Documentation for

EPP2xxx

EtherCAT P Box Modules with digital outputs

1.0.42017-07-27

Version:Date:

Table of contents

EPP2xxx 3Version: 1.0.4

Table of contents1 Foreword .................................................................................................................................................... 5

1.1 Notes on the documentation........................................................................................................... 51.2 Safety instructions .......................................................................................................................... 61.3 Documentation issue status............................................................................................................ 7

2 Product overview....................................................................................................................................... 82.1 EtherCAT P Box - Introduction ....................................................................................................... 82.2 EPP2xxx Module overview ........................................................................................................... 102.3 EPP2008-000x.............................................................................................................................. 11

2.3.1 EPP2008-000x - Introduction........................................................................................... 112.3.2 EPP2008-000x - Technical data ...................................................................................... 132.3.3 EPP2008-000x - Process image...................................................................................... 14

2.4 EPP2816-0008 ............................................................................................................................. 152.4.1 EPP2816-0008 - Introduction........................................................................................... 152.4.2 EPP2816-0008 - Technical data ...................................................................................... 162.4.3 EPP2816-0008 - Status LEDs ......................................................................................... 172.4.4 EPP2816-0008 - Process image...................................................................................... 18

2.5 EPP2308-000x, EPP2318-000x ................................................................................................... 212.5.1 EPP2308-000x, EPP2318-000x - Introduction................................................................. 212.5.2 EPP2308-000x, EPP2318-000x - Technical data ............................................................ 232.5.3 EPP2308-000x, EPP2318-000x - Process image............................................................ 24

2.6 EPP2316-000x.............................................................................................................................. 252.6.1 EPP2316-000x - Introduction........................................................................................... 252.6.2 EPP2316-000x - Technical data ...................................................................................... 272.6.3 EPP2316-0008 - Status LEDs ......................................................................................... 282.6.4 EPP2316-000x – Process image ..................................................................................... 29

2.7 EPP2338-x00x.............................................................................................................................. 322.7.1 EPP2338-x00x - Introduction ........................................................................................... 322.7.2 EPP2338-x00x - Technical data ...................................................................................... 342.7.3 EPP2338-x00x - Process image ...................................................................................... 35

3 Mounting and cabling ............................................................................................................................. 373.1 Mounting ....................................................................................................................................... 37

3.1.1 Dimensions ...................................................................................................................... 373.1.2 Fixing................................................................................................................................ 393.1.3 Nut torque for connectors ................................................................................................ 41

3.2 EtherCAT P................................................................................................................................... 433.2.1 EtherCAT P - voltage and signal supply .......................................................................... 433.2.2 EtherCAT P – calculate the cable length, voltage and current ........................................ 443.2.3 EtherCAT P LEDs ............................................................................................................ 44

3.3 EtherCAT-P-supply....................................................................................................................... 453.3.1 EtherCAT P connection ................................................................................................... 453.3.2 Status LEDs for power supply.......................................................................................... 47

3.4 Cabling.......................................................................................................................................... 483.5 UL Requirements.......................................................................................................................... 513.6 ATEX Notes .................................................................................................................................. 52

3.6.1 ATEX - Special conditions ............................................................................................... 523.6.2 BG2000-0000 - EtherCAT Box protection enclosure ....................................................... 533.6.3 ATEX Documentation ...................................................................................................... 55

4 Signal connection.................................................................................................................................... 56

Table of contents

EPP2xxx4 Version: 1.0.4

4.1 Supply and connection of sensor/actuator to EPP boxes............................................................. 564.2 Digital outputs M8 and M12 .......................................................................................................... 564.3 Digital outputs Sub-D 25, 16 channels ......................................................................................... 574.4 Digital In-/Outputs M8 and M12 .................................................................................................... 584.5 Digital inputs M8 and M12 ............................................................................................................ 594.6 Digital inputs and outputs Sub-D 25 ............................................................................................. 604.7 Digital inputs and outputs ZS2001, 8 channels ............................................................................ 61

4.7.1 Ordering information for KM plug-in connector ................................................................ 624.7.2 Technical Data ................................................................................................................. 63

5 Commissioning/Configuration ............................................................................................................... 645.1 Offline configuration settings - TwinCAT ...................................................................................... 645.2 Online configuration settings - TwinCAT ...................................................................................... 685.3 Configuration via TwinCAT ........................................................................................................... 755.4 Restoring the delivery state .......................................................................................................... 88

6 Appendix .................................................................................................................................................. 896.1 General operating conditions........................................................................................................ 896.2 EtherCAT Box- / EtherCAT P Box - Accessories.......................................................................... 916.3 Support and Service ..................................................................................................................... 92

Foreword

EPP2xxx 5Version: 1.0.4

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 whoare familiar with the applicable national standards.It is essential that the documentation and the following notes and explanations are followed when installingand commissioning these components.It is the duty of the technical personnel to use the documentation published at the respective time of eachinstallation and commissioning.

The responsible staff must ensure that the application or use of the products described satisfy all therequirements 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 underdevelopment.

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 thedata, diagrams and descriptions in this documentation.

Trademarks

Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®, XFC® and XTS® are registeredtrademarks of and licensed by Beckhoff Automation GmbH.Other designations used in this publication may be trademarks whose use by third parties for their ownpurposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications andpatents: EP1590927, EP1789857, DE102004044764, DE102007017835 with corresponding applications orregistrations in various other countries.

The TwinCAT Technology is covered, including but not limited to the following patent applications andpatents: EP0851348, US6167425 with corresponding applications or registrations in various other countries.

EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,Germany

EtherCAT P® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH &Co. KG, Germany

Copyright

© Beckhoff Automation GmbH & Co. KG, Germany.The reproduction, distribution and utilization of this document as well as the communication of its contents toothers 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 apatent, utility model or design.

Foreword

EPP2xxx6 Version: 1.0.4

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 theapplication. Modifications to hardware or software configurations other than those described in thedocumentation 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 arefamiliar with the applicable national standards.

Description of symbols

In this documentation the following symbols are used with an accompanying safety instruction or note. Thesafety instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!Failure to follow the safety instructions associated with this symbol directly endangers thelife and health of persons.

WARNING

Risk of injury!Failure to follow the safety instructions associated with this symbol endangers the life andhealth of persons.

CAUTION

Personal injuries!Failure to follow the safety instructions associated with this symbol can lead to injuries topersons.

Attention

Damage to the environment or devicesFailure to follow the instructions associated with this symbol can lead to damage to the en-vironment or equipment.

Note

Tip or pointerThis symbol indicates information that contributes to better understanding.

Foreword

EPP2xxx 7Version: 1.0.4

1.3 Documentation issue statusVersion Changes1.0.4 • EtherCAT P – calculate the cable length, voltage and current added

• Cabling updated• Additional checks added

1.0.3 • Signal connection updated1.0.2 • EPP2xxx Module overview updated1.0.1 • EtherCAT P connection updated1.0.0 • First publication0.5 • First preliminary version

Firmware and hardware versions

This documentation refers to the firmware and hardware version that was applicable at the time thedocumentation was written.

The module features are continuously improved and developed further. Modules having earlier productionstatuses cannot have the same properties as modules with the latest status. However, existing propertiesare 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 onthe 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 productionFF - firmware versionHH - hardware version

Example with D no. 29 10 02 01:

29 - week of production 2910 - year of production 201002 - firmware version 0201 - hardware version 01

Product overview

EPP2xxx8 Version: 1.0.4

2 Product overview

2.1 EtherCAT P Box - IntroductionThe EtherCAT system has been extended with EtherCAT P Box modules with protection class IP 67.Through the integrated EtherCAT P interface the modules can be connected directly to an EtherCAT Pnetwork without an additional Coupler Box. Through an adapter an EtherCAT P Box can be connected to anEtherCAT Box whereby voltage must be supplied externally. The high-performance of EtherCAT is thusmaintained 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 FieldbusBox extension modules and EtherCAT Box modules. They are thus particularly suitable for use where spaceis at a premium. The small mass of the EtherCAT P modules facilitates applications with mobile I/O interface(e.g. on a robot arm). The EtherCAT P connection is established via screened M8 connectors.

Fig. 1: EtherCAT P Box Modules within an EtherCAT network

The robust design of the EtherCAT P Box modules enables them to be used directly at the machine. Controlcabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideallyprepared for wet, dirty or dusty conditions.

Pre-assembled cables significantly simplify EtherCAT P and signal wiring. Very few wiring errors are made,so that commissioning is optimized. In addition to pre-assembled EtherCAT P, 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 P 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.

Product overview

EPP2xxx 9Version: 1.0.4

Fig. 2: EtherCAT P Box with M8 connections for sensors/actuators

Fig. 3: EtherCAT P Box with M12 connections for sensors/actuators

Note

Basic EtherCAT documentationYou will find a detailed description of the EtherCAT system in the Basic System Documen-tation for EtherCAT, which is available for download from our website (www.beckhoff.com)under Downloads.

Note

XML filesYou will find XML files (XML Device Description Files) for Beckhoff EtherCAT P modules onour website (www.beckhoff.com) under Downloads, in the Configuration Files area.

Product overview

EPP2xxx10 Version: 1.0.4

2.2 EPP2xxx Module overview

Digital output modules

Module Signal connec-tion

Number ofoutputs

Current Comment

EPP2008-0001 [ 11] 8 x M8 8 0.5 A Maximum of the total of all outputs3 A

EPP2008-0002 [ 11] 4 x M12 8 0.5 A Maximum of the total of all outputs3 A

EPP2816-0008 [ 15] 1 x D-Sub 25 16 0.5 A (Σ 3 A) Maximum of the total of all outputs3 A

Digital combination modules

Module Signal connec-tion

Number ofoutputs

Current Number of inputs Filter

EPP2308-0001 [ 21] 8 x M8 4 0.5 A 4 3.0 ms

EPP2308-0002 [ 21] 4 x M12 4 0.5 A 4 3.0 ms

EPP2316-0003 [ 25] 2 x ZS2001 8 0.5 A 8 10 µs

EPP2316-0008 [ 25] 1 x D-Sub 25 8 0.5 A 8 10 µs

EPP2318-0001 [ 21] 8 x M8 4 0.5 A 4 10 µs

EPP2318-0002 [ 21] 4 x M12 4 0.5 A 4 10 µs

EPP2338-0001 [ 32] 8 x M8 0 to 8 0.5 A (Σｰ 4 A) 8 to 0 10 µs

EPP2338-0002 [ 32] 4 x M12 0 to 8 0.5 A (Σ 4 A) 8 to 0 10 µs

EPP2338-1001 [ 32] 8 x M8 0 to 8 0.5 A (Σ 4 A) 8 to 0 3.0 ms

EPP2338-1002 [ 32] 4 x M12 0 to 8 0.5 A (Σ 4 A) 8 to 0 3.0 ms

Product overview

EPP2xxx 11Version: 1.0.4

2.3 EPP2008-000x

2.3.1 EPP2008-000x - Introduction

Fig. 4: EPP2008-0001

Fig. 5: EPP2008-0002

EPP2008-000x | 8-channel digital output 24 V DC, IMAX = 0.5 A

The EPP2008 EtherCAT P Box with digital outputs connects binary control signals from the controller on tothe actuators at the process level. The eight outputs handle load currents of up to 0.5 A and indicate theirstatus through light emitting diodes. The signals are optionally connected via M8 (EPP2008-0001) or M12(EPP2008-0002) screw type connectors. The outputs are short-circuit-proof and protected against inverseconnection.

