Beckhoff EJ5002 User manual

Documentation | EN
EJ5002
SSI Encoder Interface
2021-10-04 | Version: 1.4

Table of contents
EJ5002 3Version: 1.4
Table of contents
1 Foreword ....................................................................................................................................................5
1.1 Notes on the documentation..............................................................................................................5
1.2 Safety instructions .............................................................................................................................6
1.3 Intended use......................................................................................................................................7
1.4 Signal distribution board ....................................................................................................................7
1.5 Documentation issue status ..............................................................................................................7
1.6 Guide through documentation ...........................................................................................................8
1.7 Marking of EtherCAT plug-in modules...............................................................................................8
1.7.1 Beckhoff Identification Code (BIC)................................................................................... 11
1.7.2 Electronic access to the BIC (eBIC) ................................................................................ 13
1.7.3 Certificates....................................................................................................................... 15
2 System overview .....................................................................................................................................16
3 EJ5002 - Product description .................................................................................................................17
3.1 Introduction......................................................................................................................................17
3.2 Technical Data.................................................................................................................................18
3.3 Pinout ..............................................................................................................................................19
3.4 LEDs................................................................................................................................................21
4 Installation of EJ modules ......................................................................................................................22
4.1 Power supply for the EtherCAT plug-in modules.............................................................................22
4.2 EJxxxx - dimensions........................................................................................................................24
4.3 Installation positions and minimum distances .................................................................................25
4.3.1 Minimum distances for ensuring installability................................................................... 25
4.3.2 Installation positions ........................................................................................................ 26
4.4 Codings ...........................................................................................................................................28
4.4.1 Color coding..................................................................................................................... 28
4.4.2 Mechanical position coding.............................................................................................. 29
4.5 Installation on the signal distribution board .....................................................................................30
4.6 Extension options ............................................................................................................................32
4.6.1 Using placeholder modules for unused slots ................................................................... 32
4.6.2 Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet/EtherCAT
connection ....................................................................................................................... 33
4.7 IPC integration.................................................................................................................................34
4.8 Disassembly of the signal distribution board ...................................................................................36
4.9 Disposal...........................................................................................................................................36
5 EtherCAT basics......................................................................................................................................37
6 Commissioning........................................................................................................................................38
6.1 Reference to documentation EL500x ..............................................................................................38
6.2 EJ5002 - Object description and parameterization..........................................................................38
6.2.1 Restore object.................................................................................................................. 39
6.2.2 Configuration data ........................................................................................................... 39
6.2.3 Input data......................................................................................................................... 40
6.2.4 Information and diagnostic data....................................................................................... 41
6.2.5 Standard objects (0x1000-0x1FFF) ................................................................................. 41

Table of contents
EJ50024 Version: 1.4
7 Appendix ..................................................................................................................................................46
7.1 Support and Service ........................................................................................................................46

Foreword
EJ5002 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®, 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
EJ50026 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
EJ5002 7Version: 1.4
1.3 Intended use
WARNING
Caution - Risk of injury!
EJ components may only be used for the purposes described below!
1.4 Signal distribution board
NOTE
Signal distribution board
Make sure that the EtherCAT plug-in modules are used only on a signal distribution board that has been
developed and manufactured in accordance with the Design Guide.
1.5 Documentation issue status
Version Comment
1.4 • Update chapter Marking of EtherCAT plug-in modules
• Update Technical Data
• Chapter Disposal added
• Update structure
1.3 • New title page
• Update chapter Pinout
• Chapters Basics communication, TwinCAT Quick Start , TwinCAT development
environment and General Notes - EtherCAT Slave Application replaced by
references in the chapter Guide through documentation
• Chapter EJ5002 - Object description and parameterization added
• Update revision status
• Structural update
1.2 • Note Signal Distribution Board added
• Chapter Version identification of EtherCAT devices replaced by Marking of
EtherCAT plug-in modules
• Update Technical data
• Update chapter Connection
1.1 • Note on routing and installation inserted
1.0 • First publication EJ5002

