Beckhoff EPP6001-0002 Operator's manual

Documentation | EN
EPP6001-0002
1-channel serial interface (RS232 / RS422 / RS485)
2023-02-01 | Version: 1.3

Table of contents
EPP6001-0002 3Version: 1.3
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 Scope of supply...............................................................................................................................11
3.4 Process image ................................................................................................................................12
3.4.1 Control word..................................................................................................................... 14
3.4.2 Status word ......................................................................................................................14
3.5 Technology......................................................................................................................................15
4 Mounting and connection.......................................................................................................................16
4.1 Mounting .........................................................................................................................................16
4.1.1 Dimensions ......................................................................................................................16
4.1.2 Fixing................................................................................................................................ 17
4.1.3 Functional earth (FE) ....................................................................................................... 17
4.1.4 Tightening torques for plug connectors............................................................................ 17
4.2 EtherCATP .....................................................................................................................................18
4.2.1 Connectors....................................................................................................................... 19
4.2.2 Status LEDs .....................................................................................................................20
4.2.3 Conductor losses ............................................................................................................. 21
4.3 RS232 .............................................................................................................................................22
4.3.1 Connector......................................................................................................................... 22
4.3.2 Status LEDs .....................................................................................................................22
4.4 RS422 .............................................................................................................................................23
4.4.1 Connectors....................................................................................................................... 23
4.4.2 Status LEDs .....................................................................................................................23
4.5 RS485 .............................................................................................................................................24
4.5.1 Connector......................................................................................................................... 24
4.5.2 Status LEDs .....................................................................................................................24
4.6 Digital inputs/outputs.......................................................................................................................25
4.6.1 Connector......................................................................................................................... 25
4.6.2 Status LEDs .....................................................................................................................25
4.6.3 Examples of external connections ................................................................................... 26
4.7 UL Requirements ............................................................................................................................27
4.8 Disposal ..........................................................................................................................................28
5 Commissioning/Configuration...............................................................................................................29
5.1 Integrating into a TwinCAT project..................................................................................................29
5.2 Serial interface ................................................................................................................................30
5.2.1 Setting the interface type ................................................................................................. 30
5.2.2 Setting the interface parameters ...................................................................................... 34

Table of contents
EPP6001-00024 Version: 1.3
5.2.3 Communication by PLC program ..................................................................................... 35
5.2.4 Communication via a virtual COM port ............................................................................ 37
5.3 Digital inputs/outputs.......................................................................................................................38
5.3.1 Activating process data .................................................................................................... 38
5.3.2 Assignment of connector pins to process data ................................................................ 38
5.4 CoE objects.....................................................................................................................................39
5.4.1 Directory........................................................................................................................... 39
5.4.2 Object description and parameterization.......................................................................... 40
5.5 Restoring the delivery state.............................................................................................................54
5.6 Decommissioning............................................................................................................................55
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
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
EPP6001-0002 5Version: 1.3
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
EPP6001-00026 Version: 1.3
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
EPP6001-0002 7Version: 1.3
1.3 Documentation Issue Status
Version Comment
1.3 • EtherCATP status LEDs updated
1.2 • Dimensions updated
• UL requirements updated
1.1 • Front page updated
• Structure update
1.0 • First release
Firmware and hardware versions
This documentation refers to the firmware and hardware version that was applicable at the time the
documentation was written.
The module features are continuously improved and developed further. Modules having earlier production
statuses cannot have the same properties as modules with the latest status. However, existing properties
are retained and are not changed, so that older modules can always be replaced with new ones.
The firmware and hardware version (delivery state) can be found in the batch number (D-number) printed on
the side of the EtherCAT Box.
Syntax of the batch number (D-number)
D: WW YY FF HH
WW - week of production (calendar week)
YY - year of production
FF - firmware version
HH - hardware version
Example with D no. 29 10 02 01:
29 - week of production 29
10 - year of production 2010
02 - firmware version 02
01 - hardware version 01
Further information on this topic: Version identification of EtherCAT devices [}58].

Product group: EtherCATPBox modules
EPP6001-00028 Version: 1.3
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
EPP6001-0002 9Version: 1.3
3 Product overview
3.1 Introduction
Fig.1: EPP6001-0002
EPP6001-0002 | 1-channel serial interface, RS232, RS422/RS485
The EPP6001-0002 serial interface module allows the connection of devices with an RS232 or RS422/
RS485 interface. The module transmits the data in a fully transparent manner to the higher-level automation
device. The active serial communication channel functions independently of the higher-level bus system in
full duplex mode at up to 115,200 baud, while a 864 byte receive buffer and a 128 byte send buffer are
available. The 1-channel version has an increased end device power supply of up to 1A, the connector
assignment depends on the selected interface. The two integrated digital inputs/outputs allow the connection
of additional sensors/actuators in order, for example, to trigger the reading process of the barcode reader or,
depending on the result, to initiate an action. In conjunction with the TwinCAT Virtual Serial COM Driver
EPP6001-0002 can be used as a normal Windows COM interface.

