Page 1 Short documentation | EN EPP3504-0023/ ERP3504-0022 4-channel measuring bridge,(SG) full/half/quarter bridge, 24 bit, 10 ksps 2024-02-15 | Version: 1.3...
Page 3 The following box modules were described within this documentation: Measuring bridge/ SG measurement EPP3504‑0023 [} 17] (4-channel analog input, measuring bridge, full/half/quarter bridge, 24 bit, 10 ksps, IP20 connector) ERP3504‑0022 [} 17] (4-channel analog input, measuring bridge, full/half/quarter bridge, 24 bit, 10 ksps) EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 4: Table Of Contents
3 Product group: EtherCAT P Box modules.................... 16 4 Product overview ............................ 17 EPP3504-0023/ ERP3504-0022 - Introduction ................ 17 EPP3504-0023/ ERP3504-0022 - Technical data................ 19 4.2.1 EPP3504-0023/ ERP3504-0022 overview measurement ranges ........ 21 4.2.2 Measurement ±10 V...................... 23 4.2.3 Measurement ±80 mV...................... 25 4.2.4...
Page 5 ONLINE configuration creation .................. 170 7.3.7 EtherCAT subscriber configuration ................ 178 7.3.8 Import/Export of EtherCAT devices with SCI and XTI............ 187 EtherCAT basics ........................... 194 EtherCAT cabling – wire-bound .................... 195 General notes for setting the watchdog .................. 197 EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 6 Simultaneous updating of several EtherCAT devices ............ 244 Firmware compatibility ........................ 245 Restoring the delivery state...................... 246 Notes on operation ........................ 247 Continuative documentation for I/O components with analog in and outputs ....... 248 Support and Service........................ 249 9.10 Reshipment and return........................ 249 Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 7: 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 8: 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 9: Documentation Issue Status
• “Guide through documentation“ within foreword added • Chapter “Version identification of EtherCAT devices“/ “Electronic access to the BIC (eBIC)“ within foreword updated • Product supplement: ERP3504-0022 (chapters “Product overview”, “Technical data”, “Mounting and wiring”, “Firmware compatibility”) • Chapter “Firmware update EL/ES/ELM/EM/EP/EPP/ERPxxxx“ within appendix updated •...
Page 10: Guide Through Documentation
Further components of documentation This documentation describes device-specific content. It is part of the modular documentation concept for Beckhoff I/O components. For the use and safe operation of the device / devices described in this documentation, additional cross-product descriptions are required, which can be found in the following table.
Page 11: 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 12: Fig. 1 Bic As Data Matrix Code (Dmc, Code Scheme Ecc200)
Posi- Type of Explanation Data Number of digits Example tion information identifier incl. data identifier Beckhoff order Beckhoff order number 1P 1P072222 number Beckhoff Traceability Unique serial number, SBTN SBTNk4p562d7 Number (BTN) see note below Article description Beckhoff article 1KEL1809 description, e.g.
Page 13: Electronic Access To The Bic (Ebic)
Fig. 2: 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 14 Foreword ◦ To do this, check the "Show Beckhoff Identification Code (BIC)" checkbox under EtherCAT → Advanced Settings → Diagnostics: ◦ The BTN and its contents are then displayed: ◦ Note: As shown in the figure, the production data HW version, FW version, and production date, which have been programmed since 2012, can also be displayed with "Show production info".
Page 15 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, and DeviceNet devices Currently, no electronic storage or readout is planned for these devices. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 16: Product Group: Ethercat P Box Modules
EtherCAT P Box modules are EtherCAT P slaves with degree of protection IP67. They are designed for operation in wet, dirty or dusty industrial environments. EtherCAT basics A detailed description of the EtherCAT system can be found in the EtherCAT system documentation. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 17: Product Overview
As a result, settings that can be found in delivered devices, e.g. in the CoE/PDO/DC dialogs, may not yet be documented. The use of such non-documented properties is not permitted unless it is done with the express supervision of Beckhoff Support. EPP3504-0023/ ERP3504-0022 - Introduction Fig. 3: EPP3504-0023...
Page 18: Fig. 4 Erp3504-0022
The EPP3504-0023 is intended for use in a protected environment and is therefore equipped with IP20 bridge connections. The ERP3504-0022 is an IP67 product that has M12 plugs instead of push-in spring-loaded terminals and is housed in a zinc die-cast housing and is therefore protected against interference. Otherwise, this box is identical to the EPP3504-0023 in terms of its content and functions.
Page 19: Epp3504-0023/ Erp3504-0022 - Technical Data
Product overview EPP3504-0023/ ERP3504-0022 - Technical data Technical data EPP3504-0023/ ERP3504-0022 Analog inputs 4 channel (differential) Time relation between channels to each Simultaneous conversion of all channels in the box, other synchronous conversion between devices, if DistributedClocks will be used ADC conversion method ΔΣ...
