Beckhoff EP3752-0000 Documentation
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Beckhoff EP3752-0000 Documentation

2 x 3-axis accelerometers
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Documentation | EN
EP3752-0000
2 x 3-axis accelerometers
2022-09-19 | Version: 1.4

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  • Page 1 Documentation | EN EP3752-0000 2 x 3-axis accelerometers 2022-09-19 | Version: 1.4...

  • Page 3: Table Of Contents

    Version identification of EtherCAT devices .................. 50 7.3.1 General notes on marking.................... 50 7.3.2 Version identification of EP/EPI/EPP/ER/ERI boxes............ 51 7.3.3 Beckhoff Identification Code (BIC) ...................  52 7.3.4 Electronic access to the BIC (eBIC).................  54 Support and Service........................ 56 EP3752-0000 Version: 1.4...
  • Page 4 Table of contents Version: 1.4 EP3752-0000...

  • 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: Documentation Issue Status

    YY - year of production 10 - year of production 2010 FF - firmware version 02 - firmware version 02 HH - hardware version 01 - hardware version 01 Further information on this topic: Version identification of EtherCAT devices [} 50]. EP3752-0000 Version: 1.4...

  • Page 8: Ethercat Box - Introduction

    • 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. Version: 1.4 EP3752-0000...
  • Page 9 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. EP3752-0000 Version: 1.4...

  • Page 10: Product Overview

    2 x 3-axis accelerometers The EP3752-0000 EtherCAT Box has two internal 3-axis accelerometers with 10-bit resolution and a selectable measuring range of ±2 g, ±4 g, ±8 g and ±16 g. The maximum sampling rate is 5 kHz. The measured values can be digitally filtered.

  • Page 11: Technical Data

    EN 60068-2-6 / EN 60068-2-27 Additional checks [} 12] EMC immunity / emission conforms to EN 61000-6-2 / EN 61000-6-4 Protection class IP65, IP66, IP67 (conforms to EN 60529) Approvals/markings Approvals/markings  CE, cURus [} 21] *) Real applicable approvals/markings see type plate on the side (product marking). EP3752-0000 Version: 1.4...
  • Page 12 The devices have undergone the following additional tests: Test Explanation Vibration 10 frequency sweeps in 3 axes 5 Hz < f < 60 Hz displacement 0.35 mm, constant amplitude 60.1 Hz < f < 500 Hz acceleration 5 g, constant amplitude Shocks 1000 shocks in each direction, in 3 axes 35 g, 11 ms Version: 1.4 EP3752-0000...

  • Page 13: Process Image

    The data for the two accelerometers can be found under AI Inputs Channel. • Status Error: An error occurred during communication with the accelerometer. • Value: 16-bit acceleration value The assignment of the process values to the sensor axes can be found in the chapter Acceleration sensors [} 24]. EP3752-0000 Version: 1.4...

  • Page 14: Mounting And Cabling

    CuZn, gold-plated Power feed through max. 4 A Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions (H x W x D) approx. 126 x 30 x 26.5 mm (without connectors) Version: 1.4 EP3752-0000...

  • Page 15: Fixing

    Mount the module with two M3 screws on the mounting holes in the corners of the module. The mounting holes have no thread. 4.1.3 Nut torque for connectors Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff) Torque: 0.4 Nm. EP3752-0000 Version: 1.4...

  • Page 16: Supply Voltages

    In some types of EtherCAT Box modules the ground potentials GND and GND are connected. • If several EtherCAT Box modules are supplied with the same electrically isolated voltages, check whether there is an EtherCAT Box among them in which the ground potentials are connected. Version: 1.4 EP3752-0000...

  • Page 17: Connectors

    Control voltage Brown Peripheral voltage White GND to U Blue GND to U Black The core colors apply to cables of the type: Beckhoff ZK2020-3xxx-xxxx 4.2.2 Status LEDs Display Meaning (control voltage) The supply voltage U is not available. green illuminated The supply voltage U is available.

  • Page 18: Conductor Losses

    Vert. Faktor: 0,45 cm / V Vert. Faktor: 0,4 0,34 mm² Vert. Faktor: 0,45 cm / V Vert. Faktor: 0,5 mm² 0,25 mm² 0,34 mm² 0,75 mm² 0,5 mm² 0,75 mm² Cable length (m) Cable length (m) Version: 1.4 EP3752-0000...

  • Page 19: Ethercat

    For standardization, the core colors of the ZB9030, ZB9032 and ZK1090-3xxx-xxxx cables have been changed to the EN61918 core colors: yellow, orange, white, blue. So there are different color codes in circulation. The electrical properties of the cables have been retained when the core colors were changed. EP3752-0000 Version: 1.4...