Foreword
EJ50028 Version: 1.4
1.6 Guide through documentation
NOTE
Further components of documentation
The documentations named in the following table are further components of the complete
documentation. These documentations are required for the use of EtherCAT plug-in mod-
ules.
No. Title Description
[1] EtherCAT System Documentation • System overview
• EtherCAT basics
• Cable redundancy
• Hot Connect
• Distributed Clocks
• Configuration of EtherCAT-Components
[2] Infrastructure for EtherCAT/Ethernet • Technical recommendations and notes for
design, implementation an testing
[3] Design GuideSignal-Distribution-Board for
standard EtherCAT plug-in modules
Requirements for the design of a Signal-
Distribution-Board for standard EtherCAT plug-in
modules
• Backplane mounting guidelines
• Module placement
• Routing guidelines
[4] Documentation of the corresponding terminal
ELxxxx
• Notes on the principle of operation and
• Descriptions for configuration and
parameterization
are transferable to the corresponding Module
EJxxxx (s. note on documentation of ELxxxx
[}38]).
1.7 Marking of EtherCAT plug-in modules
Designation
A Beckhoff EtherCAT device has a 14-digit technical designation, made up as follows (e.g.
EJ1008-0000-0017)
•Order identifier
◦ family key: EJ
◦ product designation: The first digit of product designation is used for assignment to a product
group (e.g. EJ2xxx = digital output module).
◦ Version number: The four digit version number identifies different product variants.
•Revision number:
It is incremented when changes are made to the product.
The Order identifier and the revision number are printed on the side of EtherCAT plug-in modules (s.
following illustration (A and B).

Foreword
EJ5002 9Version: 1.4
Fig.1: Order identifier (A), Revision number (B) and serial number (C) using the example of EJ1008
Product group Example
Product designation Version Revision
EtherCAT Coupler
EJ11xx
EJ1101 -0022
(Coupler with external connectors, power supply module and
optional ID switches
-0016
Digital input modules
EJ1xxx
EJ1008
8-channel
-0000
(basic type)
-0017
Digital output modules
EJ2xxx
EJ2521
1-channel
-0224
(2 x 24V outputs)
-0016
Analog input modules
EJ3xxx
EJ3318
8-channel thermocouple
-0000
(basic type)
-0017
Analog output modules
EJ4xxx
EJ4134
4-channel
-0000
(basic type)
-0019
Special function modules
EJ5xxx, EJ6xxx
EJ6224
IO-Link master
-0090
(with TwinSAFE SC)
-0016
Motion modules
EJ7xxx
EJ7211
servomotor
-9414
(with ECT, STO and TwinSAFE SC)
-0029
Notes
• The elements mentioned above result in the technical designation. EJ1008-0000-0017 is used in the
example below.
• EJ1008-0000 is the order identifier, in the case of “-0000” usually abbreviated to EJ1008.
• The revision -0017 shows the technical progress, such as the extension of features with regard to the
EtherCAT communication, and is managed by Beckhoff.
In principle, a device with a higher revision can replace a device with a lower revision, unless specified
otherwise, e.g. in the documentation.
Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave
Information) in the form of an XML file, which is available for download from the Beckhoff web site.
• The product designation, version and revision are read as decimal numbers, even if they are
technically saved in hexadecimal.
Serial number
The serial number for EtherCAT plug-in modules is usually the 8-digit number printed on the side of the
module (see following illustration C). The serial number indicates the configuration in delivery state and
therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

Foreword
EJ500210 Version: 1.4
Fig.2: Order identifier (A), revision number (B) and serial number (C) using the example of EJ1008
Serial number Example serial number: 08 15 08 16
KK - week of production (CW, calendar week) 08 - week of production: 08
YY - year of production 15 - year of production: 2015
FF - firmware version 08 -f irmware version: 08
HH - hardware version 16 - hardware version: 16

