Beckhoff EP3751-0160 Documentation
  1. Manuals
  2. Brands
  3. Beckhoff Manuals
  4. Measuring Instruments
  5. EP3751-0160
  6. Documentation

Beckhoff EP3751-0160 Documentation

3-axis accelerometer
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Documentation | EN
EP3751-0160
3-axis accelerometer
2023-10-04 | Version: 1.0

Advertisement

Table of Contents
loading

Related Manuals for Beckhoff EP3751-0160

Summary of Contents for Beckhoff EP3751-0160

  • Page 1 Documentation | EN EP3751-0160 3-axis accelerometer 2023-10-04 | Version: 1.0...

  • Page 3: Table Of Contents

    Distributed Clocks ...........................  37 Controlling LEDs .......................... 38 Restore the delivery state .......................  39 Decommissioning .......................... 40 6 CoE objects ............................. 41 Objects for parameterization ...................... 41 Standard objects .......................... 43 Profile-specific objects ........................ 49 7 Appendix .............................. 51 EP3751-0160 Version: 1.0...
  • Page 4 Version identification of EtherCAT devices .................. 53 7.3.1 General notes on marking.................... 53 7.3.2 Version identification of IP67 modules ................ 54 7.3.3 Beckhoff Identification Code (BIC) ...................  55 7.3.4 Electronic access to the BIC (eBIC).................  57 Support and Service........................ 59 Version: 1.0 EP3751-0160...

  • 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 [} 53]. EP3751-0160 Version: 1.0...

  • 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: 1.0 EP3751-0160...
  • 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. EP3751-0160 Version: 1.0...

  • Page 10: Product Overview

    The EP3751-0160 EtherCAT Box has an internal ultra-low-noise 3-axis accelerometer with 20-bit resolution and a selectable measuring range of ±2 g, ±4 g and ±8 g. The sampling rate is 4 kHz. The built-in sensor is suitable for applications where low frequencies must be monitored with the lowest possible noise.

  • Page 11: Technical Data

    EN 60068-2-6 / EN 60068-2-27 Additional tests [} 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 [} 23] *) Real applicable approvals/markings see type plate on the side (product marking). EP3751-0160 Version: 1.0...

  • Page 12: Scope Of Supply

    Scope of supply Make sure that the following components are included in the scope of delivery: • 1x EP3751-0160 • 2x protective cap for EtherCAT socket, M8, green (pre-assembled) • 1x protective cap for supply voltage input, M8, transparent (pre-assembled) •...

  • Page 13: Process Image

    This bit is inverted each time the measured temperature value is updated. Value The current measured value of the internal temperature measurement. Unit: °C AI Acc Outputs Start self test This bit starts the self test of the accelerometer. See chapter Self test [} 34]. EP3751-0160 Version: 1.0...
  • Page 14 Product overview DIG Outputs LED 1, LED 2, LED 3 Variables for controlling LEDs on the housing. See chapter Controlling LEDs [} 38]. Version: 1.0 EP3751-0160...

  • Page 15: Mounting And Connection

    Metal parts brass, nickel-plated Contacts CuZn, gold-plated Installation position variable Protection class IP65, IP66, IP67 (conforms to EN 60529) when screwed together Dimensions (H x W x D) approx. 86 x 30 x 22 mm Weight approx. 90 g EP3751-0160 Version: 1.0...

  • Page 16: 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 Tightening torques for plug connectors Screw M8 connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff) Torque: 0.4 Nm. 4.1.4 Functional earth (FE) The mounting holes also serve as connections for the functional earth (FE).

  • Page 17: Connection

    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. EP3751-0160 Version: 1.0...
  • Page 18 (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: 1.0...

  • Page 19: 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. EP3751-0160 Version: 1.0...
  • Page 20 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 4.2.2.2 Status LEDs Display Meaning (control voltage) The supply voltage U is not available. green illuminated The supply voltage U is available.
  • Page 21 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) EP3751-0160 Version: 1.0...

  • Page 22: Function Test

    The LEDs light up when a vibration is detected, e.g. when you tap your finger against the housing. See also Chapter Status display [} 33]. The prerequisite for the function test is that the supply voltages are present. Version: 1.0 EP3751-0160...

  • Page 23: 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 EP3751-0160 Version: 1.0...

  • Page 24: 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: 1.0 EP3751-0160...

  • Page 25: Commissioning And Configuration

    Commissioning and configuration Commissioning and configuration Integrating into a TwinCAT project The procedure for integration in a TwinCAT project is described in these Quick start guide. EP3751-0160 Version: 1.0...