Product overview

EPP2xxx12 Version: 1.0.4

Quick links

Installation [ 37]

Commissioning/Configuration [ 64]

Product overview

EPP2xxx 13Version: 1.0.4

2.3.2 EPP2008-000x - Technical dataTechnical data EPP2008-0001 EPP2008-0002Fieldbus EtherCATBus interface [ 45] Feed: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Onward connection: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Number of outputs 8Output connections [ 56] M8, screwable M12, screwableLoad type ohmic, inductive, lamp loadRated output voltage 24 VDC (-15%/+20%)Output current max. 0.5 A each channel, total current of all outputs max. 3 AShort circuit current typically 1.5 AModule electronic supply derived from control voltage, UsModule electronic currentconsumption

typically 55 mA

Output driver supply derived from load voltage, UP

Output driver currentconsumption

typically 8 mA per channel

Process image 8 output bitsPermissible ambienttemperature during operation

-25 °C ... +60 °C

Permissible ambienttemperature during storage

-40 °C ... +85 °C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27, see also Additional checks[ 39]

EMC resistance/emission conforms to EN 61000-6-2 / EN 61000-6-4Protection class IP65, IP66, IP67 (conforms to EN 60529)Installation position variableApprovals CE

Product overview

EPP2xxx14 Version: 1.0.4

2.3.3 EPP2008-000x - Process image

Channel 1 to Channel 8

You will find the 8 digital outputs from the module (here using the EPP2008-0001 as an example) underChannel 1 to Channel 8.

Fig. 6: EPP2008-000x, Process image

Product overview

EPP2xxx 15Version: 1.0.4

2.4 EPP2816-0008

2.4.1 EPP2816-0008 - Introduction

Fig. 7: EPP2816-0008

EPP2816-0008 | 16-channel digital output 24 V DC, IMAX = 0.5 A (∑ 3 A)

The EPP2816 EtherCAT P Box with digital outputs connects the binary control signals from the controller onto the actuators at the process level. The sixteen outputs handle load currents of up to 0.5 A each, althoughthe total current is limited to 3 A. This makes these modules particularly suitable for applications in which notall of the outputs are active at the same time, or in which not all of the actuators draw 0.5 A current. Anoutput short-circuit is recognised and passed on to the controller.

The signal state is indicated in groups by means of light emitting diodes. The signal connection is realised bya 25-pin D-sub socket (EPP2816-0008). The EPP2816 is thus ideally suited for multi-pin connector valveterminals. All outputs are short-circuit-proof, protected against inverse connection and can be diagnosed.

Quick links

Installation [ 37]

Comissioning/Configuration [ 64]

Product overview

EPP2xxx16 Version: 1.0.4

2.4.2 EPP2816-0008 - Technical dataTechnical data EPP2816-0008Fieldbus EtherCATBus interface [ 45] Feed: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Onward connection: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Number of outputs 16Output connections [ 57] 25 pin SUB-D socketLoad type ohmic, inductive, lamp loadRated output voltage 24 VDC (-15%/+20%)Output current max. 0.5 A each channel, individually short-circuit proof, total current of all

outputs max. 3 AShort circuit current typically 1.5 ADistributed clocks yesModule electronic supply derived from control voltage, UsModule electronic currentconsumption

typically 65 mA

Output driver supply derived from load voltage, UP

Output driver currentconsumption

max. 30 mA for all channels

Process image [ 18] 16 output bits, 16 input bits (diagnostic)Permissible ambienttemperature during operation

-25 °C ... +60 °C

Permissible ambienttemperature during storage

-40 °C ... +85 °C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27, see also Additional checks[ 39]

EMC resistance/emission conforms to EN 61000-6-2 / EN 61000-6-4Protection class IP65, IP66, IP67 (conforms to EN 60529)Installation position variableApprovals CE

Product overview

EPP2xxx 17Version: 1.0.4

2.4.3 EPP2816-0008 - Status LEDs

Fig. 8: EPP2816-0008 - Status-LEDs

LED display

LED Display MeaningSTATUS 1-8 Green illuminated at least one of the outputs for channel 1-8 is set

Red illuminated at least one of the outputs for channel 1-8 has a short-circuitSTATUS 9-16 Green illuminated at least one of the outputs for channel 9-16 is set

Red illuminated at least one of the outputs for channel 9-16 has a short-circuitUS off The power supply voltage, US, is not present

Green illuminated The power supply voltage, US, is presentUP off The power supply voltage, UP, is not present

Green illuminated The power supply voltage, UP, is present

Product overview

EPP2xxx18 Version: 1.0.4

2.4.4 EPP2816-0008 - Process imageDIG Diag Inputs Channel 1

You will find the diagnostic inputs for the module's first 8 digital outputs under DIGDiag Inputs Channel 1.

Fig. 9: EPP2816-0008, DIG Diag Inputs Channel 1

Diag Input n

Displays an error at output n.

DIG Diag Inputs Channel 2

You will find the diagnostic inputs for the module's second 8 digital outputs under DIG Diag Inputs Channel2

Fig. 10: EPP2816-0008, DIG Diag Inputs Channel 2

Diag Input n

Displays an error at output n.

DIG Inputs Device

Product overview

EPP2xxx 19Version: 1.0.4

You will find the module's status inputs under DIG Inputs Device.

Fig. 11: EPP2816-0008, DIG Inputs Device

Safe state active

Displays that the save state is active. The display works only if the network transmits process data, thatmeans only in the network states Pre-Operational (PRE-OP) und Operational (OP), but not in the networkstate INIT.

Error channel X

Displays an error at channel X.

Sync Error

See EtherCAT System Documentation. The EtherCAT System Documentation is available for download atthe Beckhoff Homepage.

TxPDO Toggle

See EtherCAT System Documentation.

DIG Outputs Channel 1

You will find the first 8 digital outputs of the module under DIGOutputs Channel 1.

Fig. 12: EPP2816-0008, DIG Outputs Channel 1

Product overview

EPP2xxx20 Version: 1.0.4

DIG Outputs Channel 2

You will find the second 8 digital outputs of the module under DIGOutputs Channel 2.

Fig. 13: EPP2816-0008, DIG Outputs Channel 2

DIG Outputs Device

You will find the module's control outputs under DIGOutputs

Fig. 14: EPP2816-0008, DIG Outputs Device

Set safe state

Sets the module to safe state.

Reset outputs

Resets bits „Error channel X“ of the module. The outputs are activated again.

Product overview

EPP2xxx 21Version: 1.0.4

2.5 EPP2308-000x, EPP2318-000x

2.5.1 EPP2308-000x, EPP2318-000x - Introduction

Fig. 15: EPP23x8-0001

Fig. 16: EPP23x8-0002

EPP2308-000x, EPP2318-000x | 4 x digital input + 4 x digital output 24 V DC, IMAX = 0.5 A

The EPP2308 and EPP2318 EtherCAT P Box module combine four digital inputs and four digital outputs inone device.

The state of each signal is indicated by means of light emitting diodes. The signals are connected, optionally,via M8 connectors (EPP2308-0001, EPP2318-0001) or M12 connectors (EPP2308-0002, EPP2318-0002).The outputs handle load currents of up to 0.5 A, are short-circuit proof and protected against inverse polarity.

Product overview

EPP2xxx22 Version: 1.0.4

Quick links

Installation [ 37]

Commissioning/Configuration [ 64]

Product overview

EPP2xxx 23Version: 1.0.4

2.5.2 EPP2308-000x, EPP2318-000x - Technical dataTechnical data EPP2308-0001 EPP2308-0002 EPP2318-0001 EPP2318-0002Fieldbus EtherCATBus interface [ 45] Feed: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Onward connection: 1 x M8 socket, shielded, screw type, 4-pin,EtherCAT-P-coded

Number of inputs 4Input connections [ 59] M8, screwable M12, screwable M8, screwable M12, screwableSpecification EN 61131-2, type 1/3Nominal input voltage 24 VDC (-15%/+20%)Input filter 3.0 ms 3.0 ms 10 µs 10 µs"0" signal voltage -3...+5 V (EN 61131-2, Type 3)"1" signal voltage +11...+30 V (EN 61131-2, Type 3)Input current typically 6 mA (EN 61131-2, Type 3)Sensor supply derived from control voltage US, max. 0.5 A total, short-circuit proofNumber of outputs 4Output connections [ 56] M8, screwable M12, screwable M8, screwable M12, screwableLoad type ohmic, inductive, lamp loadRated output voltage 24 VDC (-15%/+20%)Output current max. 0.5 A each channelShort circuit current max. 1.5 AModule electronic supply derived from control voltage UsModule electronic currentconsumption

typically 60 mA

Output driver supply derived from load voltage UpOutput driver current consumption typically 8 mA per channelProcess image [ 24] 4 input bits, 4 output bitsElectrical isolation Control voltage/fieldbus: yesPermissible ambient temperatureduring operation

-25°C ... +60°C

Permissible ambient temperatureduring storage

-40°C ... +85°C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27, see also Additionalchecks [ 39]

EMC resistance/emission conforms to EN 61000-6-2 / EN 61000-6-4Protection class IP65, IP66, IP67 (conforms to EN 60529)Installation position variableApprovals CE

Product overview

EPP2xxx24 Version: 1.0.4

2.5.3 EPP2308-000x, EPP2318-000x - Process image

Digital inputs

You will find the 4 digital inputs to the module (here using the EPP2308-0002 as an example) underChannel 1 to Channel 4.

Fig. 17: EPP23x8-000x, Process image digital inputs

Digital outputs

You will find the 4 digital outputs to the module (here using the EPP2308-0002 as an example) underChannel 5 to Channel 8.

Fig. 18: EPP23x8-000x, Process image digital outputs

Product overview

EPP2xxx 25Version: 1.0.4

2.6 EPP2316-000x

2.6.1 EPP2316-000x - Introduction

Fig. 19: EPP2316-0003

Fig. 20: EPP2316-0008

EPP2316-000x | 8 x digital input + 8 x digital output 24 V DC, IMAX = 0.5 A

The EPP2316 EtherCAT-P-Box combines eight digital inputs and eight digital outputs in one device. A filterconstant of 10 μs is available for the inputs.

The outputs handle load currents of up to 0.5 A, are short-circuit proof and protected against inverse polarity.

The signal connection is made through a 25-pin sub-D socket (EPP2316-0008). For the signal connectiontwo ZS2001 connectors with a spring-loaded system are used (EPP2316-0003), optionally available with 1 or3 pins. The module is supplied without connectors.

Product overview

EPP2xxx26 Version: 1.0.4

The signal state and the status are displayed in groups by light emitting diodes.