Page 20 0 up to 2000 m (derating at higher altitudes on request) Relative humidity max. 95%, no condensation Protection class EPP3504-0023: IP 20 (plug connectors) ERP3504-0022: IP67 (M12 connector) Normative data EPP3504-0023/ ERP3504-0022 Vibration-/shock resistance Conforms to EN 60068-2-6 / EN 60068-2-27...
Page 21: Epp3504-0023/ Erp3504-0022 Overview Measurement Ranges
Product overview 4.2.1 EPP3504-0023/ ERP3504-0022 overview measurement ranges Measurement Connection tech- Mode Maximum value/ value nology range Voltage 2 wire ±10 V Extended ±10.737.. V Legacy ±10 V ±80 mV Extended ±85.9.. mV Legacy ±80 mV PT1000 2/3/4 wire 2000 Ω...
Page 22: Fig. 5 Overview Measurement Ranges, Bipolar
Error = TRUE is also displayed. The detection limit for Underrange/Overrange Error can be set in the CoE. In Legacy Range mode, an Underrange/Overrange event also leads to an Error in the PDO status. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 23: Measurement ±10 V
Noisedensity@1kHz < 1.41 Noise (with 50 Hz FIR filter) < 9.0 ppm < 70 digits < 90.0 µV Noise, PtP < 1.5 ppm < 12 digits < 15.0 µV Noise, RMS Max. SNR > 116.5 dB EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 24: Fig. 7 Representation ±10 V Measurement Range
Error = TRUE is also displayed. The detection limit for Underrange/Overrange Error can be set in the CoE. In Legacy Range mode, an Underrange/Overrange event also leads to an Error in the PDO status. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 25: Measurement ±80 Mv
Noisedensity@1kHz < 0.03 Noise (with 50 Hz FIR filter) < 18.0 ppm < 141 digits < 1.44 µV Noise, PtP < 3.0 ppm < 23 digits < 0.24 µV Noise, RMS Max. SNR > 110.5 dB EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 26: Fig. 8 Representation ±80 Mv Measurement Range
Error = TRUE is also displayed. The detection limit for Underrange/Overrange Error can be set in the CoE. In Legacy Range mode, an Underrange/Overrange event also leads to an Error in the PDO status. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 27: Rtd/Pt1000 Measurement
RTD type (Pt100, Pt1000…). Both steps can take place locally in the Beckhoff measurement device. The transformation in the device can also be deactivated if it is to be calculated on a higher level in the control. Depending on the device type, several RTD conversions can be implemented which only differs in software.
Page 28 • Full bridge: 4‑wire connection without line compensation, 6‑wire connection with full line compensation • Half bridge: 3‑wire connection without line compensation, 5‑wire connection with full line compensation • Quarter bridge: 2‑wire connection without line compensation, 3‑wire connection with theoretical line compensation and 4‑wire connection with full line compensation Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 29 Therefore, a system-side offset adjustment is recommended, see "Note on 2-/3-/4-wire connection in R/RTD mode". The final targeting basic acuuracy within the 2-wire operation is mainingly dependent by the quality of this system-side offset adjustment. ) Values related to a common mode interference between SGND and internal ground. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 30: Fig. 9 Chart: Rtd Measuring Range
• equations for calculating further parameters (offset/gain/non-linearity/repeatability/noise) if necessary from the resistance specification at the desired operating point RTD types supported by the EPP3504-0023: • Pt1000 according to DIN EN 60751/IEC751 with α= 0.0039083 [1/C°] Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 31: Fig. 11 Diagram For Basic Accuracy For Pt1000, 3-Wire Connection
)) / (ΔR Temp Measuring point Resistance Measuring point proK Measuring point • To determine the error of the entire system consisting of RTD and the measuring device in [°C], the two errors must be added together quadratically: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 32 ) = 0.074 Ω / 4.05 Ω/°C ≈ 0.018 °C (means ± 0.018 °C) Temp Measuring point Example 4: If the noise E of the above example terminal is considered not for one sensor point -100 °C but in Noise, PtP general, the following plot results: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 33: Fig. 13 Diagram Noise Enoise, Ptp In Dependence On Sensor Temperature
Product overview Fig. 13: Diagram noise E in dependence on sensor temperature Noise, PtP EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 34: Potentiometer Measurement
1 kHz: typ. typ. tbd typ. Temperature coefficient, typ. < 2 ppm/K Gain < 2 ppm Offset Largest short-term deviation during a specified electrical tbd % = tbd ppm typ. interference test Input impedance (internal resistance) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 35: Fig. 14 Representation Potentiometer Measurement Range
In practice, the offset component can be eliminated by the functions Tare [} 000] and also ZeroOffset [} 000] of the box module or in the controller by a higher-level tare function. The offset deviation over time can change, therefore Beckhoff recommends a regular offset adjustment or careful observation of the change.
