Beckhoff EP31 4 Series Documentation

Documentation

EP31xx

EtherCAT Box modules with analog inputs

2.4

2019-12-18

Version:

Date:

Table of contents

EP31xx 3Version: 2.4

Table of contents

1 Foreword ....................................................................................................................................................7

1.1 Notes on the documentation..............................................................................................................7

1.2 Safety instructions .............................................................................................................................8

1.3 Documentation issue status ..............................................................................................................9

2 Product overview.....................................................................................................................................11

2.1 EtherCAT Box - Introduction............................................................................................................11

2.2 Module overview..............................................................................................................................13

2.3 EP3162............................................................................................................................................14

2.3.1 EP3162 - Introduction ...................................................................................................... 14

2.3.2 EP3162 - Technical data ................................................................................................. 15

2.3.3 EP3162 - Scope of supply ............................................................................................... 17

2.3.4 EP3162 - Process image ................................................................................................. 17

2.4 EP3182............................................................................................................................................18

2.4.1 EP3182 - Introduction ...................................................................................................... 18

2.4.2 EP3182 - Technical data ................................................................................................. 19

2.4.3 EP3182 - Scope of supply ............................................................................................... 21

2.4.4 EP3182 - Process image ................................................................................................. 22

2.5 EP31x4 ............................................................................................................................................24

2.5.1 EP3174-0002 - Introduction............................................................................................. 24

2.5.2 EP3174-0092 - Introduction............................................................................................. 25

2.5.3 EP3184-0002 - Introduction............................................................................................. 26

2.5.4 EP3184-1002 - Introduction............................................................................................. 27

2.5.5 EP31x4 - Technical data.................................................................................................. 28

2.5.6 EP31x4 - Scope of supply ............................................................................................... 30

2.5.7 EP31x4 - Process image ................................................................................................. 30

2.5.8 EP3174-0092 – Process image (with TwinSAFE SC modules)....................................... 31

3 Mounting and cabling..............................................................................................................................32

3.1 Mounting..........................................................................................................................................32

3.1.1 Dimensions ...................................................................................................................... 32

3.1.2 Fixing ............................................................................................................................... 33

3.1.3 Tightening torques for plug connectors ........................................................................... 33

3.2 EtherCAT.........................................................................................................................................34

3.2.1 Connectors ...................................................................................................................... 34

3.2.2 Status LEDs..................................................................................................................... 35

3.2.3 Cables.............................................................................................................................. 35

3.3 Supply voltages ...............................................................................................................................36

3.3.1 Connectors ...................................................................................................................... 36

3.3.2 Status LEDs..................................................................................................................... 37

3.3.3 Conductor losses ............................................................................................................. 37

3.4 UL Requirements.............................................................................................................................38

3.5 ATEX notes .....................................................................................................................................39

3.5.1 ATEX - Special conditions ............................................................................................... 39

3.5.2 BG2000 - EtherCAT Box protection enclosures .............................................................. 40

3.5.3 ATEX Documentation ...................................................................................................... 41

Table of contents

EP31xx4 Version: 2.4

3.6 EP3162-0002 - Electrical isolation of the channels .........................................................................42

3.7 EP3162-0002 – Signal connection and Status LEDs ......................................................................43

3.7.1 Analog voltage inputs M12, one single-ended input per socket ...................................... 43

3.7.2 M12 analog current inputs, one single-ended input per socket ....................................... 44

3.7.3 Status LEDs at the M12 connections............................................................................... 45

3.8 EP3174-00x2 - Signal connection and Status LEDs .......................................................................46

3.8.1 M12 analog voltage inputs, one differential input per socket........................................... 46

3.8.2 M12 analog current inputs, one differential input per socket ........................................... 46

3.8.3 Status LEDs at the M12 connections............................................................................... 47

3.9 EP3182-1002 – Signal connection and Status LEDs ......................................................................48

3.9.1 Analog voltage inputs, M12 digital output, one single-ended input and one digital output

per socket ........................................................................................................................ 48

3.9.2 Analog current inputs, M12 digital output, one single-ended input and one digital output

per socket ........................................................................................................................ 48

3.9.3 Status LEDs at the M12 connections............................................................................... 49

3.10 EP3184-0002 – Signal connection and Status LEDs ......................................................................49

3.10.1 Analog voltage inputs M12, one single-ended input per socket ...................................... 49

3.10.2 M12 analog current inputs, one single-ended input per socket ....................................... 50

3.10.3 Status LEDs at the M12 connections............................................................................... 50

3.11 EP3184-1002 – Signal connection and Status LEDs ......................................................................51