Quick links

Installation [ 37]

Commissioning/Configuration [ 64]

Product overview

EPP2xxx 27Version: 1.0.4

2.6.2 EPP2316-000x - Technical dataTechnical data EPP2316-0008 EPP2316-0003Fieldbus EtherCATBus interface [ 45] Feed: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Onward connection: 1 x M8 socket, shielded, screw type, 4-pin,EtherCAT-P-coded

Number of inputs 8Input connections 24 pin SUB-D socket [ 60] (pins

1…8)ZS2001 [ 61] connector withspring-loaded system

Specification EN 61131-2, type 1/3Nominal input voltage 24 VDC (-15%/+20%)Input filter 10 µs"0" signal voltage -3...+5 V (EN 61131-2, Type 3)"1" signal voltage +11...+30 V (EN 61131-2, Type 3)Input current typically 6 mA (EN 61131-2, Type 3)Sensor supply derived from control voltage US, max. 0.5 A total, short-circuit proofNumber of outputs 8Output connections 24 pin SUB-D socket [ 60] (pins

9…16)ZS2001 [ 61] connector withspring-loaded system

Load type ohmic, inductive, lamp loadRated output voltage 24 VDC (-15%/+20%)Output current max. 0.5 A each channel, individually short-circuit proof, total current

of all outputs max. 3 AShort circuit current max. 1.5 AModule electronic supply derived from control voltage UsModule electronic currentconsumption

typically 65 mA

Output driver supply derived from load voltage UpOutput driver current consumption max. 30 mA for all channelsProcess image[ 29]

Process data 8 input bits, 8 output bitsDiagnostic 8 diagnostic input bits

Permissible ambient temperatureduring operation

-25°C ... +60°C

Permissible ambient temperatureduring storage

-40°C ... +85°C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27, see also Additionalchecks [ 39]

EMC resistance/emission conforms to EN 61000-6-2 / EN 61000-6-4Protection class IP65, IP66, IP67 (conforms to EN

60529)IP20

Installation position variableApprovals CE

Product overview

EPP2xxx28 Version: 1.0.4

2.6.3 EPP2316-0008 - Status LEDs

Fig. 21: EPP2316-0008 - Status-LEDs

LED display

LED Display MeaningSTATUS 1-8 Green illuminated A signal (24 V) is present at a least one of the inputs for channels

1-8STATUS 9-16 Green illuminated at least one of the outputs for channel 9-16 is set

Red illuminated at least one of the outputs for channel 9-16 has a faultUS off The power supply voltage, US, is not present

Green illuminated The power supply voltage, US, is presentUP off The power supply voltage, UP, is not present

Green illuminated The power supply voltage, UP, is present

Product overview

EPP2xxx 29Version: 1.0.4

2.6.4 EPP2316-000x – Process imageAs an example, the process image of EPP2316-0008 is shown below.

DIG Inputs

You will find the 8 digital inputs of the module under DIG Inputs.

Fig. 22: EPP2316-0008, DIG Inputs

DIG Diag Inputs

You will find the diagnostic inputs for the module's 8 digital outputs under DIG Diag Inputs.

Fig. 23: EPP2316-0008, DIG Diag Inputs

Diag Input n

Displays an error at output n.

DIG Inputs Device

You will find the module's status inputs under DIG Inputs Device.

Product overview

EPP2xxx30 Version: 1.0.4

Fig. 24: EPP2316-0008, DIG Inputs Device

Safe state active

Displays that the save state is active. The display works only if the network transmits process data, thatmeans only in the network states Pre-Operational (PRE-OP) und Operational (OP), but not in the networkstate INIT.

Error channel X

Displays an error at channel X.

Sync Error

See EtherCAT System Documentation. The EtherCAT System Documentation is available for download atthe Beckhoff Homepage.

TxPDO Toggle

See EtherCAT System Documentation.

DIG Outputs

You will find the 8 digital outputs of the module under DIG Outputs.

Fig. 25: EPP2316-0008, DIG Outputs

DIG Outputs Device

You will find the module's control outputs under DIG Outputs Device.

Product overview

EPP2xxx 31Version: 1.0.4

Fig. 26: EPP2316-0008, DIG Outputs Device

Set safe state

Sets the module to safe state.

Reset outputs

Resets bits „Error channel X“ of the module. The outputs are activated again.

Product overview

EPP2xxx32 Version: 1.0.4

2.7 EPP2338-x00x

2.7.1 EPP2338-x00x - Introduction

Fig. 27: EPP2338-x001

Fig. 28: EPP2338-x002

EPP2338-x00x | 8-channel digital input or output 24 V DC

The EPP2338 EtherCAT P Box has eight digital channels, each of which can optionally be operated as aninput or as an output. A configuration for using a channel as input or output is not necessary; the input circuitis internally connected to the output driver, so that a set output is displayed automatically in the input processimage.

The outputs handle load currents of up to 0.5 A, are short-circuit-proof and protected against inverse polarity.The filter constant of the inputs is 10 µs (EPP2338-000x) or 3 ms (EPP2338-100x).

Product overview

EPP2xxx 33Version: 1.0.4

The state of each signal is indicated by means of light emitting diodes. The signals are connected via M8(EPP2338-x001) or M12 connectors (EPP2338-x002).

Note

The connected sensors are powered via UP, not from US

The EtherCAT P Box EPP2338 supplies digital sensors in contrast to many other modulesfrom the load voltage UP, not from the control voltage US! This happens because the con-nectors can be used alternatively as input or as output. Anyway an overload of the sensorsupply (current > 0.5 A) is here also displayed by red shining of the LED US.

Quick link

Installation [ 37]

Commissioning/Configuration [ 64]

Product overview

EPP2xxx34 Version: 1.0.4

2.7.2 EPP2338-x00x - Technical dataTechnical data EPP2338-0001 EPP2338-0002 EPP2338-1001 EPP2338-1002Fieldbus EtherCATBus interface [ 45] Feed: 1 x M8 socket, shielded, screw type, 4-pin, EtherCAT-P-coded

Onward connection: 1 x M8 socket, shielded, screw type, 4-pin,EtherCAT-P-coded

Number of inputs 0 to 8Input connections [ 58] M8, screwable M12, screwable M8, screwable M12, screwableSpecification EN 61131-2, type 1/3Nominal input voltage 24 VDC (-15%/+20%)Input filter 10 µs 10 µs 3.0 ms 3.0 ms"0" signal voltage -3...+5 V (EN 61131-2, Type 3)"1" signal voltage +11...+30 V (EN 61131-2, Type 3)Input current typically 6 mA (EN 61131-2, Type 3)Sensor supply derived from load voltage UP, max. 0.5 A total, short-circuit proofNumber of outputs 8 to 0Output connections [ 58] M8, screwable M12, screwable M8, screwable M12, screwableLoad type ohmic, inductive, lamp loadRated output voltage 24 VDC (-15%/+20%)Output current max. 0.5 A each channel, individually short-circuit proof, total current

of all outputs max. 3 AShort circuit current max. 1.5 AModule electronic supply derived from control voltage UsModule electronic currentconsumption

typically 55 mA

Output driver supply derived from load voltage UpOutput driver current consumption max. 30 mA for all channelsProcess image [ 35] 8 input bits, 8 output bitsPermissible ambient temperatureduring operation

-25°C ... +60°C

Permissible ambient temperatureduring storage

-40°C ... +85°C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27, see also Additionalchecks [ 39]

EMC resistance/emission conforms to EN 61000-6-2 / EN 61000-6-4Protection class IP65, IP66, IP67 (conforms to EN 60529)Installation position variableApprovals CE

Product overview

EPP2xxx 35Version: 1.0.4

2.7.3 EPP2338-x00x - Process image

Dig Inputs

You will find the 8 digital inputs to the module (here using the EPP2338-0001 as an example) underChannel1 to Channel 8.

Fig. 29: EPP2338-0001, Dig Inputs

Dig Outputs

You will find the 8 digital outputs to the module (here using the EPP2338-0001 as an example) underChannel1 to Channel 8.

Product overview

EPP2xxx36 Version: 1.0.4

Fig. 30: EPP2338-0001, Dig Outputs

Mounting and cabling

EPP2xxx 37Version: 1.0.4

3 Mounting and cabling

3.1 Mounting

3.1.1 Dimensions

Fig. 31: Dimensions of the EtherCAT-P-Box Modules

All dimensions are given in millimeters.

Mounting and cabling

EPP2xxx38 Version: 1.0.4

Attention

FE contact in housing of EtherCAT-P-BoxAt top right of the EtherCAT-P-Box is a FE socket (see following figure) to connect theEPP-Box with the machine bed. If the machine have no FE connection the EtherCAT-P-Box must be connected with low impedance to an alternative functional ground.

Fig. 32: FE socket in housing of EtherCAT-P-Box

Housing properties

EtherCAT Box lean bodyHousing material PA6 (polyamide)Casting compound PolyurethaneMounting two fastening holes Ø 3 mm for M3Metal parts Brass, nickel-platedContacts CuZn, gold-platedInstallation position variableProtection class IP65, IP66, IP67 (conforms to EN 60529) when screwed togetherDimensions (H x W x D) ca. 126 x 30 x 26,5 mmWeight approx. 125 g, depending on module type

Mounting and cabling

EPP2xxx 39Version: 1.0.4

3.1.2 Fixing

Note

Note or pointerWhile mounting the modules, protect all connectors, especially the IP-Link, against contam-ination! Only with connected cables or plugs the protection class IP67 is guaranteed! Un-used connectors have to be protected with the right plugs! See for plug sets in the cata-logue.

Modules with narrow housing are mounted with two M3 bolts.Modules with wide housing are mounted with two M3 bolts to the fixing holes located at the corners ormounted with two M4 bolts to the fixing holes located centrally.

The bolts must be longer than 15 mm. The fixing holes of the modules are not threaded.

When assembling, remember that the fieldbus connectors increases the overall height. See chapteraccessories.

Mounting Rail ZS5300-0001

The mounting rail ZS5300-0001 (500 mm x 129 mm) allows the time saving assembly of modules.

The rail is made of stainless steel, 1.5 mm thick, with already pre-made M3 threads for the modules. The railhas got 5.3 mm slots to mount it via M5 screws to the machine.

Fig. 33: Mounting Rail ZS5300-000

The mounting rail is 500 mm long, that way 15 narrow modules can be mounted with a distance of 2 mmbetween two modules. The rail can be cut to length for the application.

Mounting Rail ZS5300-0011

The mounting rail ZS5300-0011 (500 mm x 129 mm) has in addition to the M3 treads also pre-made M4treads to fix 60 mm wide modules via their middle holes.

Up to 14 narrow or 7 wide modules may be mixed mounted.

3.1.2.1 Additional checks

The boxes have undergone the following additional tests:

Mounting and cabling

EPP2xxx40 Version: 1.0.4

Verification ExplanationVibration 10 frequency runs in 3 axes

5 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude

Shocks 1000 shocks in each direction, in 3 axes35 g, 11 ms

Mounting and cabling

EPP2xxx 41Version: 1.0.4

3.1.3 Nut torque for connectors

M8 connectors

It is recommended to pull the M8 connectors tight with a nut torque of 0.4 Nm. When using the torque controlscrewdriver ZB8800 is also a max. torque of 0.5 Nm permissible.

Fig. 34: EtherCAT P Box with M8 connectors

M12 connectors

It is recommended to pull the M12 connectors tight with a nut torque of 0.6 Nm.

