Beckhoff EP1518-0002 Operator's manual

Documentation | EN
EP1518-0002
EtherCAT Box with 8 digital inputs and 2 counters
2022-09-19 | Version: 2.4

Table of contents
EP1518-0002 3Version: 2.4
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 Scope of supply...............................................................................................................................13
3.4 Process image ................................................................................................................................14
4 Installation ...............................................................................................................................................16
4.1 Mounting .........................................................................................................................................16
4.1.1 Dimensions ......................................................................................................................16
4.1.2 Fixing................................................................................................................................ 17
4.1.3 Tightening torques for plug connectors............................................................................ 17
4.2 Connection ......................................................................................................................................18
4.2.1 EtherCAT .........................................................................................................................18
4.2.2 Supply voltages................................................................................................................ 20
4.2.3 Signal connection............................................................................................................. 23
4.3 UL Requirements ............................................................................................................................24
4.4 ATEX notes .....................................................................................................................................25
4.4.1 ATEX - Special conditions................................................................................................ 25
4.4.2 BG2000 - EtherCAT Box protection enclosures............................................................... 26
4.4.3 ATEX Documentation....................................................................................................... 27
4.5 Disposal ..........................................................................................................................................28
5 Commissioning and configuration........................................................................................................29
5.1 Integrating into a TwinCAT project..................................................................................................29
5.2 Distributed Clocks (DC)...................................................................................................................30
5.3 Distributed Clocks and EP1518 ......................................................................................................32
5.4 Configuration...................................................................................................................................33
5.4.1 Basic Function Principles ................................................................................................. 33
5.4.2 Operation modes.............................................................................................................. 36
5.4.3 Counter settings ............................................................................................................... 40
5.4.4 Restoring the delivery state.............................................................................................. 42
5.5 CoE objects.....................................................................................................................................43
5.5.1 Object overview................................................................................................................ 43
5.5.2 Object description and parameterization.......................................................................... 47
6 Appendix..................................................................................................................................................56
6.1 General operating conditions ..........................................................................................................56
6.2 Accessories.....................................................................................................................................57
6.3 Version identification of EtherCAT devices .....................................................................................58
6.3.1 General notes on marking................................................................................................ 58
6.3.2 Version identification of EP/EPI/EPP/ER/ERI boxes........................................................ 59

Table of contents
EP1518-00024 Version: 2.4
6.3.3 Beckhoff Identification Code (BIC) ................................................................................... 60
6.3.4 Electronic access to the BIC (eBIC)................................................................................. 62
6.4 Support and Service........................................................................................................................64

Foreword
EP1518-0002 5Version: 2.4
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®, 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
EP1518-00026 Version: 2.4
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
EP1518-0002 7Version: 2.4
1.3 Documentation Issue Status
Version Comment
2.4 • Chapter "Supply voltages" updated
2.3 • Technical data updated
• UL requirements updated
• Dimensions updated
2.2 • Front page updated
• Scope of delivery added
• Structure update
2.1.0 • Safety instructions new layout
• Chapter Mounting updated
2.0.0 • Migration
• Basic function principles chapter corrected
1.1.0 • Power Connection updated
1.0.0 • 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
Version
Firmware Hardware
2.4 04 11
2.3 04 09
2.2 04 08
2.1 04 06
2.0.0 04 05
1.0.0 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)
WWYYFFHH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with D no.: 55 09 01 00:
55 - week of production 55
09 - year of production 2009
01 - firmware version 01
00 - hardware version 001
Further information on this topic: Version identification of EtherCAT devices [}58].

EtherCAT Box - Introduction
EP1518-00028 Version: 2.4
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 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
EP1518-0002 9Version: 2.4
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
EP1518-000210 Version: 2.4
3 Product overview
3.1 Introduction
Tx+ / GND
Rx+ / GND
Rx- / U
Tx- / U
1 |
2 |
3 |
4 |
S
P
P
S
1 |
2 |
3 |
4 |
5 |
+24 V U
Input B
GND
Input A
n.c.
S
Digital inputs,
Counter inputs
1 |
2 |
3 |
4 |
+24 V Us
+24 V Up
GND
GND
EtherCAT downstream connection
Supply voltage
input
EtherCAT input
Supply voltage
downstream connection
8 digital inputs (24VDC), 2 counters
The EP1518-0002 EtherCAT Box with digital inputs acquires binary control signals from the process level
and transfers them, with electrical isolation, to the controller.
The signal state is indicated by means of light emitting diodes. Connection is via M12 connectors. The input
filters can be set between 0and 100ms via EtherCAT.
Inputs 0 and 4 can be used as up/down counters (32-bit). Inputs 1 and 5 operate as GATES and inputs 2
and 6 control Up/Down.
The EP1518 has three modes of operation that can be selected via the PDOs using the Sync-Manager:
• 2 digital inputs and 2 counters (delivery state)
• 5 digital inputs and 1 counter
• 8 digital inputs
All inputs continue to be shown in the process image even in the counter operation modes. Signal acquisition
takes place with the filter times set via CoE.
Irrespective of that, the counter pulses are always counted with a filter of 150µs. Further parameters can be
set via the CoE objects.
The sensors are supplied via the control voltage US in two groups of four sensors each. Any short circuits on
the sensor side are detected and reported to the controller.
The load voltage Up is not used in the input module, but may optionally be connected in order to be relayed
downstream.
Quick links
Technical data [}11]
Process image [}14]
Dimensions [}16]
Signal connection [}23]