Product overview
EPP6001-000210 Version: 1.3
3.2 Technical data
All values are typical values over the entire temperature range, unless stated otherwise.
Technical data EPP6001-0002
Fieldbus
Fieldbus EtherCAT
Connection EtherCAT P: Combined connection for EtherCAT and supply
voltages
Input: 1 x M8 socket, 4-pin, P-coded
Downstream connection: 1 x M8 socket, 4-pin, P-coded
Supply voltages
Connection See Fieldbus connection
Control voltage US
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 3A 1)
Consumers • Module electronics: 100mA
• Remote communication station (e.g. barcode scanner)
• Loads at digital outputs
Peripheral voltage UP
Nominal voltage 24VDC (-15%/ +20%)
Sum current max. 3A 1)
Current consumption from UPNone. UP is only forwarded.
Serial interface
Number of channels 1
Interface type Parameterizable:
• RS232
• RS422
• RS485
Connection RS232: 1x M12 socket
RS422: 2x M12 socket
RS485: 1x M12 socket
End device supply voltage 2) 5VDC from the control voltage US
max. 1A, short-circuit proof
Cable length RS232: max. 15m
RS422/RS485: max. 1,000m
Data transfer rate Parameterizable:
300 .. 115,200baud (bit/s)
Data format Parameterizable:
8N1, 7E1, 7O1, 8N1, 8E1, 8O1, 7E2, 7O2, 8N2, 8E2, 8O2
Bit distortion <3%
1) Sum current of consumers and power transmission.
2) Supply voltage available at the connections of the serial interface.

Product overview
EPP6001-0002 11Version: 1.3
Technical data EPP6001-0002
Digital inputs/outputs
Number 2
Connection 1x M12 socket
I/O supply voltage 3) 24VDC from the control voltage US
max. 0.5A, short-circuit proof
Input specification
Characteristics Type 3 according to EN 61131-2, compatible with type 1
Input filter 10µs
Signal voltage “0” -3.. +5VDC
Signal voltage "1" +11.. +30VDC
Input current 3mA at 24VDC
Output specification
Load type ohmic, inductive, lamp load
Nominal voltage 24 VDC (-15%/+20%) from the control voltage US
Output current max. 0.5A per channel, short-circuit proof
Environmental conditions
Ambient temperature during operation -25…+60°C
-25…+55°C according to cULus
Ambient temperature during storage -40…+85°C
Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27
Additional checks
EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4
Protection class IP65, IP66, IP67 (conforms to EN 60529)
Mechanics
Weight approx. 165g
Installation position variable
Approvals and conformity
Approvals CE, cULus
3) Supply voltage available at the connection of the digital inputs/outputs.
3.3 Scope of supply
Make sure that the following components are included in the scope of delivery:
• 1x EtherCAT P Box EPP6001-0002
• 2x protective cap for EtherCATP socket, M8, red (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
EPP6001-000212 Version: 1.3
3.4 Process image
COM Inputs
Status
Status word for receive data.
Data In [n]
The input variables "Data In 0" .. "Data In 22" each
contain one byte of receive data (USINT).
"Data In 0" contains the first-received byte.

Product overview
EPP6001-0002 13Version: 1.3
COM outputs
Ctrl
Control word for transmit data.
Data Out [n]
The output variables "Data Out 0" .. "Data Out 22"
can each be filled with one byte of send data.
The content of "Data Out 0" is transmitted first.