Fig. 35: EtherCAT P Box with M8 and M12 connectors

Mounting and cabling

EPP2xxx42 Version: 1.0.4

7/8" connectors

It is recommended to pull the 7/8" connectors tight with a nut torque of 1.5 Nm.

Fig. 36: 7/8" connectors

Torque socket wrenches

Fig. 37: ZB8801 torque socket wrench

Note

Ensure the right torqueUse the torque socket wrenches available by Beckhoff to pull the connectors tight (seeZB8800, ZB8801-0000)!

Mounting and cabling

EPP2xxx 43Version: 1.0.4

3.2 EtherCAT P

3.2.1 EtherCAT P - voltage and signal supplyFor the incoming and ongoing EtherCAT-P-connection, the EtherCAT-P-Box (EPPxxxx) has two M8 sockets,marked in red.

Fig. 38: EtherCAT P Box: M8 (30 mm housing)

Assignment

A standard industrial CAT5 cable is used to which an EtherCAT-P-coded M8 plug is connected. Theassignment of the Beckhoff EtherCAT-P-cable is listed below.

Assignment EtherCAT P Connector Wire color cableSignal Description Voltage Description M8 ZB7000, ZB7001Tx + Transmit Data+ GNDS GND for US 1 yellow1

Rx + Receive Data+ GNDP GND for UP 2 white1

Rx - Receive Data- UP Peripheral voltage foractuators

3 blue1

Tx - Transmit Data- US System and sensor supply 4 orange1

Shield Shield Shield Shield Housing Screen

*1) wire colors according to EN 61918

Click here [ 48] for EtherCAT-P-cable.

Mounting and cabling

EPP2xxx44 Version: 1.0.4

3.2.2 EtherCAT P – calculate the cable length, voltage and currentThe chapter “EtherCAT P tab [ 77]” describes a planning tool to calculate the cable length, voltages andcurrents of the EtherCAT P system.

3.2.3 EtherCAT P LEDs

Fig. 39: EtherCAT P LEDs

LED display

LED Display MeaningIN L/A off no connection to the preceding EtherCAT P module

Lit LINK: connection to the preceding EtherCAT P moduleflashing ACT: Communication with the preceding EtherCAT P module

OUT L/A off no connection to the following EtherCAT P moduleLit LINK: connection to the following EtherCAT P moduleflashing ACT: Communication with the following EtherCAT P module

Run off Status of the EtherCAT P module is Initflashes quickly Status of the EtherCAT P module is pre-operationalflashes slowly Status of the EtherCAT P module is safe-operationalLit Status of the EtherCAT P module is operational

Note

EtherCAT statusesThe various statuses in which an EtherCAT P module may be found are described in theBasic System Documentation for EtherCAT, which is available for download from our web-site (www.beckhoff.com) under Downloads.

Mounting and cabling

EPP2xxx 45Version: 1.0.4

3.3 EtherCAT-P-supply

3.3.1 EtherCAT P connection

Attention

Risk of damage to the device!Bring the EtherCAT/EtherCAT P system into a safe, powered down state before starting in-stallation, disassembly or wiring of the modules!

The feeding and forwarding of EtherCAT P is done via two EtherCAT-P-coded M8 connectors at the top ofthe modules:

• IN: left M8 connector with EtherCAT-P-coding for feeding EtherCAT P• OUT: right M8 connector with EtherCAT P for forwarding the supply voltages

Fig. 40: EtherCAT-P-Box, Connectors for EtherCAT P

Fig. 41: Pin assignment M8, EtherCAT P In and EtherCAT P Out

PIN assignment

Pin Signal Voltage1 Tx + GNDs2 Rx + GNDp3 Rx - Auxiliary voltage UP, +24 VDC

4 Tx - Control voltage US, +24 VDC

Housing Shield Shielding

The pins M8 connectors carry a maximum current of 3 A.

Two LEDs display the status of the supply voltages.

Control voltage US 24 VDC

Power is supplied to the fieldbus, the processor logic, the inputs and the sensors from the 24 VDC controlvoltage US.

Mounting and cabling

EPP2xxx46 Version: 1.0.4

Auxiliary voltage Up 24 VDC

The Auxiliary voltage UP supplies the digital outputs; it can be brought in separately. If the load voltage isswitched off, the fieldbus functions and the power supply and functionality of the inputs are retained.

Attention

Pay attention to the maximum permissible current!Pay attention also for the redirection of EtherCAT P, the maximum permissible current forM8 connectors of 3 A must not be exceeded!

Electrical isolation

Digital modules

In the digital input/output modules, the grounds of the control voltage (GNDS) and the auxiliary voltage(GNDP) are separated from each other!

Analog modules

In the analog input/output modules the grounds of the control voltage (GNDS) and the auxiliary voltage(GNDP) are separated from each other in order to ensure electrical isolation of the analog signals from thecontrol voltage.

In some of the analog modules the sensors or actuators are supplied by UP - this means, for instance, that inthe case of 0...10 V inputs, any reference voltage (0...30 V) may be connected to UP; this is then available tothe sensors (e.g. smoothed 10 V for measuring potentiometers).

Mounting and cabling

EPP2xxx 47Version: 1.0.4

3.3.2 Status LEDs for power supply

Fig. 42: Status LEDs for power supply

LED display

LED Display MeaningUS (Control voltage) off The power supply voltage US is not present

green illuminated The power supply voltage US is presentred illuminated Because of overload (current > 0.5 A) the sensor supply

generated from power supply voltage US was switched off forall sensors fed from this.

UP (Auxiliary voltage) off The power supply voltage UP is not presentgreen illuminated The power supply voltage UP is present

Mounting and cabling

EPP2xxx48 Version: 1.0.4

3.4 CablingA list of the EtherCAT P cable, EtherCAT cable, power cable, sensor cable, Ethernet-/EtherCAT connectorsand the field assembled connectors can be found at the following link: https://beckhoff.de/english/ethercat-box/ethercat_box_cables.htm?id=690338951657421

You can find the corresponding data sheets at the following link: https://beckhoff.de/english/downloadfinder/default.htm?id=109075571109075577&cat1=40717316&cat2=90800914

EtherCAT P cable

For the EtherCAT P connection are pre-assembled M8 cables in various lengths and the versions: plug –open end, plug – plug or plug - socket available.

Fig. 43: EtherCAT P cable: ZK700x-0100-0xxx, ZK700x-0101-0xxx and ZK700x-0102-0xxx

For connecting EtherCAT P devices only shielded Ethernet cables that meet the requirements of at leastcategory 5 (CAT5) according to EN 50173 or ISO/IEC 11801 should be used.

Note

Recommendations about cablingYou may get detailed recommendations about cabling EtherCAT from the documentation"Recommendations for the design of the infrastructure for EtherCAT/Ethernet", that is avail-able for download at www.Beckhoff.com.

Mounting and cabling

EPP2xxx 49Version: 1.0.4

Fig. 44: EtherCAT-P-Box-accessories

Number Description Link1 Cables for EtherCAT signal in- and -output RJ45 EtherCAT/Ethernet cable2 Cables for EtherCAT P: Ultra-fast Communication and Power

in One CableM8 EtherCAT P cable

3 Cables for EtherCAT signal in- and -output M8 EtherCAT cable4 Cables for M8 power supply M8 Power cable5 Cables for M8 I/O connection sockets M8 Sensor cable6 Cables for M12 I/O connection sockets M12 Sensor cable7 Shielded cables for M12 I/O connection sockets M12 Sensor cable, shielded

EtherCAT P connectors for field assembly

For EtherCAT P are field installable M8 connectors as plug and as socket available.

Fig. 45: EtherCAT P: field assembly connectors

Mounting and cabling

EPP2xxx50 Version: 1.0.4

Sensor cable

Fig. 46: Selection of different Sensor cables from Beckhoff

Mounting and cabling

EPP2xxx 51Version: 1.0.4

3.5 UL RequirementsThe installation of the EtherCAT Box Modules / EtherCAT P Box Modules certified by UL has to meet thefollowing requirements.

Supply voltage

CAUTION

CAUTION!• by a 24 VDC supply voltage, supplied by an isolating source and protected by means of

a fuse (in accordance with UL248), rated maximum 4 Amp, or• by a 24 VDC power source, that has to satisfy NEC class 2.

A NEC class 2 power supply shall not be connected in series or parallel with another(class 2) power source!

CAUTION

CAUTION!To meet the UL requirements, the EtherCAT Box Modules / EtherCAT P Box Modules mustnot be connected to unlimited power sources!

Networks

CAUTION

CAUTION!To meet the UL requirements, EtherCAT Box Modules / EtherCAT P Box Modules must notbe connected to telecommunication networks!

Ambient temperature range

CAUTION

CAUTION!To meet the UL requirements, EtherCAT Box Modules / EtherCAT P Box Modules has tobe operated only at an ambient temperature range of 0 to 55°C!

Marking for UL

All EtherCAT Box Modules / EtherCAT P Box Modules certified by UL (Underwriters Laboratories) aremarked with the following label.

Fig. 47: UL label

Mounting and cabling

EPP2xxx52 Version: 1.0.4

3.6 ATEX Notes

3.6.1 ATEX - Special conditions

WARNING

Observe the special conditions for the intended use of EtherCAT Box mod-ules / EtherCAT P Box modules in potentially explosive areas – directive94/9/EU.

• The certified components are to be installed in the BG2000-0000 protection enclosure[ 53] that guarantees a protection against mechanical hazards!

• If the temperatures during rated operation are higher than 70°C at the feed-in points ofcables, lines or pipes, or higher than 80°C at the wire branching points, then cablesmust be selected whose temperature data correspond to the actual measured tempera-ture values!

• Observethe permissible ambient temperature range of 0 - 55°C for the use of EtherCATBox modules / EtherCAT P Box modules in potentially explosive areas!

• Measures must be taken to protect against the rated operating voltage being exceededby more than 40% due to short-term interference voltages!

• The connections of the certified components may only be connected or disconnected ifthe supply voltage has been switched off or if a non-explosive atmosphere is ensured!

Standards

The fundamental health and safety requirements are fulfilled by compliance with the following standards:

• EN 60079-0: 2006• EN 60079-15: 2005

Marking

The EtherCAT Box modules / EtherCAT P Box modules certified for potentially explosive areas bear thefollowing marking:

II 3 G Ex nA II T4 DEKRA 11ATEX0080 X Ta: 0 - 55°C

II 3 G Ex nA nC IIC T4 DEKRA 11ATEX0080 X Ta: 0 - 55°C

Batch number (D number)

The EtherCAT Box modules / EtherCAT P Box modules bear a batch number (D number) that is structuredas follows:

D: WW YY FF HH

Mounting and cabling

EPP2xxx 53Version: 1.0.4

WW - week of production (calendar week)YY - year of productionFF - firmware versionHH - hardware version

Beispiel mit Ser. Nr.: 29 10 02 01:

29 - week of production 2910 - year of production 201002 - firmware version 0201 - hardware version 01

3.6.2 BG2000-0000 - EtherCAT Box protection enclosure

WARNING

Risk of electric shock and damage of device!Bring the EtherCAT system into a safe, powered down state before starting installation, dis-assembly or wiring of the modules!

ATEX

The BG2000-0000 protection enclosure has to be mounted over a single EtherCATBox / EtherCAT P Box modules to fulfill the special conditions according to ATEX [ 52].

