................................................................19
4.3.1 Connectors....................................................................................................................... 19
4.3.2 Status LEDs ..................................................................................................................... 20
4.3.3 Cables ..............................................................................................................................20
4.4 UL Requirements ............................................................................................................................21
4.5 Disposal ..........................................................................................................................................22
5 Commissioning/Configuration...............................................................................................................23
5.1 Integrating into a TwinCAT project..................................................................................................23
5.2 Acceleration sensors.......................................................................................................................24
5.2.1 Settings ............................................................................................................................25
5.2.2 Inclination measurement .................................................................................................. 29
5.3 Restore the delivery state ...............................................................................................................31
5.4 Decommissioning............................................................................................................................32
6 CoE parameters.......................................................................................................................................33
6.1 Object overview...............................................................................................................................33
6.2 Object description and parameterization.........................................................................................37
7 Appendix..................................................................................................................................................48
7.1 General operating conditions ..........................................................................................................48
7.2 Accessories.....................................................................................................................................49
7.3 Version identification of EtherCAT devices .....................................................................................50
7.3.1 General notes on marking................................................................................................ 50
7.3.2 Version identification of EP/EPI/EPP/ER/ERI boxes........................................................ 51
7.3.3 Beckhoff Identification Code (BIC) ................................................................................... 52
7.3.4 Electronic access to the BIC (eBIC)................................................................................. 54
7.4 Support and Service........................................................................................................................56
Table of contents
EP3752-00004 Version: 1.4
Foreword
EP3752-0000 5Version: 1.4
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®, EtherCATG®, EtherCATG10®, EtherCATP®,
SafetyoverEtherCAT®, 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
EP3752-00006 Version: 1.4
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
EP3752-0000 7Version: 1.4
1.3 Documentation issue status
Version Comment
1.4 • Chapter "Scaling of measured values" updated
• Structure update
1.3 • Dimensions updated
• UL requirements updated
1.2 • Technical data updated
• Structure update
1.1 • Corrections
• "Resolution" section added ("Technical data" chapter)
1.0 • First release
0.3 • Corrections
0.2 • Corrections
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
1.3 02 06
1.2 02 05
1.1 02 03
1.0 01 02
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 [}50].
EtherCAT Box - Introduction
EP3752-00008 Version: 1.4
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 126x30x26.5 mm (hxw xd) 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 M8connectors.
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 M12connectors.
The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:
• digital inputs with different filters (3.0ms or 10μs)
• digital outputs with 0.5 or 2A output current
• analog inputs and outputs with 16bit 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
EP3752-0000 9Version: 1.4
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
EP3752-000010 Version: 1.4
3 Product overview
3.1 Introduction
EtherCAT downstream connection
Supply voltage
input
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
GND
S
P
S
P
2 x 3-axis accelerometers
The EP3752-0000 EtherCAT Box has two internal 3-axis accelerometers with 10-bit resolution and a
selectable measuring range of ±2 g, ±4 g, ±8 g and ±16 g. The maximum sampling rate is 5 kHz. The
measured values can be digitally filtered. Without filters the box operates cycle-synchronously.
Possible applications include the recording of vibrations and shocks/oscillations, but inclination
measurements in all three axes are also possible.
Through the measurement using sensors offset by 90°, the controller can carry out a plausibility check of the
data. Extended integrated filter functions enable the pre-processing and scaling of the acquired data in order
to filter out faults and relieve the controller.
Product overview
EP3752-0000 11Version: 1.4
3.2 Technical data
All values are typical values over the entire temperature range, unless stated otherwise.
EtherCAT
Connection 2x M8 socket, 4-pin, green
Electrical isolation 500V
Minimum cycle time 200µs
Supply voltages
Connection Input: M8 connector, 4-pin
Downstream connection: M8 socket, 4-pin, black
US nominal voltage 24VDC (-15%/ +20%)
US sum current: IS,sum max. 4A
Current consumption from US120mA
Rated voltage UP24VDC (-15%/ +20%)
UP sum current: IP,sum max. 4A
Current consumption from UPNone. UP is only forwarded.