Foreword
EJ5002 11Version: 1.4
1.7.1 Beckhoff Identification Code (BIC)
The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify
the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is
based on the ANSI standard MH10.8.2-2016.
Fig.3: BIC as data matrix code (DMC, code scheme ECC200)
The BIC will be introduced step by step across all product groups.
Depending on the product, it can be found in the following places:
• on the packaging unit
• directly on the product (if space suffices)
• on the packaging unit and the product
The BIC is machine-readable and contains information that can also be used by the customer for handling
and product management.
Each piece of information can be uniquely identified using the so-called data identifier (ANSI
MH10.8.2-2016). The data identifier is followed by a character string. Both together have a maximum length
according to the table below. If the information is shorter, it shall be replaced by spaces. The data under
positions 1-4 are always available.
The following information is contained:

Foreword
EJ500212 Version: 1.4
Item
no.
Type of informa-
tion
Explanation Data iden-
tifier
Number of digits
incl. data identifier
Example
1 Beckhoff order
number
Beckhoff order number 1P 8 1P072222
2 Beckhoff Traceability
Number (BTN)
Unique serial number,
see note below
S 12 SBTNk4p562d7
3 Article description Beckhoff article
description, e.g. EL1008
1K 32 1KEL1809
4 Quantity Quantity in packaging
unit, e.g. 1, 10, etc.
Q 6 Q1
5 Batch number Optional: Year and week
of production
2P 14 2P4015031800
16
6 ID/serial number Optional: Present-day
serial number system,
e.g. with safety products
51S 12 51S678294104
7 Variant number Optional: Product variant
number on the basis of
standard products
30P 32 30PF971 ,
2*K183
...
Further types of information and data identifiers are used by Beckhoff and serve internal processes.
Structure of the BIC
Example of composite information from items 1 - 4 and with the above given example value on positon 6.
The data identifiers are marked in bold font for better display:
1P072222SBTNk4p562d71KEL1809 Q1 51S678294
Accordingly as DMC:
Fig.4: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294
BTN
An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a
unique serial number consisting of eight characters that will replace all other serial number systems at
Beckhoff in the long term (e.g. batch designations on IO components, previous serial number range for
safety products, etc.). The BTN will also be introduced step by step, so it may happen that the BTN is not yet
coded in the BIC
NOTE
This information has been carefully prepared. However, the procedure described is constantly being further
developed. We reserve the right to revise and change procedures and documentation at any time and with-
out prior notice. No claims for changes can be made from the information, illustrations and descriptions in
this information.

Foreword
EJ5002 13Version: 1.4
1.7.2 Electronic access to the BIC (eBIC)
Electronic BIC (eBIC)
The Beckhoff Identification Code (BIC) is applied to the outside of Beckhoff products in a visible place. If
possible, it should also be electronically readable.
Decisive for the electronic readout is the interface via which the product can be electronically addressed.
K-bus devices (IP20, IP67)
Currently, no electronic storage and readout is planned for these devices.
EtherCAT devices (IP20, IP67)
All Beckhoff EtherCAT devices have a so-called ESI-EEPROM, which contains the EtherCAT identity with
the revision number. Stored in it is the EtherCAT slave information, also colloquially known as ESI/XML
configuration file for the EtherCAT master. See the corresponding chapter in the EtherCAT system manual
(Link) for the relationships.
The eBIC is also stored in the ESI‑EEPROM. The eBIC was introduced into the Beckhoff I/O production
(terminals, boxes) from 2020; widespread implementation is expected in 2021.
The user can electronically access the eBIC (if existent) as follows:
• With all EtherCAT devices, the EtherCAT master (TwinCAT) can read the eBIC from the ESI‑EEPROM
◦ From TwinCAT 4024.11, the eBIC can be displayed in the online view.
◦ To do this,
check the checkbox "Show Beckhoff Identification Code (BIC)" under
EtherCAT→AdvancedSettings→Diagnostics:
◦ The BTN and its contents are then displayed:
◦ Note: as can be seen in the illustration, the production data HW version, FW version and
production date, which have been programmed since 2012, can also be displayed with "Show
Production Info".
• In the case of EtherCAT devices with CoE directory, the object 0x10E2:01 can additionally by used to
display the device's own eBIC; the PLC can also simply access the information here:

Foreword
EJ500214 Version: 1.4
◦ The device must be in SAFEOP/OP for access:
◦ the object 0x10E2 will be introduced into stock products in the course of a necessary firmware
revision.
• Note: in the case of electronic further processing, the BTN is to be handled as a string(8); the identifier
"SBTN" is not part of the BTN.
• Technical background
The new BIC information is additionally written as a category in the ESI‑EEPROM during the device
production. The structure of the ESI content is largely dictated by the ETG specifications, therefore the
additional vendor-specific content is stored with the help of a category according to ETG.2010. ID03
indicates to all EtherCAT masters that they must not overwrite these data in case of an update or
restore the data after an ESI update.
The structure follows the content of the BIC, see there. This results in a memory requirement of
approx. 50..200bytes in the EEPROM.
• Special cases
◦ If multiple, hierarchically arranged ESCs are installed in a device, only the top-level ESC carries
the eBIC Information.
◦ If multiple, non-hierarchically arranged ESCs are installed in a device, all ESCs carry the eBIC
Information.
◦ If the device consists of several sub-devices with their own identity, but only the top-level device is
accessible via EtherCAT, the eBIC of the top-level device is located in the CoE object directory
0x10E2:01 and the eBICs of the sub-devices follow in 0x10E2:nn.
Profibus/Profinet/DeviceNet… Devices
Currently, no electronic storage and readout is planned for these devices.

Foreword
EJ5002 15Version: 1.4
1.7.3 Certificates
• The EhterCAT plug-in modules meet the requirements of the EMC and Low Voltage Directive. The CE
mark is printed on the side of the modules.
• The cRUus imprint identifies devices that meet product safety requirements according to U.S. and
Canadian regulations.
• The warning symbol is a request to read the corresponding documentation. The documentations for
EtherCAT plug-in modules can be downloaded from the Beckhoff homepage.
Fig.5: Marking for CE and UL using EJ1008 as an example

System overview
EJ500216 Version: 1.4
2 System overview
Electronically, the EJxxxx EtherCAT plug-in modules are based on the EtherCAT I/O system. The EJ system
consists of the signal distribution board and EtherCAT plug-in modules. It is also possible to connect an IPC
to the EJ system.
The EJ system is suitable for mass production applications, applications with small footprint and applications
requiring a low total weight.
The machine complexity can be extended by means of the following:
• reserve slots,
• the use of placeholder modules,
• linking of EtherCAT Terminals and EtherCAT Boxes via an EtherCAT connection.
The following diagram illustrates an EJ system. The components shown are schematic, to illustrate the
functionality.
Fig.6: EJ system sample
Signal distribution board
The signal distribution board distributes the signals and the power supply to individual application-specific
plug connectors, in order to connect the controller to further machine modules. Using pre-assembled cable
harnesses avoids the need for time-consuming connection of individual wires. Coded components reduce
the unit costs and the risk of miswiring.
Beckhoff offers development of signal distribution boards as an engineering service. Customers have the
option to develop their own signal distribution board, based on the design guide.
EtherCAT plug-in modules
Similar to the EtherCAT terminal system, a module strand consists of a Bus Coupler and I/O modules.
Almost all of the EtherCAT Terminals can also be manufactured in the EJ design as EtherCAT plug-in
modules. The EJ modules are directly attached to the signal distribution board. The communication, signal
distribution and supply take place via the contact pins at the rear of the modules and the PCB tracks of the
signal distribution board. The coding pins at the rear serve as mechanical protection against incorrect
connection. Color coding on the housing facilitates distinguishing of the modules.