Installation

Put the cables for EtherCAT, power supply and sensors/actuators through the hole of the BG2000-0000protection enclosure.

Fig. 48: BG2000-0000, putting the cables

Fix the wires for EtherCAT, power supply and sensors/actuators to the EtherCATBox / EtherCAT P Box modules.

Mounting and cabling

EPP2xxx54 Version: 1.0.4

Fig. 49: BG2000-0000, fixing the cables

Mount the BG2000-0000 protection enclosure over the EtherCAT Box / EtherCAT P Box modules.

Fig. 50: BG2000-0000, mounting the protection enclosure

Mounting and cabling

EPP2xxx 55Version: 1.0.4

3.6.3 ATEX Documentation

Note

Notes about operation of EtherCAT Box Modules (EPxxxx-xxxx) or Ether-CAT P Box modules (EPPxxxx-xxxx) in potentially explosive areas (ATEX)Pay also attention to the continuative documentationNotes about operation of EtherCATBox Modules (EPxxxx-xxxx) or EtherCAT P Box modules (EPPxxxx-xxxx) in potentially ex-plosive areas (ATEX) that is available in the download area of the Beckhoff homepage http:\\www.beckhoff.com!

Signal connection

EPP2xxx56 Version: 1.0.4

4 Signal connection

4.1 Supply and connection of sensor/actuator to EPPboxes

Attention

Supply and connection of sensor/actuator to the EPP boxesThe connected sensors/actuators must be powered by an EPP box! GNDS and GNDP froman M8/M12 signal connection of an EPP box must not be connected to the machine bed!

Note

Supply of remote powered sensors/actuatorsIf the sensors/actuators can not be supplied from the EPP box the supply of remote pow-ered sensors/actuators must be galvanically isolated!

4.2 Digital outputs M8 and M12The digital output modules connect the binary control signals from the automation unit on to the actuators atthe process level.

The signals are connected via screw-in M8 connectors (EPP2xxx-0001) or screw-in M12 connectors(EPP2xxx-0002).

Fig. 51: Digital outputs, M8 and M12

The outputs are short-circuit safe and protected against inverse connection.

The outputs indicate their status through light emitting diodes.

Signal connection

EPP2xxx 57Version: 1.0.4

4.3 Digital outputs Sub-D 25, 16 channelsThe EPP2816 digital output module transmits the binary control signals from the automation unit on to theactuators at the process level.

The 16 outputs deliver load currents of up to 0.5 A, although the total current from all the outputs must notexceed 4 A.

The signal connection is made through a 25-pin sub-D socket.

The outputs are short-circuit proof and protected against inverse connection.

Fig. 52: Digital outputs Sub-D 25, 16 channels

Signal connection

EPP2xxx58 Version: 1.0.4

4.4 Digital In-/Outputs M8 and M12The EPP2338-x00x have digital channels, each of which can optionally be operated as an input or as anoutput.

As the channels are operated as digital inputs the modules acquire the binary control signals from theprocess level and transmit them to the higher-level automation unit. The sensors are supplied from the loadsupply voltage UP.

As the channels are operated as digital outputs the modules connect the binary control signals from theautomation unit on to the actuators at the process level. The outputs are short-circuit safe and protectedagainst inverse connection. The signals are connected via screw-in M8 connectors (EPP2xxx-xxx1) orscrew-in M12 connectors (EPP2xxx-xxx2).

Fig. 53: Digital In-/Output M8

Fig. 54: Digital In-/Output M12

The outputs indicate their status through light emitting diodes.

Signal connection

EPP2xxx 59Version: 1.0.4

4.5 Digital inputs M8 and M12The digital input modules acquire the binary control signals from the process level and transmit them to thehigher-level automation unit.

The signals are optionally connected via screw-in M8 connectors (EPP1xxx-0001) or screw-in M12connectors (EPP1xxx-0002).

Fig. 55: Digital inputs M8 and M12

The sensors are supplied from the control voltage US with a maximum current of 0.5 A.

The state of the signals is indicated by light emitting diodes.

Signal connection

EPP2xxx60 Version: 1.0.4

4.6 Digital inputs and outputs Sub-D 25The EPP2316-008 digital combination module

• connects the binary control signals from the automation unit on to the actuators at the process level.• acquires the binary control signals from the process level and transmits them to the higher-level

automation unit.

The 8 outputs deliver load currents of up to 0.5 A, although the total current from all the outputs must notexceed 4 A. The outputs are short-circuit proof and protected against inverse connection.

The sensors are supplied from the control voltage Us.

Fig. 56: Digital inputs and outputs Sub-D 25

Signal connection

EPP2xxx 61Version: 1.0.4

4.7 Digital inputs and outputs ZS2001, 8 channelsThe digital outputs connect the binary control signals from the automation unit on to the actuators at theprocess level. The 8 outputs handle load currents of up to 0.5 A, and indicate their status through lightemitting diodes. The signals are optionally connected via several KM connectors. The outputs are short-circuit safe and protected against inverse connection.

The digital inputs acquire the binary control signals from the process level and transmit them to the higher-level automation unit. The signal state is indicated by means of light emitting diodes. The signals areoptionally connected via several KM-connectors.

The sensors are supplied from the control voltage US. The load voltage, UP, is required for the output drivers.If UP and US are used for passing the power on, the maximum current must not exceed 4 A.

Inputs

Fig. 57: Digital inputs ZS2001, 8 channels

The picture shows connection of 8 sensors in single-wire and of respectively one sensor in two- and three-wire connection.Please pay attention for connector ZS2001-0004: two bridges (24 V und 0 V) are necessary to feed theterminal points for two- and three-wire connection.

Signal connection

EPP2xxx62 Version: 1.0.4

Outputs

Fig. 58: Digital outputs ZS2001, 8 channels

The picture shows connection of 8 actuators in single-wire and of respectively one actuator in two- andthree-wire connection.Please pay attention for connector ZS2001-0004: two bridges (24 V und 0 V) are necessary to feed theterminal points for two- and three-wire connection.

4.7.1 Ordering information for KM plug-in connector

Fig. 59: KM plug-in connector for single-wire connection (ZS2001-0001, ZS2001-0002)

Fig. 60: KM plug-in connector for tree-wire connection (ZS2001-0004)

Signal connection

EPP2xxx 63Version: 1.0.4

Ordering name Signal LEDs Wiring techniquesingle-wire two-wire three-wire

ZS2001-0001 no yes no noZS2001-0002 yes yes no noZS2001-0004 yes yes yes yes

4.7.2 Technical DataTechnical Data ZS2001-0001 ZS2001-0002 ZS2001-0004Number of terminal points 10 10 30Signal LEDs no yes yesNominal voltage 50 VDC 24 VDC 24 VDC

Nominal current 2 AWire size with 0,5 mm2 ... 1,5 mm2

Wire stripping length 8 mmDimensions (w x h x d) app. 42mm x 10,3mm x

26,9mmapp. 42mm x 12,7mm x26,9mm

app. 42mm x 20,8mm x26,9mm

Weight app. 10 g app. 10 g app. 20 gPermissible ambienttemperature range duringoperation

0°C ... + 55°C

Permissible ambienttemperature range duringstorage

-25°C ... + 85°C

Permissible relativehumidity

95%, no condensation

Vibration / shockresistance

conforms to EN 60068-2-6 / EN 60068-2-27

EMC resistance burst /ESD

conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP20Installation position variableApproval CE

Commissioning/Configuration

EPP2xxx64 Version: 1.0.4

5 Commissioning/Configuration

5.1 Offline configuration settings - TwinCATIn this part of the documentation is the manual configuration of an EtherCAT/EtherCAT P Box in TwinCATdescribed.

Distinction between Online and Offline

The distinction between online and offline refers to the presence of the actual I/O environment (drives,terminals, box-modules). If the configuration is to be prepared in advance of the system configuration as aprogramming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case allcomponents have to be entered manually in the configuration, e.g. based on the electrical design (asdescribed under Offline configuration settings - TwinCAT).If the designed control system is already connected to the EtherCAT system and all components areenergized and the infrastructure is ready for operation, the TwinCAT configuration can simply be generatedthrough “scanning” from the runtime system. This is referred to as online configuration.In any case, during each startup the EtherCAT/EtherCAT P master checks whether the devices it findsmatch the configuration. This test can be parameterized in the extended device settings.

To take advantage of the current features/settings of the master, the latest version of the ESI file shouldalways be downloaded. Therefore it is necessary to consider the following note first.

Note

Installation of the latest ESI-XML device descriptionThe TwinCAT SystemManager needs the device description files for the devices to be usedin order to generate the configuration in online or offline mode. The device description arecontained in the so-called ESI files (EtherCAT Slave Information) in XML format. Thesefiles can be requested from the respective manufacturer and are made available for down-load. The ESI files for Beckhoff EtherCAT/EtherCAT P devices are available on the Beck-hoff website (http://www.beckhoff.de/english/download/elconfg.htm?id=1983920606140).The ESI files should be saved in the TwinCAT installation directory (default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new System Manager window is opened. ATwinCAT installation includes the set of Beckhoff ESI files that was current at the timewhen the TwinCAT build was created. For TwinCAT 2.11 and higher, the ESI directory canbe uploaded from the System Manager, if the programming PC is connected to the internet(TwinCAT → EtherCAT-Devices → Update Device Description…)

Commissioning/Configuration

EPP2xxx 65Version: 1.0.4

Appending a module manually• The EtherCAT system must be in a safe, de-energized state before the EtherCAT/EtherCAT P

modules are connected to the EtherCAT network!

• Switch on the operating voltage, open the TwinCAT System Manager [ 75] (Config mode)• Append a new I/O device. In the dialog that appears select the device EtherCAT (Direct Mode), and

confirm with OK.

Fig. 61: Appending a new I/O device (I/O Devices -> right-click -> Append Device...)

Commissioning/Configuration

EPP2xxx66 Version: 1.0.4

Fig. 62: Selecting the device EtherCAT

• Append a new box.

Fig. 63: Appending a new box (Device -> right-click -> Append Box...)

• In the dialog that appears select the desired box (e.g. EPP1322-0001), and confirm with OK.

Commissioning/Configuration

EPP2xxx 67Version: 1.0.4

Fig. 64: Selecting a Box (e.g. EPP1322-0001)

Commissioning/Configuration

EPP2xxx68 Version: 1.0.4

5.2 Online configuration settings - TwinCATIn this part of the documentation is the configuration of a physically existing EtherCAT/EtherCAT P box inTwinCAT described.

Online configuration “Scan” (TwinCAT 3.x)

Distinction between Online and Offline

The distinction between online and offline refers to the presence of the actual I/O environment (drives,terminals, box-modules). If the configuration is to be prepared in advance of the system configuration as aprogramming system, e.g. on a laptop, this is only possible in “Offline configuration” mode. In this case allcomponents have to be entered manually in the configuration, e.g. based on the electrical design (asdescribed under Offline configuration settings - TwinCAT). If the designed control system is alreadyconnected to the EtherCAT system and all components are energized and the infrastructure is ready foroperation, the TwinCAT configuration can simply be generated through “scanning” from the runtime system.This is referred to as online configuration. In any case, during each startup the EtherCAT/EtherCAT P boxchecks whether the devices it finds match the configuration. To take advantage of the current features/settings of the EtherCAT/EtherCAT P box, the latest version of the ESI file should always be downloaded.Therefore it is necessary to consider the following note first.