  • Page 20: Status Leds

    (CAT5) according to EN 50173 or ISO/IEC 11801 should be used. EtherCAT uses four wires for signal transmission. Thanks to automatic line detection ("Auto MDI-X"), both symmetrical (1:1) or cross-over cables can be used between Beckhoff EtherCAT. Detailed recommendations for the cabling of EtherCAT devices Version: 1.4...

  • Page 21: Ul Requirements

    To meet the UL requirements, EtherCAT Box Modules has to be operated only at an ambient temperature range of -25 °C to +55 °C! Marking for UL All EtherCAT Box Modules certified by UL (Underwriters Laboratories) are marked with the following label. Fig. 6: UL label EP3752-0000 Version: 1.4...

  • Page 22: Disposal

    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 EP3752-0000...

  • Page 23: Commissioning/Configuration

    Commissioning/Configuration Commissioning/Configuration Integrating into a TwinCAT project The procedure for integration in a TwinCAT project is described in these Quick start guide. EP3752-0000 Version: 1.4...

  • Page 24: Acceleration Sensors

    Commissioning/Configuration Acceleration sensors The EP3752-0000 has two accelerometers. Each accelerometer measures the acceleration in all three spatial directions. The accelerometers are offset by 90°. This enables a plausibility check of the measured values. The measured acceleration values can be converted to inclination angles: see chapter on Inclination measurement [} 29].

  • Page 25: Settings

    • Measuring range for sensor 1: Index 0x8000:19 "Range" • Measuring range for sensor 2: Index 0x8030:19 "Range" This setting applies to all axes of the respective sensor. An individual setting for individual axes is not possible. EP3752-0000 Version: 1.4...
  • Page 26 The following diagram shows the transfer function of the box. Measured value Presentation: Presentation: „Milli G (mg)“ „Raw Values“ Acceleration [mg] It can be seen that the resolution of the raw values is as high as the resolution of the measured values in mg. Version: 1.4 EP3752-0000...
  • Page 27 Filter Filter mode (FIR and IIR) The EP3752-0000 is equipped with digital filters which, depending on their settings, can adopt the characteristics of a Finite Impulse Response filter (FIR filter), or of an Infinite  Impulse Response filter (IIR- Filter). The filters are deactivated by default. The activation takes place •...
  • Page 28 • If at least one filter is enabled, the box runs in FreeRun mode with a sampling rate adjustable via CoE index 0xF800:0D "Filter sampling rate". If the sampling rate is increased to 2500 Hz or 5000 Hz, the resolution is reduced to 8-bit. Version: 1.4 EP3752-0000...

  • Page 29: Inclination Measurement

    Fig. 8: Angle measurement, process data as acceleration values, calculation on a PC Fig. 9: Signal noise in detail Color Meaning Angle measured with 1024-step encoder / 4-way analysis for reference Green Angle trigonometrically calculated on a PC, without noise suppression blue Fast algorithm yellow Arithmetic mean (1000 sliding values) EP3752-0000 Version: 1.4...
  • Page 30 To download the sample program from this documentation please click on the following link: (https://infosys.beckhoff.com/content/1033/ep3752/Resources/3626380299/.zip) Version: 1.4 EP3752-0000...

  • Page 31: Restore The Delivery State

    ð All backup objects are reset to the delivery state. Alternative restore value With some older modules the backup objects can be changed with an alternative restore value: Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164 An incorrect entry for the restore value has no effect. EP3752-0000 Version: 1.4...

  • Page 32: Decommissioning

    Commissioning/Configuration Decommissioning WARNING Risk of electric shock! Bring the bus system into a safe, de-energized state before starting disassembly of the devices! Version: 1.4 EP3752-0000...

  • Page 33: Coe Parameters

    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 34 CoE parameters Index (hex) Name Flags Default value Device type 0x00001389 (5001 1000 [} 42] Device name EP3752-0000 1008 [} 42] Hardware version 1009 [} 42] Software version 100A [} 42] Subindex Restore default parameters 0x01 (1 1011:0 [} 37] 1011:01 SubIndex 001 0x00000000 (0...
  • Page 35 6030:0 [} 46] 6030:07 Error 0x00 (0 6030:0F TxPDO State 0x00 (0 6030:10 TxPDO Toggle 0x00 (0 6030:11 Value 0x0000 (0 Subindex AI Inputs Ch.5 0x11 (17 6040:0 [} 46] 6040:07 Error 0x00 (0 6040:0F TxPDO State 0x00 (0 EP3752-0000 Version: 1.4...
  • Page 36 F800:0 [} 41] (from FW02) F800:0D Filter sampling rate 0x0002 (2 F800:11 Range 0x0000 (0 F800:1D Presentation 0x0001 (1 Flags: RO (Read Only): This object can only be read. RW (Read/Write): This object can be read and written to. Version: 1.4 EP3752-0000...