3.11.1 M12 analog voltage inputs, two single-ended inputs per socket ..................................... 51

3.11.2 M12 analog current inputs, two single-ended inputs per socket...................................... 51

3.11.3 Status LEDs at the M12 connections............................................................................... 52

4 Configuration ...........................................................................................................................................53

4.1 Inserting into the EtherCAT network................................................................................................53

4.2 Configuration via TwinCAT..............................................................................................................56

4.3 EtherCAT State Machine.................................................................................................................64

4.4 CoE interface...................................................................................................................................66

4.5 Notices on analog specifications .....................................................................................................71

4.6 EP31xx - Settings and operating modes .........................................................................................76

4.6.1 Settings............................................................................................................................ 76

4.6.2 Operation modes ............................................................................................................. 81

4.7 Data stream .....................................................................................................................................83

4.8 Measuring ranges............................................................................................................................84

4.9 Calibration .......................................................................................................................................85

4.10 Calculation of process data .............................................................................................................86

4.11 TwinSAFE SC..................................................................................................................................86

4.11.1 TwinSAFE SC - operating principle ................................................................................. 86

4.11.2 TwinSAFE SC - configuration.......................................................................................... 86

4.12 EP3174-0092 - TwinSAFE SC process data...................................................................................90

4.13 EP3162-0002 - Object overview......................................................................................................91

4.14 EP3182-1002 - Object overview......................................................................................................94

4.15 EP31x4-x002 - Object overview ......................................................................................................97

4.16 EP3174-0092 - Object overview....................................................................................................103

4.17 EP31x2 - Object description and parameterization .......................................................................109

4.18 EP31x4 - Object description and parameterization .......................................................................123

Table of contents

EP31xx 5Version: 2.4

4.19 Objects TwinSAFE Single Channel (EP3174-0092)......................................................................139

4.20 Restoring the delivery state ...........................................................................................................141

4.21 Decommissioning ..........................................................................................................................142

5 Appendix ................................................................................................................................................143

5.1 General operating conditions.........................................................................................................143

5.2 EtherCAT Box- / EtherCATPBox - Accessories ..........................................................................144

5.3 General note on the introduction of the Beckhoff Identification Code (BIC) ..................................145

5.4 Support and Service ......................................................................................................................147

Table of contents

EP31xx6 Version: 2.4

Foreword

EP31xx 7Version: 2.4

1 Foreword

1.1 Notes on the documentation

Intended audience

This description is only intended for the use of trained specialists in control and automation engineering who

are familiar with the applicable national standards.

It is essential that the documentation and the following notes and explanations are followed when installing

and commissioning these components.

It is the duty of the technical personnel to use the documentation published at the respective time of each

installation and commissioning.

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

requirements for safety, including all the relevant laws, regulations, guidelines and standards.

Disclaimer

The documentation has been prepared with care. The products described are, however, constantly under

development.

We reserve the right to revise and change the documentation at any time and without prior announcement.

No claims for the modification of products that have already been supplied may be made on the basis of the

data, diagrams and descriptions in this documentation.

Trademarks

Beckhoff

®

, TwinCAT

®

, EtherCAT

®

, EtherCATG

®

, EtherCATG10

®

, EtherCATP

®

, SafetyoverEtherCAT

®

,

TwinSAFE

®

, XFC

®

, XTS

®

and XPlanar

®

are registered trademarks of and licensed by Beckhoff Automation

GmbH. Other designations used in this publication may be trademarks whose use by third parties for their

own purposes could violate the rights of the owners.

Patent Pending

The EtherCAT Technology is covered, including but not limited to the following patent applications and

patents: EP1590927, EP1789857, EP1456722, EP2137893, DE102015105702 with corresponding

applications or registrations in various other countries.

EtherCAT

®

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

Germany.

Copyright

The reproduction, distribution and utilization of this document as well as the communication of its contents to

others without express authorization are prohibited.

patent, utility model or design.

Foreword

EP31xx8 Version: 2.4

1.2 Safety instructions

Safety regulations

Please note the following safety instructions and explanations!

Product-specific safety instructions can be found on following pages or in the areas mounting, wiring,

commissioning etc.

Exclusion of liability

All the components are supplied in particular hardware and software configurations appropriate for the

application. Modifications to hardware or software configurations other than those described in the

documentation are not permitted, and nullify the liability of Beckhoff Automation GmbH & Co. KG.

Personnel qualification

This description is only intended for trained specialists in control, automation and drive engineering who are

familiar with the applicable national standards.

Description of instructions

In this documentation the following instructions are used.

These instructions must be read carefully and followed without fail!

DANGER

Serious risk of injury!

