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Beckhoff EJ5002 Manual

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

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Summary of Contents for Beckhoff EJ5002

  • Page 1 Documentation | EN EJ5002 SSI Encoder Interface 2021-10-04 | Version: 1.4...

  • Page 3: Table Of Contents

    Beckhoff Identification Code (BIC)...................  11 1.7.2 Electronic access to the BIC (eBIC) ................ 13 1.7.3 Certificates........................ 15 2 System overview ............................. 16 3 EJ5002 - Product description ......................... 17 Introduction ............................ 17 Technical Data.......................... 18 Pinout .............................. 19 LEDs .............................. 21 4 Installation of EJ modules ........................ 22 Power supply for the EtherCAT plug-in modules................ 22...
  • Page 4 Table of contents 7 Appendix .............................. 46 Support and Service ........................ 46 Version: 1.4 EJ5002...

  • Page 5: Foreword

    , 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...

  • Page 6: Safety Instructions

    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.

  • Page 7: Intended Use

    • Chapters Basics communication, TwinCAT Quick Start , TwinCAT development environment and General Notes - EtherCAT Slave Application replaced by references in the chapter Guide through documentation • Chapter EJ5002 - Object description and parameterization added • Update revision status • Structural update •...

  • Page 8: Guide Through Documentation

    EJxxxx (s. note on documentation of ELxxxx [} 38]). Marking of EtherCAT plug-in modules Designation A Beckhoff EtherCAT device has a 14-digit technical designation, made up as follows (e.g. EJ1008-0000-0017) • Order identifier ◦ family key: EJ ◦ product designation: The first digit of product designation is used for assignment to a product group (e.g.
  • Page 9 Associated and synonymous with each revision there is usually a description (ESI, EtherCAT Slave Information) in the form of an XML file, which is available for download from the Beckhoff web site. • The product designation, version and revision are read as decimal numbers, even if they are technically saved in hexadecimal.
  • Page 10 KK - week of production (CW, calendar week) 08 - week of production: 08 YY - year of production 15 - year of production: 2015 FF - firmware version 08 -f irmware version: 08 HH - hardware version 16 - hardware version: 16 Version: 1.4 EJ5002...

  • Page 11: Beckhoff Identification Code (Bic)

    1.7.1 Beckhoff Identification Code (BIC) The Beckhoff Identification Code (BIC) is increasingly being applied to Beckhoff products to uniquely identify the product. The BIC is represented as a Data Matrix Code (DMC, code scheme ECC200), the content is based on the ANSI standard MH10.8.2-2016.
  • Page 12 Fig. 4: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294 An important component of the BIC is the Beckhoff Traceability Number (BTN, item no. 2). The BTN is a unique serial number consisting of eight characters that will replace all other serial number systems at Beckhoff in the long term (e.g.

  • Page 13: Electronic Access To The Bic (Ebic)

    Electronic access to the BIC (eBIC) Electronic BIC (eBIC) The Beckhoff Identification Code (BIC) is applied to the outside of Beckhoff products in a visible place. If possible, it should also be electronically readable. Decisive for the electronic readout is the interface via which the product can be electronically addressed.
  • Page 14 EtherCAT, the eBIC of the top-level device is located in the CoE object directory 0x10E2:01 and the eBICs of the sub-devices follow in 0x10E2:nn. Profibus/Profinet/DeviceNet… Devices Currently, no electronic storage and readout is planned for these devices. Version: 1.4 EJ5002...

  • Page 15: Certificates

    • The cRUus imprint identifies devices that meet product safety requirements according to U.S. and Canadian regulations. • The warning symbol is a request to read the corresponding documentation. The documentations for EtherCAT plug-in modules can be downloaded from the Beckhoff homepage. Fig. 5: Marking for CE and UL using EJ1008 as an example EJ5002...

  • Page 16: System Overview

    Coded components reduce the unit costs and the risk of miswiring. Beckhoff offers development of signal distribution boards as an engineering service. Customers have the option to develop their own signal distribution board, based on the design guide.

  • Page 17: Ej5002 - Product Description

    Fig. 7: EJ5002 2 channel SSI encoder interface The EJ5002 SSI interface EtherCAT module is used for the direct connection of two SSI absolute encoders. The interface circuit generates a pulse for reading the encoder, and makes the incoming data stream available to the controller as a data word in the process image.