Product overview
EP1518-0002 11Version: 2.4
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 yes
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 US120mA + sensor supply
Rated voltage UP24VDC (-15%/ +20%)
UP sum current: IP,sum max. 4A
Current consumption from UPNone. UP is only forwarded.
Electrical isolation GNDS/GNDPno
Digital inputs
Number 8
Connection 4x M12 socket
Characteristics Type3 according to EN61131-2, compatible with type1
Input filter ajustable: 10µs… 100ms
Counter inputs: 150µs
Signal voltage "0" -3… +5V
Signal voltage "1" +11… +30V
Input current 3mA
Sensor supply from the control voltage US, short-circuit proof
• max. 0.5A for channels 0… 3 in total
• max. 0.5A for channels 4… 7 in total
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 cURus
Ambient temperature during storage -40… +85°C
Vibration resistance, shock resistance conforms to EN60068-2-6/ EN60068-2-27
Additional checks [}13]
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*) ATEX, CE, cURus [}24]

Product overview
EP1518-000212 Version: 2.4
*) Real applicable approvals/markings see type plate on the side (product marking).

Product overview
EP1518-0002 13Version: 2.4
Additional checks
The boxes have been subjected to the following checks:
Verification 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 Box EP1518-0002
• 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
EP1518-000214 Version: 2.4
3.4 Process image
The process image depends on the selected operation mode [}36].
Operation mode: 2 counters and 2 digital inputs (delivery state)
The input data of the 1st counter can be found under CNT
Input Channel1.
The adoption of the Set counter bit from CNT Output
Channel 1 is displayed with Set counter done.
The adoption of the Inhibit counter bit from CNT Output
Channel 1 is displayed with Counter inhibited.
Status of input UD shows the status of the Up/Down counter
input of the 1st counter.
Status of input clock shows the status of the input clock input
of the 1st counter.
Sync Error, TxPDO State and TxPDO Toggle are standard
EtherCAT process data.
The input data of the 2nd counter can be found under CNT
Input Channel2. Their structure corresponds to that of the 1st
counter.
DIG Inputs shows the states of the individual inputs
irrespective of the selected operation mode.
Error channel 1 displays a short circuit of the supply voltage
Us to digital inputs 0 to 3.
Error channel 2 displays a short circuit of the supply voltage
Us to digital inputs 4 to 7.
The output data of the 1st counter can be found under CNT
Output Channel1.
The setting of Set counter activates the adoption of the Set
Counter Value into the Counter Value of the 1st counter.
The setting of Inhibit Counter disables the 1st counter.
Alternatively the counter can be disabled or enabled by the
physical GATE input.
The two values are XORed.
The output data of the 2nd counter can be found under CNT
Output Channel1. Their structure corresponds to that of the
1st counter.

Product overview
EP1518-0002 15Version: 2.4
Operation mode: 1 counter and 5 digital inputs
The input data of the 1st counter can be found under CNT
Input Channel1.
The adoption of the Set counter bit from CNT Output
Channel 1 is displayed with Set counter done.
The adoption of the Inhibit counter bit from CNT Output
Channel 1 is displayed with Counter inhibited.
Status of input UD shows the status of the Up/Down counter
input of the 1st counter.
Status of input clock shows the status of the input clock input
of the 1st counter.
Sync Error, TxPDO State and TxPDO Toggle are standard
EtherCAT process data.
DIG Inputs shows the states of the individual inputs
irrespective of the selected operation mode.
Error channel 1 displays a short circuit of the supply voltage
Us to digital inputs 0 to 3.
Error channel 2 displays a short circuit of the supply voltage
Us to digital inputs 4 to 7.
The output data of the 1st counter can be found under CNT
Output Channel1.
The setting of Set counter activates the adoption of the Set
Counter Value into the Counter Value of the 1st counter.
The setting of Inhibit Counter disables the 1st counter.
Alternatively the counter can be disabled or enabled by the
physical GATE input.
The two values are XORed.
Operation mode: 8 digital inputs
DIG Inputs shows the states of the individual inputs
irrespective of the selected mode.
Error channel 1 displays a short circuit of the supply voltage
Us to digital inputs 0 to 3.
Error channel 2 displays a short circuit of the supply voltage
Us to digital inputs 4 to 7.

Installation
EP1518-000216 Version: 2.4
4 Installation
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. 4A
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)

Installation
EP1518-0002 17Version: 2.4
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 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

Installation
EP1518-000218 Version: 2.4
4.2 Connection
4.2.1 EtherCAT
4.2.1.1 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.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.

Installation
EP1518-0002 19Version: 2.4
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

Installation
EP1518-000220 Version: 2.4
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 conduc-
tor.
CAUTION
Observe the UL requirements
• When operating under UL conditions, observe the warnings in the chapter UL Requirements [}24].
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.
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. 4A
7/8" connector: max 16A
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.