Failure to follow this safety instruction directly endangers the life and health of persons.

WARNING

Risk of injury!

Failure to follow this safety instruction endangers the life and health of persons.

CAUTION

Personal injuries!

Failure to follow this safety instruction can lead to injuries to persons.

NOTE

Damage to environment/equipment or data loss

Failure to follow this instruction can lead to environmental damage, equipment damage or data loss.

Tip or pointer

This symbol indicates information that contributes to better understanding.

Foreword

EP31xx 9Version: 2.4

1.3 Documentation issue status

Version Modifications

2.4 • EP3184-x002 - Introduction: graphics corrected

• Structural update

2.3.0 • Nut torques for connectors updated

• EP3174-0092 added

• Chapter Mounting updated

• Chapter Operation modes updated

• Structural update

2.2.0 • EP3162-0002 - M12 analog voltage inputs updated

• EP3162-0002 - M12 analog current inputs updated

• EP3162-0002 - Electrical isolation of the channels updated

• Notes on the analog specification added

• Cabling updated

2.1.0 • EP3162-0002 added

• EP31x4 - Object description and parameterization updated

• EP31x2 - Object description and parameterization added

• EP31x4 - Object overview updated

• EP31x2 - Object overview added

• Nut torques for connectors updated

• Power supply added

2.0.0 • Migration

1.5.0 • Connection description for analog current inputs (M12) revised

• Chapter "Settings and operation modes" updated

1.4.0 • Signal settings amended

• Connection of the sensors updated

1.3.0 • Object description updated

1.2.0 • Technical data updated

• Overview of EtherCAT cables extended

• Mounting and Cabling updated

1.1.0 • Description of the Power LEDs expanded

• Object description extended

• Technical data updated

1.0.1 • Object description corrected

1.0.0 • Description of the Status LEDs revised

0.6 • EP3182-1002 added

• Accessories added

• Nut torque for connectors added

• Object description corrected

0.5 • First preliminary version

Foreword

EP31xx10 Version: 2.4

Firm and hardware version

The documentation refers to the firm and hardware status that was valid at the time it was prepared.

The properties of the modules are subject to continuous development and improvement. Modules having

earlier production statuses cannot have the same properties as modules with the latest status. Existing

properties, however, are always retained and are not changed, so that these modules can always be

replaced by new ones.

The firmware and hardware version (delivery state) can be found in the batch number (D number) printed at

the side of the EtherCAT Box.

Syntax of the batch number (D number)

D: WW YY FF HH Example with D No. 29 10 02 01:

WW - week of production (calendar week) 29 - week of production 29

YY - year of production 10 - year of production 2010

FF - firmware version 02 - firmware version 02

HH - hardware version 01 - hardware version 01

Beckhoff Identification Code (BIC)

The Beckhoff Identification Code contains additional information about the delivery state of the module:

General note on the introduction of the Beckhoff Identification Code (BIC) [}145].

Product overview

EP31xx 11Version: 2.4

2 Product overview

2.1 EtherCAT Box - Introduction

The EtherCAT system has been extended with EtherCAT Box modules with protection class IP67. Through

the integrated EtherCAT interface the modules can be connected directly to an EtherCAT network without an

additional Coupler Box. The high-performance of EtherCAT is thus maintained into each module.

The extremely low dimensions of only 126x30x26.5 mm (hxw xd) are identical to those of the Fieldbus

Box extension modules. They are thus particularly suitable for use where space is at a premium. The small

mass of the EtherCAT modules facilitates applications with mobile I/O interface (e.g. on a robot arm). The

EtherCAT connection is established via screened M8connectors.

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

The robust design of the EtherCAT Box modules enables them to be used directly at the machine. Control

cabinets and terminal boxes are now no longer required. The modules are fully sealed and therefore ideally

prepared for wet, dirty or dusty conditions.

Pre-assembled cables significantly simplify EtherCAT and signal wiring. Very few wiring errors are made, so

that commissioning is optimized. In addition to pre-assembled EtherCAT, power and sensor cables, field-

configurable connectors and cables are available for maximum flexibility. Depending on the application, the

sensors and actuators are connected through M8 or M12connectors.

The EtherCAT modules cover the typical range of requirements for I/O signals with protection class IP67:

• digital inputs with different filters (3.0ms or 10μs)

• digital outputs with 0.5 or 2A output current

• analog inputs and outputs with 16bit resolution

• Thermocouple and RTD inputs

• Stepper motor modules

XFC (eXtreme Fast Control Technology) modules, including inputs with time stamp, are also available.