Product overview
EPP6001-000214 Version: 1.3
3.4.1 Control word
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Name OL7 OL6 OL5 OL4 OL3 OL2 OL1 OL0 - - - - SC IR RA TR
Bit no. Name Description
15.. 8 OL7…OL0
(OutLength)
1dec…22dec The number of output bytes available for the transmission from the controller to the
box.
7..4 reserved
3 SC
(SendContinuous)
rise Continuous sending of data from the FIFO.
The send buffer is filled (up to 128 bytes) by the controller. The buffer content is sent
with rising edge of bit SC. Once the data has been transferred, this is acknowledged
by the box to the controller by setting the SW.2 bit. SW.2 is cancelled with CW.3.
2 IR
(InitRequest)
1bin The controller requests the box to initialize. The send and receive functions are
blocked, the FIFO pointers are reset, and the interface is initialized with the values of
the responsible objects (baud rate 4073, data frame 4074, feature bits 4075). The
execution of the initialization is acknowledged by the box with the SW.2 (IA) bit.
0bin The controller once again requests the box to prepare for serial data exchange.
1 RA
(ReceiveAccepted)
toggle The controller acknowledges receipt of data by changing the state of this bit. Only
then can new data be transferred from the box to the controller.
0 TR
(TransmitRequest)
toggle Via a change of state of this bit the controller notifies the box that the DataOut bytes
contain the number of bytes indicated via the OL bits. The box acknowledges receipt
of the data in the status byte by changing the state of the SW.0 (TA) bit. Only then
can new data be transferred from the controller to the box.
3.4.2 Status word
Bit 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Name IL7 IL6 IL5 IL4 IL3 IL2 IL1 IL0 - OVERRUN
ERR
FRAMING
ERR
PARITY
ERR
BUF_F IA RR TA
Key
Bit no. Name Description
15...8 IL7... IL0
(InLength)
1dec.. 22dec The number of input bytes available for the transmission from the box to the con-
troller.
7 reserved
6 OVERRUN ERR 0 .. 1 An overrun error has occurred. The data concerned is not loaded to the receive
FIFO of the box and is lost.
5 FRAMING ERR 0 .. 1 A framing error has occurred. The data concerned is not loaded to the receive FIFO
of the box and is lost.
4 PARITY ERR 0 .. 1 A parity error has occurred. The data concerned is not loaded to the receive FIFO of
the box and is lost.
3 BUF_F 1 The number of bytes in the receive buffer exceeds the value of parameter 8010:1A
"Rx buffer full notification" (factory setting: 864bytes).
2 IA
(InitAccepted)
1 The initialization has been executed by the box.
0 The box is ready again for serial data exchange.
1 RR
(ReceiveRequest)
toggle Via a change of state of this bit the box notifies the controller that the DataIn bytes
contain the number of bytes indicated via the IL bits. The controller has to acknowl-
edge receipt of the data in the control byte via a change of state of bit CW.1 (RA).
Only then can new data be transferred from the box to the controller.
0 TA
(TransmitAccepted)
toggle The box acknowledges the receipt of data by changing the state of this bit. Only then
can new data be transferred from the controller to the box.

Product overview
EPP6001-0002 15Version: 1.3
3.5 Technology
Fig.2: Level of RS232, RS422, RS485 interfaces
Data transfer rate
The process image contains 22bytes of user data. It is possible to transmit or receive these 22bytes every
second PLC cycle at the most:
• The data is transferred from the box to the controller in the first PLC cycle.
• In the second PLC cycle, the controller must acknowledge that it has accepted the data.
Therefore, if the cycle time is 10ms, 50times 22bytes can be transmitted per second.
If the data format is set to 8N1, each transmitted byte is made up of a start bit, eight data bits and a stop bit.
This is equivalent to 10bits per byte of user data.
With the above-mentioned settings, a continuous data transfer rate of:
• 50[1/s] x 22[bytes] x 10[bits] = 11000 baud (bit/s)
can be achieved.
The next lower standard data transfer rate is 9600baud. Accordingly, continuous transfer at a maximum
baud rate of9600 can be secured with a cycle time of 10ms.
If only low quantities of data are transmitted or received sporadically (e.g.barcode scanner), the data
transfer rate can also be set higher, or the cycle time can be enlarged.
If the controller cannot fetch the data quickly enough from the box, they are buffered in the box's receive
buffer. All further data are lost if the receive buffer is full.
A buffer is also available for the send data. With a baud rate of 300 and a data format of 8N1, the box can
only transmit 30bytespersecond. However, if more than 30bytecome inpersecond, the send buffer is
written to first in this case also. Once this is full, all further data will be lost.

Mounting and connection
EPP6001-000216 Version: 1.3
4 Mounting and connection
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 connection
EPP6001-0002 17Version: 1.3
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.3: Connection for functional earth (FE)
4.1.4 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

Mounting and connection
EPP6001-000218 Version: 1.3
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 [}27].
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 connection
EPP6001-0002 19Version: 1.3
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) [}17].
Fig.4: Connectors for EtherCATP
1
2
3
4
Fig.5: 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 connection
EPP6001-000220 Version: 1.3
4.2.2 Status LEDs
4.2.2.1 Supply voltage
EtherCATPBox modules indicate the status of the supply voltages via two status LEDs. The status LEDs
are labeled with the designations of the supply voltages: Us and Up.
LED Display Meaning
US
(control voltage)
off US not present.
green illuminated US present.
red illuminated Error. 1)
UP
(peripheral voltage)
off UP not present.
green illuminated UP present.
red illuminated Error. 1)
1) Overload of the sensor supply/auxiliary voltage output at the signal interfaces.
You can find out whether the sensor supply/auxiliary voltage is derived from US or from UP from the
assignment of the signal interfaces.
4.2.2.2 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