  • Page 26: Acceleration Measurement

    In the factory setting, the measured values are scaled to 1 mg/LSB. The symbol g stands for the acceleration due to gravity 9.81 m/s². 1 mg corresponds to 0.00981 m/s². Optionally, you can output the measured values with a higher resolution, see chapter Measured value resolution [} 28]. Version: 1.0 EP3751-0160...

  • Page 27: Measuring Range

    If the parameter 80n0:0B "Enable Vendor Calibration" is set to FALSE, a change of the measuring range also influences the resolution of the measured values and the measured value noise of the respective channel. In the factory setting "Enable Vendor Calibration" is TRUE. See chapter Measured value resolution [} 28]. EP3751-0160 Version: 1.0...

  • Page 28: Measured Value Resolution

    FALSE +-2G 1/256 mg/LSB FALSE +-4G 1/128 mg/LSB FALSE +-8G 1/64 mg/LSB Measured value noise If "Enable vendor calibration" FALSE is set, the noise power density increases with larger measuring range. See chapter Measured value noise [} 32]. Version: 1.0 EP3751-0160...

  • Page 29: Sampling Rate

    The measured value noise decreases with lower sampling rate. To minimize noise, set the sampling rate to a value less than or equal to the EtherCAT data rate (frames / sec). Data rate = 1 / Cycle Time. See also Chapter Measured value noise [} 32]. EP3751-0160 Version: 1.0...

  • Page 30: Measured Value Filter

    • Make sure that the sampling rate is in the factory setting before enabling a measured value filter. See chapter Sampling rate [} 29]. Set parameter 80n0:0:06 "Enable filter" to TRUE, to enable a filter. Example for the x-axis: Version: 1.0 EP3751-0160...
  • Page 31 These frequencies are therefore attenuated in amplitude. Example of a typical attenuation curve of a notch filter with 50 Hz filter frequency: Frequency [Hz] IIR filter The IIR filters are low-pass filters. IIR1 has the highest cut-off frequency, IIR8 has the lowest cut-off frequency. EP3751-0160 Version: 1.0...

  • Page 32: Measured Value Noise

    • Disable the measured value filters of the box to be able to set the sampling rate (chapter Measured value filter [} 30]). Filter in the PLC instead. • Select the sampling rate as low as possible; necessarily lower than the EtherCAT data rate (frames / sec). See chapter Sampling rate [} 29]. Version: 1.0 EP3751-0160...

  • Page 33: Status Display

    Very high High 2 (factory setting) Medium Very low 65535 This setting is stored non-volatile in the device. For a function test after assembly, you can therefore set the sensitivity in advance according to the expected vibrations. EP3751-0160 Version: 1.0...

  • Page 34: Self Test

    ð The variable "AI Acc X Inputs" > "Status" > "Self test status" takes the value 0. Possible values of "Self test status" "Self test status" Meaning Ready to start a self test. Self test is running. Self test completed. Sensor defective. Self test completed. Sensor OK. Version: 1.0 EP3751-0160...

  • Page 35: Inclination Measurement

    0° Formula: Implementation in TwinCAT: IF NOT ((ax = 0) AND (az = 0)) THEN     roll := ATAN(ay / (SQRT(ax * ax + az * az))) * 360/(2*3.14); END_IF (Note: the IF statement prevents division by zero) EP3751-0160 Version: 1.0...
  • Page 36 0° Formula: Implementation in TwinCAT: IF NOT ((ay = 0) AND (az = 0)) THEN     pitch := ATAN(ax / (SQRT(ay * ay + az * az))) * 360/(2*3.14); END_IF (Note: the IF statement prevents division by zero) Version: 1.0 EP3751-0160...

  • Page 37: Distributed Clocks

    A possible use case for the "Distributed Clocks" would be, for example, a frequency analysis of the measured acceleration values. Enable 1. On the "DC" tab, in the "Operation Mode" list box, select "DC Synchron". 2. Activate the configuration. EP3751-0160 Version: 1.0...

  • Page 38: Controlling Leds

    You can control three LEDs on the front of the housing via the process data: "LED1", "LED2" and "LED3". For each LED there is a variable in the process data object "DIG Outputs". To switch on an LED, set the corresponding variable to 1. Version: 1.0 EP3751-0160...

  • Page 39: 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. EP3751-0160 Version: 1.0...

  • Page 40: Decommissioning

    Commissioning and configuration Decommissioning WARNING Risk of electric shock! Bring the bus system into a safe, de-energized state before starting disassembly of the devices! Version: 1.0 EP3751-0160...