Product overview

EP31xx12 Version: 2.4

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

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

Basic EtherCAT documentation

You will find a detailed description of the EtherCAT system in the Basic System Documentation for

EtherCAT, which is available for download from our website (www.beckhoff.com) under Downloads.

EtherCAT XML Device Description

You will find XML files (XML Device Description Files) for Beckhoff EtherCAT modules on our web-

site (www.beckhoff.com) under Downloads, in the Configuration Files area.

Product overview

EP31xx 13Version: 2.4

2.2 Module overview

Analog input modules, 24V

DC

Module Number of

analog

inputs

Number of

digital

outputs

Signal

connection

Comment

EP3162-0002 [}14]

2 0 2 x M12 Single-ended inputs

EP3174-0002 [}24]

4 0 4 x M12 Differential inputs

EP3174-0092 [}25]

4 0 4 x M12 Differential inputs, TwinSAFE Single Channel

EP3182-1002 [}18]

2 2 2 x M12 Single-ended inputs, digital outputs

EP3184-0002 [}26]

4 0 4 x M12 Single-ended inputs

EP3184-1002 [}27]

4 0 2 x M12 Single-ended inputs, two inputs per connection

Product overview

EP31xx14 Version: 2.4

2.3 EP3162

2.3.1 EP3162 - Introduction

Fig.4: EP3162-0002

2-channel analog input ± 10V or 0/4...20mA, electrically isolated, single-ended, 16-bit

The EP3162 EtherCAT Box has two analog inputs that can be individually parameterized to process signals

either in the range from -10V to +10V or from 0/4mA to 20mA. The voltage or input current is digitized with

a resolution of 16bits, and is transmitted (electrically isolated) to the higher-level automation device.

The two input channels are electrically isolated from each other. The input filter and therefore the conversion

times are configurable in a wide range. The inputs can, if required, be scaled differently, and automatic limit

value monitoring is also available. EtherCAT is used for parameterization purposes. The parameters are

stored in the module.

Quick Links

Installation [}32]

Configuration [}56]

Product overview

EP31xx 15Version: 2.4

2.3.2 EP3162 - Technical data

Technical data EP3162-0002

Fieldbus

Fieldbus EtherCAT

Connection 2x M8 socket, green

Electrical isolation 500V (fieldbus/ IO)

Distributed Clocks Yes

Supply voltages

Connection Feed: 1 x M8 plug, 4-pin, black

Downstream connection: 1 x M8 socket, 4-pin, black

Control voltage U

S

Nominal voltage 24V

DC

(-15%/ +20%)

Sum current max. 4A

1)

Consumers • Module electronics: 120mA

• Sensors

2)

Peripheral voltage U

P

Nominal voltage 24V

DC

(-15%/ +20%)

Sum current max. 4A

1)

Consumers None. U

P

is only forwarded.

Analog inputs

Number 2

Connection 2x M12 socket, 5-pin

Input type Single-ended

Signal range Parameterizable:

• -10.. +10V (default)

• 0.. 10V

• 0.. 20mA

• 4.. 20mA

• -20.. +20mA

Digital resolution 16-bit, including sign

Measuring error max 0.3%, relative to the full scale value

Input resistance Voltage measurement: min. 200kΩ

Current measurement: 85Ω + diode voltage

Dielectric strength max. 30V

Electrical isolation 300V between the input channels

Conversion time approx. 100µs

Input filter limit frequency 5kHz

Input filter characteristic

Parameterizable [}82]

Sensor supply voltage U

A

3)

24V

DC

, isolated potential.

Output current per channel:

max. continuous current 50mA

max. peak current 100mA

1)

Sum current of consumers and power transmission. This value corresponds to the

current carrying capacity of the connections for the supply voltages.

2)

"Sensors": devices connected to the input connections.

3)

Supply voltage available at the input connections.

Product overview

EP31xx16 Version: 2.4

Technical data EP3162-0002

Environmental conditions

Ambient temperature

during operation

-25 .. +60°C

-25 .. +55°C according to cURus

Ambient temperature

during storage

-40.. +85°C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27

EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP65, IP66, IP67 conforms to EN 60529

Mechanics

Weight approx. 165g

Installation position variable

Approvals and conformity

Approvals CE, cURus

Product overview

EP31xx 17Version: 2.4

2.3.3 EP3162 - Scope of supply

Make sure that the following components are included in the scope of delivery:

• 1x EtherCAT Box EP3162-0002

• 1x protective cap for supply voltage input, M8, transparent (pre-assembled)

• 1x protective cap for supply voltage output, M8, black (pre-assembled)

• 2x protective cap for EtherCAT socket, M8, green (pre-assembled)

• 10x labels, blank (1 strip of 10)

Pre-assembled protective caps do not ensure IP67 protection

Protective caps are pre-assembled at the factory to protect connectors during transport. They may

not be tight enough to ensure IP67 protection.