Note

Installation of the latest ESI-XML device descriptionThe TwinCAT System Manager needs the device description files for the devices to beused in order to generate the configuration in online or offline mode. The device descrip-tions are contained in the so-called ESI files (EtherCAT Slave Information) in XML format.These files can be requested from the respective manufacturer and are made available fordownload. The ESI files for Beckhoff EtherCAT/EtherCAT P devices are available on theBeckhoff website (http://www.beckhoff.de/english/download/elconfg.htm?id=1983920606140). The ESI files should be saved in the TwinCAT installation directory(default: C:\TwinCAT\IO\EtherCAT). The files are read (once) when a new System Man-ager window is opened. A TwinCAT installation includes the set of Beckhoff ESI files thatwas current at the time when the TwinCAT build was created. For TwinCAT 2.11 andhigher, the ESI directory can be uploaded from the System Manager, if the programmingPC is connected to the internet (TwinCAT → EtherCAT-Devices → Update Device Descrip-tion…)

The following conditions must be met before a configuration can be set up:

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EPP2xxx 69Version: 1.0.4

• the real EtherCAT/EtherCAT P and IO-Link hardware (devices, couplers, drives) must be present andinstalled

• the master/devices must be connected via EtherCAT/EtherCAT P cables and IO-Link cables in thesame way as they are intended to be used later

• the devices/modules be connected to the power supply and ready for communication• TwinCAT must be in CONFIG mode on the target system.

The online scan process consists of:

• detecting the EtherCAT device (Ethernet Port at the IPC)• detecting the connected EtherCAT/EtherCAT P devices. This step can be carried out independent of

the precending step.• troubleshooting

The scan with existing configuration can also be carried out for comparison.

Detecting/scanning of the EtherCAT/EtherCAT P device

The online device search can be used if the TwinCAT system is in CONFIG mode (blue TwinCAT icon orblue indication in the System Manager).

Fig. 65: TwinCAT CONFIG mode display

Note

Online scanning in Config modeThe online search is not available in RUN mode (production operation).Note the differentiation between TwinCAT programming system and TwinCAT target sys-tem. The TwinCAT icon next to the Windows clock always shows the TwinCAT mode of thelocal IPC. The System Manager window shows the TwinCAT state of the target system.

Right-clicking on “I/O Devices” in the configuration tree opens the search dialog.

Commissioning/Configuration

EPP2xxx70 Version: 1.0.4

Fig. 66: Scan Devices

This scan mode not only tries to find EtherCAT/EtherCAT P devices (or Ethernet ports that can be used assuch), but also NOVRAM, fieldbus cards, SMB etc. Not all devices can be found automatically.

Fig. 67: note for automatic device scan

Ethernet ports with installed TwinCAT real-time driver are shown as “RT Ethernet” devices. An EtherCATframe is sent to these ports for testing purposes. If the scan agent detects from the response that anEtherCAT/EtherCAT P slave is connected, the port is immediately shown as an “EtherCAT Device”.

Fig. 68: detected Ethernet devices

After confirmation with “OK” a device scan is suggested for all selected devices, see following figure.

Commissioning/Configuration

EPP2xxx 71Version: 1.0.4

Detecting/Scanning the EtherCAT devices

Note

Online scan functionalityDuring a scan the master queries the identity information of the EtherCAT/EtherCAT Pslaves from the slave EEPROM. The name and revision are used for determining the type.The respective devices are located in the stored ESI data and integrated in the configura-tion tree in the default state defined there.

If an EtherCAT device was created in the configuration (manually or through a scan), the I/O field can bescanned for devices/slaves.

Fig. 69: scan query after automatic creation of an EtherCAT device

The configuration has been build and directly shifted into the online state (OPERATIONAL). The EtherCATsystem should then be in a functional cyclic state, as shown in the following figure.

Fig. 70: online display example

Please note:

• all slaves should be in OP state• “frames/sec” should match the cycle time taking into account the sent number of frames• no excessive “LostFrames” or CRC errors should occur

The configuration is now complete. It can be modified as described under the offline procedure.

Commissioning/Configuration

EPP2xxx72 Version: 1.0.4

The connected EtherCAT/EtherCAT P box (here: EPP1322-0001 and EPP1008-0002) is displayed in theTwinCAT structure as you can see in the figure below.

Fig. 71: Master display after scan for boxes

Troubleshooting

Various effects may occur during scanning.

• An unknown device is detected, i.e. an EtherCAT/EtherCAT P slave for which no ESI XML descriptionis available. In this case the System Manager offers to read any ESI that maybe stored in the device.

• Device are not detected property• Possible reasons include:

faulty data links, resulting in data loss during the scan slave has invalid device description The connections and devices should be checked in a targeted manner, e.g. via the emergency

scan.Then re-run the scan.

Scan over existing configuration

If a scan is initiated for an existing configuration, the actual I/O environment may match the configurationexactly or it may differ. This enables the configuration to be compared.

Fig. 72: identical configuration

If differences are detected, they are shown in the correction dialog, so that the user can modify theconfiguration as required.

Commissioning/Configuration

EPP2xxx 73Version: 1.0.4

Fig. 73: correction dialog

It is advisable to tick the “Extended Information” check box to reveal differences in the revision.

Colour Explanationgreen This EtherCAT/EtherCAT P slave matches the entry on the other side. Both type and

revision match.blue This EtherCAT/EtherCAT P slave is present on the other side, but in a different revision. If

the found revision is higher than the configured revision, the slave maybe used providedcompatibility issues are taken into account. If the found revision is lower than the configuredrevision, it is likely that the slave cannot be used. The found device may not support allfunctions that the master expects based on the higher revision number.

light blue This EtherCAT/EtherCAT P slave is ignored („Ignore“ button).red This EtherCAT/EtherCAT P slave is not present on the other side.

Note

Device selection based on revision, compatibilityThe ESI description also defines the process image, the communication type between mas-ter and slave/device and the device functions, if applicable. The physical device (firmware,if available) has to support the communication queries/settings of the master. This is back-ward compatible, i.e. newer devices (higher revision) should be supported if the EtherCAT/EtherCAT P master addresses them as an older revision. The following compatibility rule ofthumb is to be assumed for Beckhoff EtherCAT Terminals and EtherCAT/EtherCAT PBoxes:Device revision in the system >= device revision in the configurationThis also enables subsequent replacement of devices without changing the configuration(different specifications are possible for drives). Example: If an EL2521-0025-1018 is speci-fied in the configuration, an EL 2521-0025-1019 or higher (-1020, -1021) can be used inpractice.

If current ESI descriptions are available in the TwinCAT system, the last revision offered inthe selection dialog matches the Beckhoff state of production. It is recommended to use thelast device revision when creating a new configuration, if current Beckhoff devices are usedin the real application. Older revisions should only be used if older devices from stock areto be used in the application.

Commissioning/Configuration

EPP2xxx74 Version: 1.0.4

Fig. 74: correction dialog with modifications

Once all modifications have been saved or accepted, click “OK” to transfer them to the real *.tsmconfiguration.

Commissioning/Configuration

EPP2xxx 75Version: 1.0.4

5.3 Configuration via TwinCATIn the left-hand window of the TwinCAT System Manager, click on the branch of the EtherCAT P Box youwish to configure (EPP3174-0002 in this example).

Fig. 75: Branch of the EtherCAT P box to be configured

In the right-hand window of the TwinCAT System manager, various tabs are now available for configuringthe EtherCAT P Box.

General tab

Fig. 76: General tab

Name Name of the EtherCAT P deviceId Number of the EtherCAT P deviceType EtherCAT P device typeComment Here you can add a comment (e.g. regarding the system).Disabled Here you can deactivate the EtherCAT P device.Create symbols Access to this EtherCAT P slave via ADS is only available if this control box is

activated.

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EPP2xxx76 Version: 1.0.4

EtherCAT tab

Fig. 77: EtherCAT tab

Type EtherCAT P device typeProduct/Revision Product and revision number of the EtherCAT P deviceAuto Inc Addr. Auto increment address of the EtherCAT P device. The auto increment address can

be used for addressing each EtherCAT P device in the communication ring throughits physical position. Auto increment addressing is used during the start-up phasewhen the EtherCAT P master allocates addresses to the EtherCAT P devices. Withauto increment addressing the first EtherCAT P slave in the ring has the address0000hex. For each further slave the address is decremented by 1 (FFFFhex, FFFEhexetc.).

EtherCAT Addr. Fixed address of an EtherCAT P slave. This address is allocated by theEtherCAT P master during the start-up phase. Tick the control box to the left of theinput field in order to modify the default value.

Previous Port Name and port of the EtherCAT P device to which this device is connected. If it ispossible to connect this device with another one without changing the order of theEtherCAT P devices in the communication ring, then this combination field isactivated and the EtherCAT P device to which this device is to be connected can beselected.

Advanced Settings This button opens the dialogs for advanced settings.

The link at the bottom of the tab points to the product page for this EtherCAT P device on the web.

Commissioning/Configuration

EPP2xxx 77Version: 1.0.4

EtherCAT P tab

From TwinCAT 3 Build 4020 TwinCAT has the tab “EtherCAT P”. This tab contains a planning tool tocalculate voltages, currents and cable lengths of EtherCAT P system. The figure below shows the tabEtherCAT P when no device is connected to the junction device (A).

Fig. 78: Tab EtherCAT P: No device connected to junction device

Is a device connected to the junction device (A), the number/letter of the ports are displayed (see figurebelow, B).

Fig. 79: Tab EtherCAT P: One device connected to junction device

Are three devices connected to the three ports of the junction device (A), the ports are displayed (B) asshown in the figure below.

Commissioning/Configuration

EPP2xxx78 Version: 1.0.4

Fig. 80: Tab EtherCAT P: Three devices connected to junction device

How you can see the topology of your EtherCAT P system in TwinCAT, is described here [ 80].

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EPP2xxx 79Version: 1.0.4

Port Identification of the ports with numbers / letters as described beforeWire Gauge Selection of the wire cross-sectional area of the cable which is to be used

AWG 22 = 0.34 mm²AWG 24 = 0.22 mm²AWG 26 = 0.14 mm²

Length (m) Indication of the cable length which is to be usedCheck EtherCAT Psystem

At least one device is connected to the controller, the connected EtherCAT P systemcan be checked

Type Listing of two voltages: Box supply US, Auxiliary voltage UP

Actual Voltage (V) The respective voltage at which the system is powered, can be entered manually.The default setting is 24.00 V

Min. Voltage (V) The minimum voltage is preset by the device and described in the ESI file. TheEtherCAT P system is to be interpreted after this voltage. It is valid not to fall shortthis voltage

Internal Load (A) The current which consume the device is read from the ESI file of the respective boxLoad (A) The total consumption of the connected sensors / actuators at the device can be

specified hereLoad Type The characteristic of the load which is connected to the devices can be selected here.