  • Page 18: Technical Data

    EJ5002 - Product description Technical Data Technical data EJ5002 Encoder connection Binary input: D+, D-; Binary output: Cl+, Cl- Supply of power to the internal SSI electronics 24 V via the power supply of the field side Current consumption from Up contacts (without typically 20 mA (without encoder)

  • Page 19: Pinout

    • The pins named with “NC” must not be connected. • Before installation and commissioning read the chapters Installation of EJ modules [} 22] and Commissioning [} 38]! The PCB footprint can be downloaded from the Beckhoff homepage. The following points should be considered during design phase and installation: EJ5002...
  • Page 20 EJ5002 - Product description Notes for routing and installation • The SSI information (Clock and Data) are transmitted as differential signals. To ensure a good EMC immunity, also for long distances, shielded cables with twisted pair conductors should be used.

  • Page 21: Leds

    EJ5002 - Product description LEDs Fig. 9: EJ5002 - LEDs Color Display State Description green Init State of the EtherCAT State Machine: INIT = initialization of the plug-in module flashing Pre-Operational State of the EtherCAT State Machine: PREOP = function for mailbox communication and different...

  • Page 22: Installation Of Ej Modules

    In the EJ1101-0022 coupler, the RJ45 connectors and optional ID switches are external and can be positioned anywhere on the signal distribution board, as required. This facilitates feeding through a housing. The EJ940x power supply plug-in modules provide an optional reset function (see chapter Connection of the documentation for EJ9400 and EJ9404) Version: 1.4 EJ5002...
  • Page 23 The EK1110-004x EtherCAT EJ couplers relay the following parameters to the signal distribution board via the rear connector: • the E-bus signals, • the E-bus voltage U (3.3 V) and EBUS • the peripheral voltage U (24 V Fig. 11: PCB with Embedded PC, EK1110-0043 and EJxxxx, rear view EK1110-0043 EJ5002 Version: 1.4...

  • Page 24: Ejxxxx - Dimensions

    Single module (long) 12 mm x 152 mm x 55 mm EJ1957 (ej_12_2x16pin_extended_code4747) Fig. 12: EJxxxx - Dimensions The technical drawings can be downloaded from the Beckhoff homepage. The drawings are named as described in the drawing below. Fig. 13: Naming of the technical drawings Version: 1.4...

  • Page 25: Installation Positions And Minimum Distances

    [} 26]) ensures an adequate reaching area. The signal distribution board must have a thickness of 1.6 mm and a minimum distance of 4 mm from the mounting surface, in order to ensure latching of the modules on the board. EJ5002 Version: 1.4...

  • Page 26: Installation Positions

    The recommended minimum distances should not be regarded as restricted areas for other components. The customer is responsible for verifying compliance with the environmental conditions described in the technical data. Additional cooling measures must be provided, if required. Version: 1.4 EJ5002...
  • Page 27 All other installation positions are characterized by a different spatial position of the signal distribution board, see Fig. Other installation positions. The minimum distances to ambient specified above also apply to these installation positions. Fig. 16: Other installation positions EJ5002 Version: 1.4...

  • Page 28: Codings

    Signal type Modules Color Coupler EJ11xx No color coding Digital input EJ1xxx Yellow Digital output EJ2xxx Analog input EJ3xxx Green Analog output EJ4xxx Blue Position measurement EJ5xxx grey Communication EJ6xxx grey Motion EJ7xxx orange System EJ9xxx grey Version: 1.4 EJ5002...

  • Page 29: Mechanical Position Coding

    There is no plug protection between modules with the same signal type. During installation the module type should therefore be verified based on the device name. Fig. 19: Pin coding; sample: digital input modules EJ5002 Version: 1.4...

  • Page 30: Installation On The Signal Distribution Board

    The required contact pressure can only be established and the maximum current carrying capacity en- sured if the module is latched securely. 5. Use placeholder modules (EJ9001) to fill gaps in the module strand. Version: 1.4 EJ5002...
  • Page 31 • During installation ensure safe latching of the modules on the signal distribution board! The conse- quences of inadequate contact pressure include: ð loss of quality of the transferred signals, ð increased power dissipation of the contacts, ð impairment of the service life. EJ5002 Version: 1.4...