  • Page 41: Coe Objects

    8020:15 Filter settings Selection of the measured value filter. UINT16 0x0002 (2 See chapter Measured value filter [} 30]. 8020:1E Slope detection sensitivity Controls the sensitivity of the status display. UINT16 0x0002 (2 See chapter Status display [} 33]. EP3751-0160 Version: 1.0...
  • Page 42 SAI Settings UINT8 0x11 (17 F800:0D Sampling rate From Firmware 03 UINT16 0x0000 (0 Selection of the sampling rate. See chapter Sampling rate [} 29]. 800F:11 Range Selection of the measuring range. UINT16 0x0000 (0 See chapter Measuring range [} 27]. Version: 1.0 EP3751-0160...

  • Page 43: Standard Objects

    Index Name Meaning Data type Flags Default (hex) 1008:0 Device name Device name of the EtherCAT slave STRING EP3751-0160 Index 1009: Hardware version Index Name Meaning Data type Flags Default (hex) 1009:0 Hardware version Hardware version of the EtherCAT slave...
  • Page 44 6. PDO Mapping entry (16 bits align) UINT32 0x6000:10, 1 1A00:07 SubIndex 007 7. PDO Mapping entry (object 0x6000 (AI Acc Inputs UINT32 0x0000:00, 16 Ch.1), entry 0x12 (Value)) 1A00:08 SubIndex 008 8. PDO Mapping entry (16 bits align) UINT32 0x6000:12, 32 Version: 1.0 EP3751-0160...
  • Page 45 Sync-Manager Type Channel 2: Mailbox Read UINT8 0x02 (2 1C00:03 SubIndex 003 Sync-Manager Type Channel 3: Process Data Write UINT8 0x03 (3 (Outputs) 1C00:04 SubIndex 004 Sync-Manager Type Channel 4: Process Data Read UINT8 0x04 (4 (Inputs) EP3751-0160 Version: 1.0...
  • Page 46 (6657 1C13:03 Subindex 003 3. allocated TxPDO (contains the index of the UINT16 0x1A02 associated TxPDO mapping object) (6658 1C13:04 Subindex 004 4. allocated TxPDO (contains the index of the UINT16 0x1A03 associated TxPDO mapping object) (6659 Version: 1.0 EP3751-0160...
  • Page 47 SYNC0 and SYNC1 event was too short (DC mode only) 1C32:14 Frame repeat time UINT32 0x00000000 1C32:20 Sync error The synchronization was not correct in the last cycle BOOLEAN 0x00 (0 (outputs were output too late; DC mode only) EP3751-0160 Version: 1.0...
  • Page 48 1C32:11 UINT16 0x0000 (0 1C33:0C Cycle exceeded counter as 1C32:12 UINT16 0x0000 (0 1C33:0D Shift too short counter as 1C32:13 UINT16 0x0000 (0 1C33:14 Frame repeat time UINT32 0x00000000 1C33:20 Sync error as 1C32:32 BOOLEAN 0x00 (0 Version: 1.0 EP3751-0160...

  • Page 49: Profile-Specific Objects

    0x00 (0 Index 7050: DIG Outputs Ch.1 Index Name Meaning Data type Flags Default (hex) 7050:0 DIG Outputs Ch.1 UINT8 0x03 (3 7050:01 LED 1 BOOLEAN 0x00 (0 7050:02 LED 2 BOOLEAN 0x00 (0 7050:03 LED 3 BOOLEAN 0x00 (0 EP3751-0160 Version: 1.0...
  • Page 50 F010:06 SubIndex 006 UINT32 0x00000118 (280 Index FB10: CMD Command Index Name Meaning Data type Flags Default (hex) FB10:0 CMD Command UINT8 0x03 (3 FB10:01 Request OCTET- STRING[6] FB10:02 State UINT8 0x00 (0 FB10:03 Response OCTET- STRING[6] Version: 1.0 EP3751-0160...

  • Page 51: Appendix

    (ph value > 12) unstable > 40 °C Acetic acid unstable Argon (technically pure) stable • resistant: Lifetime several months • non inherently resistant: Lifetime several weeks • not resistant: Lifetime several hours resp. early decomposition EP3751-0160 Version: 1.0...

  • Page 52: 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. Version: 1.0 EP3751-0160...

  • Page 53: 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 54: Version Identification Of Ip67 Modules

    Version identification of IP67 modules 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 55: 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 56 Fig. 9: 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 57: 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 58 • For processing the BIC/BTN data in the PLC, the following auxiliary functions are available in Tc2_Utilities from TwinCAT 3.1 build 4024.24 onwards ◦ F_SplitBIC: The function splits the Beckhoff Identification Code (BIC) sBICValue into its components based on known identifiers and returns the recognized partial strings in a structure ST_SplitBIC as return value.

  • Page 59: 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: www.beckhoff.com You will also find further documentation for Beckhoff components there.
  • Page 61 More Information: www.beckhoff.com/ep3751-0160 Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

Table of Contents