Accelerometers
Sensor type Two 3-axis sensors / offset by 90°
Resolution1)2) Measured values: 4mg (default)
Raw values: 10-bit (default)
Representation1) Measured values: 1mg/LSB
Raw values: 10-bit in 16-bit (left aligned)
Measuring range1) ±2g / ±4g / ±8g / ±16g selectively
Sampling rate 200Hz to 5kHz
1) Unit of measurement: 1g = 9.81m/s2 (acceleration of gravity). 1mg = 1/1000g.
2) The resolution depends on the parameterization of the box. See section Resolution [}12].
Housing data
Dimensions WxHxD 30mmx 126mmx 26.5mm (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 cURus
Ambient temperature during storage -40… +85°C
Vibration resistance, shock resistance conforms to EN60068-2-6/ EN60068-2-27
Additional checks [}12]
EMC immunity / emission conforms to EN61000-6-2/ EN61000-6-4
Protection class IP65, IP66, IP67 (conforms to EN60529)
Approvals/markings
Approvals/markings*) CE, cURus [}21]
*) Real applicable approvals/markings see type plate on the side (product marking).
Product overview
EP3752-000012 Version: 1.4
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
±2g ≤1kHz /
≥1ms
10-bit 4mg
±4g 8mg
±8g 16mg
±16g 48mg
±2g >1kHz /
<1ms
8-bit 16mg
±4g 32mg
±8g 64mg
±16g 192mg
The setting of the "Measuring range" and "Sampling rate" parameters is described in the chapter Settings
[}25].
Additional tests
The devices have undergone the following additional tests:
Test Explanation
Vibration 10 frequency sweeps in 3 axes
5Hz<f<60Hz displacement 0.35mm, constant amplitude
60.1Hz<f<500Hz acceleration 5g, constant amplitude
Shocks 1000 shocks in each direction, in 3 axes
35g, 11ms
Product overview
EP3752-0000 13Version: 1.4
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
[}24].
Mounting and cabling
EP3752-000014 Version: 1.4
4 Mounting and cabling
4.1 Mounting
4.1.1 Dimensions
30
126
119
26.5
23
13.5
Ø 3.5
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
Power feed through max. 4A
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
EP3752-0000 15Version: 1.4
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 Nut torque for connectors
Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff)
Torque: 0.4Nm.
Mounting and cabling
EP3752-000016 Version: 1.4
4.2 Supply voltages
WARNING
Power supply from SELV/PELV power supply unit!
SELV/PELV circuits (Safety Extra Low Voltage, Protective Extra Low Voltage) according to
IEC61010-2-201 must be used to supply this device.
Notes:
• SELV/PELV circuits may give rise to further requirements from standards such as IEC60204-1 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 [}21].
The EtherCATBox 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 EtherCATBox has inputs.
•Peripheral voltage UP
For EtherCATBox 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 EtherCATBox to EtherCATBox in a simple manner.
NOTE
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. 4A
7/8" connector: max 16A
NOTE
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 cabling
EP3752-0000 17Version: 1.4
4.2.1 Connectors
NOTE
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.4: 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 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.
Mounting and cabling
EP3752-000018 Version: 1.4
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.
Voltage drop on the supply line
Vert. Faktor: 0,45 cm / V
5 10 15 20
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 2 A
Vert. Faktor: 0,45 cm / V
5 10 15 20
2
4
6
8
10
250
0
12
30
Vert. Faktor: 0,45 cm / V
Voltage drop (V)
Cable length (m)
35
0,25 mm²
0,34 mm²
0,5 mm²
0,75 mm²
I = 4 A
Mounting and cabling
EP3752-0000 19Version: 1.4
4.3 EtherCAT
4.3.1 Connectors
NOTE
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.5: 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 EN61918
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 cabling
EP3752-000020 Version: 1.4
4.3.2 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
4.3.3 Cables
For connecting EtherCAT devices only shielded Ethernet cables that meet the requirements of at least
category5 (CAT5) according to EN50173 or ISO/IEC11801 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
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