EJ5002 - Product description
EJ5002 17Version: 1.4
3 EJ5002 - Product description
3.1 Introduction
Fig.7: EJ5002
2 channel SSI encoder interface
The EJ5002 SSI interface EtherCAT module is used for the direct connection of two SSI absolute encoders.
The interface circuit generates a pulse for reading the encoder, and makes the incoming data stream
available to the controller as a data word in the process image. Different operation modes, SSI clock rates,
codings and data lengths can be set and evaluated. An additional bit can also be displayed directly in the
process image.
The 24V supply of the encoder can be made directly via the supply on the signal distribution board. The
EJ9505 power supply module can be used for an optional 5V supply voltage.
The EJ5002 supports distributed clocks: Cyclic reading of the SSI encoder can thus be started with high
precision, enabling detailed dynamic analysis of the axes in the control system.

EJ5002 - Product description
EJ500218 Version: 1.4
3.2 Technical Data
Technical data EJ5002
Encoder connection Binary input: D+, D-; Binary output: Cl+, Cl-
Supply of power to the internal SSI electronics 24VDC via the power supply of the field side
Current consumption from Up contacts (without
encoder)
typically 20mA (without encoder)
Current consumption via E-bus typ. 120mA
Data transfer rate adjustable up to 1MHz (250kHz preset)
Serial input 24-bit width (adjustable, max 32-bit)
Data direction Read
Distributed Clocks yes
Signal output Differential signal (RS422)
Signal input Differential signal (RS422)
Electrical isolation 500V (E-bus/field voltage)
Configuration via TwinCAT System Manager
Permissible ambient temperature range during
operation
-25°C .. +60°C (extended temperature range)
Permissible ambient temperature range during storage -40 °C .. +85 °C
Permissible relative air humidity 95%, no condensation
Operating altitude max. 2,000m
Dimensions (WxHxD) approx. 12mm x 66mm x 55mm
Weight approx.30g
Mounting on signal distribution board
Pollution degree 2
Mounting position Standard [}26]
Position of the coding pins [}29] 2 and 5
Color coding grey
Vibration/shock resistance conforms to EN60068-2-6/EN60068-2-27 (with
corresponding signal distribution board)
EMC immunity/emission conforms to EN61000-6-2/EN61000-6-4 (with
corresponding signal distribution board)
Protection class EJ module: IP20
EJ system: dependent on the signal distribution
board and housing
Approvals / markings CE, EAC, UKCA,
UL
CE approval
The CE Marking refers to the EtherCAT plug-in module mentioned above.
If the EtherCAT plug-in module is used in the production of a ready-to-use end product (PCB in con-
junction with a housing), the manufacturer of the end product must check compliance of the overall
system with relevant directives and CE certification.
To operate the EtherCAT plug-in modules, they must be installed in a housing.

EJ5002 - Product description
EJ5002 19Version: 1.4
3.3 Pinout
Fig.8: EJ5002 - Pinout
NOTE
Damage to devices possible!
• The pins named with “NC” must not be connected.
• Before installation and commissioning read the chapters Installation of EJ modules
[}22] and Commissioning [}38]!
The PCB footprint can be downloaded from the Beckhoff homepage.
The following points should be considered during design phase and installation:

EJ5002 - Product description
EJ500220 Version: 1.4
Notes for routing and installation
• The SSI information (Clock and Data) are transmitted as differential signals. To ensure a good
EMC immunity, also for long distances, shielded cables with twisted pair conductors should be
used.
ðThe cable shield should be connected to earth at both channel ends and the two end de-
vices should be always at the same reference potential.
ðWhen using externally shielded cables, particular care should be paid, not to damage or to
interrupt the shield itself.
ðShield should be connected near by the connector.
ðRefer also to the corresponding notes of the sensor manufacturer!
• Refer to the guide lines in the design guide for the EtherCAT plug-in modules to ensure a proper
routing of the differential signals!
• The value of each termination resistor should be equal to the cable characteristic impedance,
typically 120Ω for EIA-485 or RS-482 standard.
• Routing of the differential signals should be impedance controlled with typically 120Ω for
EIA-485 or RS-482 standard. Traces wide should be >0.2mm, the maximum ampacity need to
be taken into account.
• To improve the EMC immunity it may be helpful to connect the two signal channels on two differ-
ent connectors