Ensure that the protective caps are correctly seated to ensure IP67 protection.

2.3.4 EP3162 - Process image

AI Standard Channel 1 and 2

You will find the data of the 1

st

analog

channel under AI Standard Channel 1.

The data of the 2

nd

channel (AI Standard

Channel 2) are structured identically to

those of the 1

st

channel.

Product overview

EP31xx18 Version: 2.4

2.4 EP3182

2.4.1 EP3182 - Introduction

Fig.5: EP3182-1002

2-channel analog input ±10V or 0/4...20mA, parameterizable, single-ended, 16-bit, 2 digital control

outputs 24V

DC

, short-circuit proof

Analog inputs (single-ended)

The EP3182-1002 EtherCAT Box has two analog inputs which can be individually parameterized, so that

they process signals either in the -10V to +10V range or the 0/4mA…20mA range.

The voltage or input current is digitized with a resolution of 16bits, and is transmitted (electrically isolated) to

the higher-level automation device.

The two input channels are single-ended and share a common internal ground potential. The input filter and

therefore the conversion times are configurable in a wide range.

The inputs can, if required, be scaled differently, and automatic limit value monitoring is also available.

EtherCAT is used for parameterization purposes. The parameters are stored in the module.

Digital outputs

In addition, the EP3182-1002 EtherCAT Box has two digital outputs via which it forwards the binary control

signals from the controller to the actuators at the process level.

These two outputs (sink/source type) are intended for the switching of logic inputs or outputs with a minimum

impedance of 10kOhm (e.g. reset inputs of digital sensors) and can process currents up to 2mA. They

indicate their signal state by LEDs and are short-circuit proof.

The signals are also connected via the two M12 connectors.

Quick-Links

Installation [}32]

Configuration [}56]

Product overview

EP31xx 19Version: 2.4

2.4.2 EP3182 - Technical data

Technical data EP3182-1002

Fieldbus

Fieldbus EtherCAT

Connection 2x M8 socket, green

Electrical isolation 500V (fieldbus/ IO)

Supply voltages

Connection Feed: 1 x M8 plug, 4-pin, black

Downstream connection: 1 x M8 socket, 4-pin, black

Control voltage U

S

Nominal voltage 24V

DC

(-15%/ +20%)

Sum current max. 4A

1)

Consumers Module electronics: 120mA

Peripheral voltage U

P

Nominal voltage 24V

DC

(-15%/ +20%)

Sum current max. 4A

1)

Consumers • Sensors

2)

• Loads at digital outputs

Analog inputs

Number 2

Connection 2x M12 socket, 5-pin

Input type Single-ended

Signal range Parameterizable:

• -10.. +10V (default)

• 0.. 10V

• 0.. 20mA

• 4.. 20mA

Digital resolution 16-bit, including sign

Measuring error max 0.3%, relative to the full scale value

Input resistance Voltage measurement: min. 200kΩ

Current measurement: 85Ω + diode voltage

Dielectric strength max. 30V

Conversion time approx. 100µs

Input filter limit frequency 5kHz

Input filter characteristic

Parameterizable [}82]

Sensor supply voltage U

A

3)

24V

DC

taken from the peripheral voltage U

P

,

not short-circuit proof

1)

Sum current of consumers and power transmission. This value corresponds to the

current carrying capacity of the connections for the supply voltages.

2)

"Sensors": devices connected to the input connections.

3)

Supply voltage available at the input connections.

Product overview

EP31xx20 Version: 2.4

Technical data EP3182-1002

Digital outputs

Number 2

Connection M12 sockets of the analog inputs

Nominal voltage 24V

DC

from peripheral voltage U

P

Output current I

OUT

2mA per output, short-circuit proof

Internal resistance approx. 2350Ω (high level)

Impedance of connected inputs min. 10kΩ

Environmental conditions

Ambient temperature

during operation

0 .. +55°C

Ambient temperature

during storage

-40.. +85°C

Vibration / shock resistance conforms to EN 60068-2-6 / EN 60068-2-27

EMC immunity/emission conforms to EN 61000-6-2 / EN 61000-6-4

Protection class IP65, IP66, IP67 (conforms to EN 60529)

Mechanics

Weight approx. 165g

Installation position variable

Approvals and conformity

Approvals CE, cURus

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Beckhoff EP31 4 Series Documentation

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Beckhoff EP31 4 Series Documentation

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