  • Page 32: Extension Options

    Exchanging placeholder modules and B2 - Assigning reserve slots) according to the specifications for the signal distribution board. Fig. 21: Sample: Exchanging placeholder modules and assigning reserve slots E-bus supply Exchange the placeholder modules with other modules changes the current input from the E-Bus. Ensure that adequate power supply is provided. Version: 1.4 EJ5002...

  • Page 33: Linking With Ethercat Terminals And Ethercat Box Modules Via An Ethernet/Ethercat Connection

    Installation of EJ modules 4.6.2 Linking with EtherCAT Terminals and EtherCAT Box modules via an Ethernet/EtherCAT connection Fig. 22: Example of extension via an Ethernet/EtherCAT connection EJ5002 Version: 1.4...

  • Page 34: Ipc Integration

    EtherCAT extension (EK1110) or EtherCAT coupler (EJ1100) is required. The Embedded PC can be expanded with EtherCAT terminals that are not yet available in the EJ system, for example. Fig. 23: Example PCB with Embedded PC, EK1110-0043 and EJxxxx, rear view EK1110-0043 Version: 1.4 EJ5002...
  • Page 35 The figure below shows the connection of a C6015 IPC to an EJ system as an example. The components shown are schematic, to illustrate the functionality. Fig. 24: Example for the connection of a C6015 IPC to an EJ system EJ5002 Version: 1.4...

  • Page 36: Disassembly Of The Signal Distribution Board

    Products marked with a crossed-out wheeled bin shall not be discarded with the normal waste stream. The device is considered as waste electrical and electronic equipment. The national regulations for the disposal of waste electrical and electronic equipment must be observed. Version: 1.4 EJ5002...

  • Page 37: Ethercat Basics

    EtherCAT basics EtherCAT basics Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics. EJ5002 Version: 1.4...

  • Page 38: Commissioning

    EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description. We rec- ommend downloading the latest XML file from the download area of the Beckhoff website and in- stalling it according to installation instructions.

  • Page 39: Restore Object

    UINT16 0x0019 (25 Min. : 0 Max.: 32 8000:12 SSI data length Data length UINT16 0x0018 (24 Min. : 0 Max.: 32 8000:13 Min. inhibit time[µs] Minimum inhibit time in µs (1 to 65535) UINT16 0x0000 (0 EJ5002 Version: 1.4...

  • Page 40: Input Data

    Validity of the data of the associated TxPDO (0 = valid, 1 BOOLEAN 0x00 (0 = invalid). 6000:10 TxPDO Toggle The TxPDO toggle is toggled by the slave when the data BOOLEAN 0x00 (0 of the associated TxPDO is updated. 6000:11 Counter value Counter value UINT32 0x00000000 (0 Version: 1.4 EJ5002...

  • Page 41: Information And Diagnostic Data

    F010:0 Module list Length of this object UINT8 0x02 (2 F010:01 SubIndex 001 UINT32 0x000001F5 (501 F010:02 SubIndex 002 UINT32 0x000001F5 (501 6.2.5 Standard objects (0x1000-0x1FFF) The standard objects have the same meaning for all EtherCAT slaves. EJ5002 Version: 1.4...
  • Page 42 Index Name Meaning Data type Flags Default (hex) 1008:0 Device name Device name of the EtherCAT slave STRING EJ5002 Index 1009 Hardware version Index Name Meaning Data type Flags Default (hex) 1009:0 Hardware version Hardware version of the EtherCAT slave...
  • Page 43 (Outputs) 1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read (In- UINT8 0x04 (4 puts) Index 1C12 RxPDO assign Index Name Meaning Data type Flags Default (hex) 1C12:0 RxPDO assign PDO Assign Outputs UINT8 0x00 (0 EJ5002 Version: 1.4...
  • Page 44 0x02 (2 1C13:01 SubIndex 001 1. allocated TxPDO (contains the index of the associated UINT16 0x1A00 (6656 TxPDO mapping object) 1C13:02 SubIndex 002 2. allocated TxPDO (contains the index of the associated UINT16 0x1A01 (6657 TxPDO mapping object) Version: 1.4 EJ5002...
  • Page 45 Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 and SYNC1 event was too short (DC mode only) 1C33:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) EJ5002 Version: 1.4...
  • Page 46 Please contact your Beckhoff branch office or representative for local support and service on Beckhoff products! The addresses of Beckhoff's branch offices and representatives round the world can be found on her internet pages: https://www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 48 More Information: www.beckhoff.com/EJ5002 Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

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