Which of the three options is right for the connected load (Sw regulator, LDO,Resistor), must be taken from the datasheet. In case of doubt please select thedefault value “Sw Regulator”.Sw Regulator: Switching regulators, consume more energy and therefore require anefficient power supplyLDO: Low drop voltage regulator, the energy demand is often small and the heatdissipation is not a problem, e.g. proximity sensorResistor: electronic, passive components e.g. relay, coil

If you click on the button “Check EtherCAT P System”, all devices that are attached to your TwinCAT treeare listed as shown in the following figure.

Fig. 81: Check EtherCAT P System

Commissioning/Configuration

EPP2xxx80 Version: 1.0.4

Check US, CheckUP

Selecting which of the two voltages is to be checked.

Name Designation of the in TwinCAT tree attached devices.Supply Voltage (V) Voltage at which the device is provided. For device 1, the voltage can be entered

manually.Min Voltage (V) See description above.Input Resistance(Ω)

Input resistance, which is calculated over the cable length and cable cross-section.

Current (A) Display for the current.Load (A) See description above.Cable Length (m) The used cable length must be entered manually.Wire Gauge See description above.

Example with problem case and troubleshooting

The following figure shows the planning of the EtherCAT P system without a problem. All voltages in thecolumn “Supply Voltage (V)” are highlighted in green.

Fig. 82: Check EtherCAT P system without problem

The following figure shows the planning of the EtherCAT P system with a problem. The “Supply Voltage (V)”of Box 5 drops below the “Min. voltage (V)”. The corresponding field is highlighted in red. The error occursbecause longer cables (adjustable in Cable Length (m)) and also AWG 24 instead of AWG 22 cables(adjustable in Wire Gauge) be used.

Fig. 83: Check EtherCAT P System with problem

This area offers the following three options to adjust the system so that there is no error:

Provide a higher voltage: There are max. 28.8 V possible.

Use an EtherCAT P cable with a larger wire cross sectional area (AWG 22 instead of AWG 24).

New voltage feed.

Topology of the EtherCAT P system

You can view the topology of your EtherCAT P system, as described in the figure below:

A: Click in the TwinCAT tree on „Device1 (EtherCAT)“

B: Click on tab „EtherCAT“

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EPP2xxx 81Version: 1.0.4

C: Click on button „Topology“

D: The topology of your EtherCAT P system is displayed. Here as example: Three devices are connected tothe three ports of the distributor device.

Fig. 84: Topology of the EtherCAT P system

Process Data tab

Indicates the configuration of the process data. The input and output data of the EtherCAT P slave arerepresented as CANopen process data objects (PDO). The user can select a PDO via PDO assignment andmodify the content of the individual PDO via this dialog, if the EtherCAT P slave supports this function.

Commissioning/Configuration

EPP2xxx82 Version: 1.0.4

Fig. 85: Process Data tab

Sync Manager

Lists the configuration of the Sync Manager (SM).If the EtherCAT P device has a mailbox, SM0 is used for the mailbox output (MbxOut) and SM1 for themailbox input (MbxIn).SM2 is used for the output process data (outputs) and SM3 (inputs) for the input process data.

If an input is selected, the corresponding PDO assignment is displayed in the PDO Assignment list below.

PDO Assignment

PDO assignment of the selected Sync Manager. All PDOs defined for this Sync Manager type are listedhere:

• If the output Sync Manager (outputs) is selected in the Sync Manager list, all RxPDOs are displayed.• If the input Sync Manager (inputs) is selected in the Sync Manager list, all TxPDOs are displayed.

The selected entries are the PDOs involved in the process data transfer. In the tree diagram of the SystemManager these PDOs are displayed as variables of the EtherCAT P device. The name of the variable isidentical to the Name parameter of the PDO, as displayed in the PDO list. If an entry in the PDO assignmentlist is deactivated (not selected and greyed out), this indicates that the input is excluded from the PDOassignment. In order to be able to select a greyed out PDO, the currently selected PDO has to be deselectedfirst.

Note

Activation of PDO assignment• the EtherCAT P slave has to run through the PS status transition cycle (from pre-opera-

tional to safe-operational) once (see Online tab [ 87]),

• and the System Manager has to reload the EtherCAT P slaves ( button)

Commissioning/Configuration

EPP2xxx 83Version: 1.0.4

PDO list

List of all PDOs supported by this EtherCAT P device. The content of the selected PDOs is displayed in thePDO Content list. The PDO configuration can be modified by double-clicking on an entry.

Column DescriptionIndex PDO index.Size Size of the PDO in bytes.Name Name of the PDO.

If this PDO is assigned to a Sync Manager, it appears as a variable of the slave withthis parameter as the name.

Flags F Fixed content: The content of this PDO is fixed and cannot be changed by theSystem Manager.

M Mandatory PDO. This PDO is mandatory and must therefore be assigned to aSync Manager! Consequently, this PDO cannot be deleted from the PDOAssignment list

SM Sync Manager to which this PDO is assigned. If this entry is empty, this PDO doesnot take part in the process data traffic.

SU Sync unit to which this PDO is assigned.

PDO Content

Indicates the content of the PDO. If flag F (fixed content) of the PDO is not set the content can be modified.

Download

If the device is intelligent and has a mailbox, the configuration of the PDO and the PDO assignments can bedownloaded to the device. This is an optional feature that is not supported by all EtherCAT P slaves.

PDO Assignment

If this check box is selected, the PDO assignment that is configured in the PDO Assignment list isdownloaded to the device on startup. The required commands to be sent to the device can be viewed in theStartup [ 83] tab.

PDO Configuration

If this check box is selected, the configuration of the respective PDOs (as shown in the PDO list and thePDO Content display) is downloaded to the EtherCAT P slave.

Startup tab

The Startup tab is displayed if the EtherCAT P slave has a mailbox and supports the CANopen overEtherCAT (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests aresent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. Thedownload requests are sent to the slave in the same order as they are shown in the list.

Commissioning/Configuration

EPP2xxx84 Version: 1.0.4

Fig. 86: Startup tab

Column DescriptionTransition Transition to which the request is sent. This can either be

• the transition from pre-operational to safe-operational (PS), or• the transition from safe-operational to operational (SO).

If the transition is enclosed in "<>" (e.g. <PS>), the mailbox request is fixed and cannot bemodified or deleted by the user.

Protocol Type of mailbox protocolIndex Index of the objectData Date on which this object is to be downloaded.Comment Description of the request to be sent to the mailbox

Move Up This button moves the selected request up by one position in the list.Move Down This button moves the selected request down by one position in the list.New This button adds a new mailbox download request to be sent during startup.Delete This button deletes the selected entry.Edit This button edits an existing request.

CoE - Online tab

The additional CoE - Online tab is displayed if the EtherCAT P slave supports the CANopen over EtherCAT(CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the userto modify the content of an object from this list. Details for the objects of the individual EtherCAT P devicescan be found in the device-specific object descriptions.

Commissioning/Configuration

EPP2xxx 85Version: 1.0.4

Fig. 87: CoE - Online tab

Commissioning/Configuration

EPP2xxx86 Version: 1.0.4

Object list display

Column DescriptionIndex Index and sub-index of the objectName Name of the objectFlags RW The object can be read, and data can be written to the object (read/write)

RO The object can be read, but no data can be written to the object (read only)P An additional P identifies the object as a process data object.

Value Value of the object

Update List The Update list button updates all objects in the displayed listAuto Update If this check box is selected, the content of the objects is updated automatically.Advanced The Advanced button opens the Advanced Settings dialog. Here you can specify which

objects are displayed in the list.

Fig. 88: Advanced Settings

Online- via SDO Information

If this option button is selected, the list of the objects included in the object list ofthe slave is uploaded from the slave via SDO information. The list below can beused to specify which object types are to be uploaded.

Offline- via EDS File

If this option button is selected, the list of the objects included in the object list isread from an EDS file provided by the user.

Commissioning/Configuration

EPP2xxx 87Version: 1.0.4

Online tab

Fig. 89: Online tab

State Machine

Init This button attempts to set the EtherCAT P device to the Init state.Pre-Op This button attempts to set the EtherCAT P device to the pre-operational state.Op This button attempts to set the EtherCAT P device to the operational state.Bootstrap This button attempts to set the EtherCAT P device to the Bootstrap state.Safe-Op This button attempts to set the EtherCAT P device to the safe-operational state.Clear Error This button attempts to delete the fault display. If an EtherCAT P slave fails during

change of state it sets an error flag.Example: An EtherCAT P slave is in PREOP state (pre-operational). The master nowrequests the SAFEOP state (safe-operational). If the slave fails during change of state itsets the error flag. The current state is now displayed as ERR PREOP. When the ClearError button is pressed the error flag is cleared, and the current state is displayed asPREOP again.

Current State Indicates the current state of the EtherCAT P device.Requested State Indicates the state requested for the EtherCAT P device.

DLL Status

Indicates the DLL status (data link layer status) of the individual ports of the EtherCAT P slave. The DLLstatus can have four different states:

Status DescriptionNo Carrier / Open No carrier signal is available at the port, but the port is open.No Carrier / Closed No carrier signal is available at the port, and the port is closed.Carrier / Open A carrier signal is available at the port, and the port is open.Carrier / Closed A carrier signal is available at the port, but the port is closed.

File Access over EtherCAT

Download With this button a file can be written to the EtherCAT P device.Upload With this button a file can be read from the EtherCAT P device.

Commissioning/Configuration

EPP2xxx88 Version: 1.0.4

5.4 Restoring the delivery stateTo restore the delivery state for backup objects in EPPxxxx boxes, the CoE object Restore defaultparameters, SubIndex 001 can be selected in the TwinCAT System Manager (Config mode).

Fig. 90: Selecting the Restore default parameters PDO

Double-click on SubIndex 001 to enter the Set Value dialog. Enter the value 1684107116 in field Dec or thevalue 0x64616F6C in field Hex and confirm with OK.

All backup objects are reset to the delivery state.

Fig. 91: Entering a restore value in the Set Value dialog

Note

Alternative restore valueIn some older terminals the backup objects can be switched with an alternative restorevalue:Decimal value: 1819238756Hexadecimal value: 0x6C6F6164An incorrect entry for the restore value has no effect.

Appendix

EPP2xxx 89Version: 1.0.4

6 Appendix

6.1 General operating conditions

Protection degrees (IP-Code)

The standard IEC 60529 (DIN EN 60529) defines the degrees of protection in different classes.

1. Number: dust protec-tion and touch guard

Definition

0 Non-protected1 Protected against access to hazardous parts with the back of a hand. Protected

against solid foreign objects of Ø 50 mm2 Protected against access to hazardous parts with a finger. Protected against

solid foreign objects of Ø 12,5 mm.3 Protected against access to hazardous parts with a tool. Protected against solid

foreign objects Ø 2,5 mm.4 Protected against access to hazardous parts with a wire. Protected against solid

foreign objects Ø 1 mm.5 Protected against access to hazardous parts with a wire. Dust-protected.

Intrusion of dust is not totally prevented, but dust shall not penetrate in aquantity to interfere with satisfactory operation of the device or to impair safety.