  • Page 37: Object Description And Parameterization

    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 38 0x0000 (0 • 0 : +-2G • 1 : +-4G • 2 : +-8G • 3 : +-16G 8010:1A Presentation Representation of the data UINT16 0x0001 (1 • 0 : Raw values • 1 : milli G (mG) Version: 1.4 EP3752-0000...
  • Page 39 0x0000 (0 • 0 : +-2G • 1 : +-4G • 2 : +-8G • 3 : +-16G 8030:1A Presentation Representation of the data UINT16 0x0001 (1 • 0 : Raw values • 1 : milli G (mG) EP3752-0000 Version: 1.4...
  • Page 40 0x0000 (0 • 0 : +-2G • 1 : +-4G • 2 : +-8G • 3 : +-16G 8050:1A Presentation Representation of the data UINT16 0x0001 (1 • 0 : Raw values • 1 : milli G (mG) Version: 1.4 EP3752-0000...
  • Page 41 0x80n0:19. F800:1D Presentation Representation of the data UINT16 0x0001 (1 • 0 : Raw values • 1 : milli G (mG) • 255 : Channel setting: The representation is set channel-wise via the indices 0x80n0:1A. EP3752-0000 Version: 1.4...
  • Page 42 Index (hex) Name Meaning Data type Flags Default 1008:0 Device name Device name of the EtherCAT slave STRING EP3752-0000 Index 1009 Hardware version Index (hex) Name Meaning Data type Flags Default 1009:0 Hardware version Hardware version of the EtherCAT slave...
  • Page 43 1A03:05 SubIndex 005 5. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4), UINT32 0x6030:10, 1 entry 0x10 (TxPDO Toggle)) 1A03:06 SubIndex 006 6. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4), UINT32 0x6030:11, 16 entry 0x11 (Value)) EP3752-0000 Version: 1.4...
  • Page 44 Subindex 005 5. allocated TxPDO (contains the index of the associ- UINT16 0x1A04 (6660 ated TxPDO mapping object) 1C13:06 Subindex 006 6. allocated TxPDO (contains the index of the associ- UINT16 0x1A06 (6662 ated TxPDO mapping object) Version: 1.4 EP3752-0000...
  • Page 45 Number of occasions that the interval between SYNC0 UINT16 0x0000 (0 counter 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) EP3752-0000 Version: 1.4...
  • Page 46 Index (hex) Name Meaning Data type Flags Default 6050:0 AI Inputs Ch.6 UINT8 0x11 (17 6050:07 Error BOOLEAN 0x00 (0 6050:0F TxPDO State BOOLEAN 0x00 (0 6050:10 TxPDO Toggle BOOLEAN 0x00 (0 6050:11 Value INT16 0x0000 (0 Version: 1.4 EP3752-0000...
  • Page 47 Flags Default F008:0 Code word UINT32 0x00000000 (0 Index F010 Module list Index (hex) Name Meaning Data type Flags Default F010:0 Module list UINT8 0x02 (2 F010:01 SubIndex 001 UINT32 0x00000258 (600 F010:02 SubIndex 002 UINT32 0x00000258 (600 EP3752-0000 Version: 1.4...

  • Page 48: Appendix

    (ph-Value > 12) > 40°C: not resistant Acetic acid not resistant Argon (technical clean) resistant • resistant: Lifetime several months • non inherently resistant: Lifetime several weeks • not resistant: Lifetime several hours resp. early decomposition Version: 1.4 EP3752-0000...

  • Page 49: Accessories

    ZB8801-0000 Torque wrench for plugs, 0.4…1.0 Nm ZB8801-0001 Torque cable key for M8 / wrench size 9 for ZB8801-0000 Further accessories Further accessories can be found in the price list for fieldbus components from Beckhoff and online at https://www.beckhoff.com. EP3752-0000 Version: 1.4...

  • Page 50: Version Identification Of Ethercat Devices

    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. From 2014/01 the revision is shown on the outside of the IP20 terminals, see Fig. “EL5021 EL terminal, standard IP20 IO device with batch number and revision ID (since 2014/01)”.

  • Page 51: Version Identification Of Ep/Epi/Epp/Er/Eri Boxes

    Version identification of EP/EPI/EPP/ER/ERI boxes The serial number/ data code for Beckhoff IO devices is usually the 8-digit number printed on the device or on a sticker. The serial number indicates the configuration in delivery state and therefore refers to a whole production batch, without distinguishing the individual modules of a batch.

  • Page 52: Beckhoff Identification Code (Bic)

    7.3.3 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 53 Fig. 12: Example DMC 1P072222SBTNk4p562d71KEL1809 Q1 51S678294 An important component of the BIC is the Beckhoff Traceability Number (BTN, position 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 54: 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 55 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. EP3752-0000 Version: 1.4...

  • Page 56: Support And Service

    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 58 More Information: www.beckhoff.com/ep3752-0000/ Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

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