6 Protected against access to hazardous parts with a wire. Dust-tight. No intrusionof dust.

2. Number: water* pro-tection

Definition

0 Non-protected1 Protected against water drops2 Protected against water drops when enclosure tilted up to 15°.3 Protected against spraying water. Water sprayed at an angle up to 60° on either

side of the vertical shall have no harmful effects.4 Protected against splashing water. Water splashed against the disclosure from

any direction shall have no harmful effects5 Protected against water jets6 Protected against powerful water jets7 Protected against the effects of temporary immersion in water. Intrusion of water

in quantities causing harmful effects shall not be possible when the enclosure istemporarily immersed in water for 30 min. in 1 m depth.

*) These protection classes define only protection against water!

Chemical Resistance

The Resistance relates to the Housing of the Fieldbus/EtherCAT Box and the used metal parts. In the tablebelow you will find some typical resistance.

Character ResistanceSteam at temperatures >100°C: not resistantSodium base liquor(ph-Value > 12)

at room temperature: resistant> 40°C: not resistant

Acetic acid not resistantArgon (technical clean) resistant

Appendix

EPP2xxx90 Version: 1.0.4

Key

resistant: Lifetime several monthsnon inherently resistant: Lifetime several weeksnot resistant: Lifetime several hours resp. early decomposition

Appendix

EPP2xxx 91Version: 1.0.4

6.2 EtherCAT Box- / EtherCAT P Box - Accessories

Fixing

Ordering information DescriptionZS5300-0001 Mounting rail (500 mm x 129 mm)

Marking material, plugs

Ordering information DescriptionZS5000-0000 Fieldbus Box set M8 (contact labels, plugs)ZS5000-0002 Fieldbus Box set M12 (contact labels, plugs)ZS5000-0010 plugs M8, IP67 (50 pieces)ZS5000-0020 plugs M12, IP67 (50 pieces)ZS5100-0000 marking labels, not printed, 4 stripes at 10 piecesZS5100-xxxx printed marking labels, on request

Tools

Ordering information DescriptionZB8800 torque wrench for M8 cables with knurl, incl. ratchetZB8800-0001 M12 ratchet for torque wrench ZB8800ZB8800-0002 M8 ratchet (field assembly) for torque wrench ZB8800ZB8801-0000 torque wrench for hexagonal plugs, adjustableZB8801-0001 torque cable key, M8/wrench size 9, for torque wrench ZB8801-0000ZB8801-0002 torque cable key, M12/wrench size 13, for torque wrench ZB8801-0000ZB8801-0003 torque cable key, M12 field assembly/wrench size 13, for torque wrench

ZB8801-0000

Note

Further accessoriesFurther accessories may be found at the price list for Beckhoff fieldbus components and atthe internet under www.beckhoff.com.

Appendix

EPP2xxx92 Version: 1.0.4

6.3 Support and ServiceBeckhoff and their partners around the world offer comprehensive support and service, making available fastand competent assistance with all questions related to Beckhoff products and system solutions.

Beckhoff's branch offices and representatives

Please contact your Beckhoff branch office or representative for local support and service on Beckhoffproducts!

The addresses of Beckhoff's branch offices and representatives round the world can be found on her internetpages:http://www.beckhoff.com

You will also find further documentation for Beckhoff components there.

Beckhoff Headquarters

Beckhoff Automation GmbH & Co. KG

Huelshorstweg 2033415 VerlGermany

Phone: +49(0)5246/963-0Fax: +49(0)5246/963-198e-mail: info@beckhoff.com

Beckhoff Support

Support offers you comprehensive technical assistance, helping you not only with the application ofindividual Beckhoff products, but also with other, wide-ranging services:

• support• design, programming and commissioning of complex automation systems• and extensive training program for Beckhoff system components

Hotline: +49(0)5246/963-157Fax: +49(0)5246/963-9157e-mail: support@beckhoff.com

Beckhoff Service

The Beckhoff Service Center supports you in all matters of after-sales service:

• on-site service• repair service• spare parts service• hotline service

Hotline: +49(0)5246/963-460Fax: +49(0)5246/963-479e-mail: service@beckhoff.com

Table of figures

EPP2xxx 93Version: 1.0.4

Table of figuresFig. 1 EtherCAT P Box Modules within an EtherCAT network .............................................................. 8Fig. 2 EtherCAT P Box with M8 connections for sensors/actuators ...................................................... 9Fig. 3 EtherCAT P Box with M12 connections for sensors/actuators .................................................... 9Fig. 4 EPP2008-0001 ............................................................................................................................ 11Fig. 5 EPP2008-0002 ............................................................................................................................ 11Fig. 6 EPP2008-000x, Process image................................................................................................... 14Fig. 7 EPP2816-0008 ............................................................................................................................ 15Fig. 8 EPP2816-0008 - Status-LEDs ..................................................................................................... 17Fig. 9 EPP2816-0008, DIG Diag Inputs Channel 1 ............................................................................... 18Fig. 10 EPP2816-0008, DIG Diag Inputs Channel 2 ............................................................................... 18Fig. 11 EPP2816-0008, DIG Inputs Device ............................................................................................. 19Fig. 12 EPP2816-0008, DIG Outputs Channel 1 ..................................................................................... 19Fig. 13 EPP2816-0008, DIG Outputs Channel 2 ..................................................................................... 20Fig. 14 EPP2816-0008, DIG Outputs Device .......................................................................................... 20Fig. 15 EPP23x8-0001............................................................................................................................. 21Fig. 16 EPP23x8-0002............................................................................................................................. 21Fig. 17 EPP23x8-000x, Process image digital inputs .............................................................................. 24Fig. 18 EPP23x8-000x, Process image digital outputs............................................................................ 24Fig. 19 EPP2316-0003 ............................................................................................................................ 25Fig. 20 EPP2316-0008 ............................................................................................................................ 25Fig. 21 EPP2316-0008 - Status-LEDs ..................................................................................................... 28Fig. 22 EPP2316-0008, DIG Inputs ......................................................................................................... 29Fig. 23 EPP2316-0008, DIG Diag Inputs................................................................................................. 29Fig. 24 EPP2316-0008, DIG Inputs Device ............................................................................................. 30Fig. 25 EPP2316-0008, DIG Outputs ...................................................................................................... 30Fig. 26 EPP2316-0008, DIG Outputs Device .......................................................................................... 31Fig. 27 EPP2338-x001............................................................................................................................. 32Fig. 28 EPP2338-x002............................................................................................................................. 32Fig. 29 EPP2338-0001, Dig Inputs .......................................................................................................... 35Fig. 30 EPP2338-0001, Dig Outputs ....................................................................................................... 36Fig. 31 Dimensions of the EtherCAT-P-Box Modules.............................................................................. 37Fig. 32 FE socket in housing of EtherCAT-P-Box.................................................................................... 38Fig. 33 Mounting Rail ZS5300-000 .......................................................................................................... 39Fig. 34 EtherCAT P Box with M8 connectors .......................................................................................... 41Fig. 35 EtherCAT P Box with M8 and M12 connectors ........................................................................... 41Fig. 36 7/8" connectors ............................................................................................................................ 42Fig. 37 ZB8801 torque socket wrench ..................................................................................................... 42Fig. 38 EtherCAT P Box: M8 (30 mm housing) ....................................................................................... 43Fig. 39 EtherCAT P LEDs........................................................................................................................ 44Fig. 40 EtherCAT-P-Box, Connectors for EtherCAT P ............................................................................ 45Fig. 41 Pin assignment M8, EtherCAT P In and EtherCAT P Out ........................................................... 45Fig. 42 Status LEDs for power supply ..................................................................................................... 47Fig. 43 EtherCAT P cable: ZK700x-0100-0xxx, ZK700x-0101-0xxx and ZK700x-0102-0xxx ................. 48Fig. 44 EtherCAT-P-Box-accessories...................................................................................................... 49

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EPP2xxx94 Version: 1.0.4

Fig. 45 EtherCAT P: field assembly connectors ...................................................................................... 49Fig. 46 Selection of different Sensor cables from Beckhoff .................................................................... 50Fig. 47 UL label........................................................................................................................................ 51Fig. 48 BG2000-0000, putting the cables ................................................................................................ 53Fig. 49 BG2000-0000, fixing the cables................................................................................................... 54Fig. 50 BG2000-0000, mounting the protection enclosure ...................................................................... 54Fig. 51 Digital outputs, M8 and M12 ........................................................................................................ 56Fig. 52 Digital outputs Sub-D 25, 16 channels ........................................................................................ 57Fig. 53 Digital In-/Output M8.................................................................................................................... 58Fig. 54 Digital In-/Output M12.................................................................................................................. 58Fig. 55 Digital inputs M8 and M12 ........................................................................................................... 59Fig. 56 Digital inputs and outputs Sub-D 25 ............................................................................................ 60Fig. 57 Digital inputs ZS2001, 8 channels ............................................................................................... 61Fig. 58 Digital outputs ZS2001, 8 channels ............................................................................................. 62Fig. 59 KM plug-in connector for single-wire connection (ZS2001-0001, ZS2001-0002) ........................ 62Fig. 60 KM plug-in connector for tree-wire connection (ZS2001-0004) ................................................... 62Fig. 61 Appending a new I/O device (I/O Devices -> right-click -> Append Device...)............................. 65Fig. 62 Selecting the device EtherCAT.................................................................................................... 66Fig. 63 Appending a new box (Device -> right-click -> Append Box...) ................................................... 66Fig. 64 Selecting a Box (e.g. EPP1322-0001) ......................................................................................... 67Fig. 65 TwinCAT CONFIG mode display................................................................................................. 69Fig. 66 Scan Devices............................................................................................................................... 70Fig. 67 note for automatic device scan .................................................................................................... 70Fig. 68 detected Ethernet devices ........................................................................................................... 70Fig. 69 scan query after automatic creation of an EtherCAT device ....................................................... 71Fig. 70 online display example ................................................................................................................ 71Fig. 71 Master display after scan for boxes ............................................................................................. 72Fig. 72 identical configuration .................................................................................................................. 72Fig. 73 correction dialog .......................................................................................................................... 73Fig. 74 correction dialog with modifications ............................................................................................. 74Fig. 75 Branch of the EtherCAT P box to be configured.......................................................................... 75Fig. 76 General tab .................................................................................................................................. 75Fig. 77 EtherCAT tab ............................................................................................................................... 76Fig. 78 Tab EtherCAT P: No device connected to junction device .......................................................... 77Fig. 79 Tab EtherCAT P: One device connected to junction device........................................................ 77Fig. 80 Tab EtherCAT P: Three devices connected to junction device ................................................... 78Fig. 81 Check EtherCAT P System ......................................................................................................... 79Fig. 82 Check EtherCAT P system without problem................................................................................ 80Fig. 83 Check EtherCAT P System with problem.................................................................................... 80Fig. 84 Topology of the EtherCAT P system ........................................................................................... 81Fig. 85 Process Data tab ......................................................................................................................... 82Fig. 86 Startup tab ................................................................................................................................... 84Fig. 87 CoE - Online tab .......................................................................................................................... 85Fig. 88 Advanced Settings....................................................................................................................... 86Fig. 89 Online tab .................................................................................................................................... 87Fig. 90 Selecting the Restore default parameters PDO........................................................................... 88

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EPP2xxx 95Version: 1.0.4

Fig. 91 Entering a restore value in the Set Value dialog.......................................................................... 88