Page 36: Measurement Sg 1/1 Bridge (Full Bridge) 4/6-Wire Connection
The integrated switcheable shunt resistor can be used to generate a predictable detuning or, in case of deviation, a correction factor. Note: specifications apply for 5 V SG excitation and symmetric 350R SG. Note: data are valid from production week 01/ 2019 and • for EPP3504-0023: HW04/ ERP3504-0022: HW06 Full bridge calculation: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 37 Product overview The strain relationship (µStrain, µε) is as follows: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 38 < 20 ppm < 40 ppm Offset < 0.08 < 0.08 < 0.1 < 0.1 < 0.08 < 0.08 Largest short-term deviation tbd. tbd. tbd. tbd. tbd. tbd. during a specified electrical interference test Input impedance Differential tbd. tbd. tbd. tbd. tbd. tbd. ±Input 1 Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 39 [} 000] and also Features [} 000] of the box module or in the controller by a higher-level tare function. The offset deviation of a bridge measurement over time can change, therefore Beckhoff recommends a regular offset adjustment or careful observation of the change.
Page 40: Measurement Sg 1/2 Bridge (Half Bridge) 3/5-Wire Connection
Note: specifications apply for 3.5 V SG excitation and symmetric 350R SG. Note: adjustment of the half-bridge measurement and thus validity of the data from production week 2018/50 • for EPP3504-0023: HW04/ ERP3504-0022: HW06 To calculate the R half bridge: Version: 1.3...
Page 41 The strain relationship (µStrain, µε) is as follows: N should be chosen based on the mechanical configuration of the variable resistors (Poisson, 2 active uniaxial, …). The channel value (PDO) is interpreted directly [mV/V]. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 42 < 0.4 µV/V/K Largest short-term deviation tbd. tbd. tbd. tbd. tbd. tbd. during a specified electrical interference test Input impedance Differential tbd. tbd. tbd. tbd. tbd. tbd. ±Input 1 (internal CommonM tbd. tbd. tbd. tbd. tbd. tbd. resistance) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 43 The resistor of the bridge is positioned parallel to the internal resistor of the box module and leads to an offset shifting respectively. The Beckhoff factory calibration will be carried out with the half bridge 350 Ω, thus the values specified above are directly valid for the 350 Ω half bridge. By connection of another dimensioned half-bridge is to: •...
Page 44: Measurement Sg 1/4 Bridge (Quarter-Bridge) 2/3-Wire Connection
Note: effectively only half the voltage is present at the quarter-bridge due to the internally switched bridge supplement. • Data valid from production week 21/2019 and for EPP3504-0023: HW04/ ERP3504-0022: HW06 By a user-side adjustment with a connected bridge sensor, the measurement uncertainity related to gain and offset error can be significant reduced.
Page 45: Fig. 15 Connection Of The Quarter Bridge
• Rs: switchable shunt resistor • SW: internal switch for 2/3-wire operation; open: 3-wire operation The strain relationship (µStrain, µε) is as follows: For the quarter-bridge, N=1 always applies. The relationship between U and ∆R is non-linear: Bridge EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 46: Fig. 16 Relationship Between Ubridge/Uexc And ∆R1
Product overview Fig. 16: Relationship between UBridge/UExc and ∆R The EPP3504/ ERP3504 devices apply internal linearization so that the output is already linearized since the internal calculation is based on U Exc' Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 47 % during a specified electrical interference test Input Differential tbd. tbd. tbd. tbd. impedance CommonMod tbd. tbd. tbd. tbd. ±Input 1 Input 3-wire impedance Differential tbd. tbd. tbd. tbd. ±Input 2 CommonMod tbd. tbd. tbd. tbd. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 48 Noise, RMS < 31 digits < 94 digits < 188 digits < 375 digits < 0.13 µV/V < 0.1 µV/V < 0.1 µV/V < 0.1 µV/V Max. SNR > 108.0 dB > 98.4 dB > 92.4 dB > 86.4 dB Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 49 % during a specified electrical interference test Input impedance Differential tbd. tbd. tbd. tbd. ±Input 1 CommonMod tbd. tbd. tbd. tbd. Input impedance 3-wire ±Input 2 Differential tbd. tbd. tbd. tbd. CommonMod tbd. tbd. tbd. tbd. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 50 Noise, RMS < 23 digits < 70 digits < 141 digits < 281 digits < 0.1 µV/V < 0.07 µV/V < 0.07 µV/V < 0.07 µV/V Max. SNR > 110.5 dB > 100.9 dB > 94.9 dB > 88.9 dB Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 51 Differential tbd. tbd. tbd. tbd. impedance CommonMod tbd. tbd. tbd. tbd. ±Input 1 Input 3-wire No usage of this input in this mode impedance Differential tbd. tbd. tbd. tbd. ±Input 2 CommonMod tbd. tbd. tbd. tbd. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 52 [} 000] and also Features [} 000] of the box module or in the controller by a higher-level tare function. The offset deviation of a bridge measurement over time can change, therefore Beckhoff recommends a regular offset adjustment or careful observation of the change.
Page 53: Process Data Interpretation
The channel for this box module features an option to set the measuring range either to the conventional Beckhoff type, up until now: "nominal full-scale value = PDO end value: LegacyRange" or the new method "technical full-scale value = PDO end value: ExtendedRange".
Page 54: General Information On Measuring Accuracy/Measurement Uncertainty
Depending on the work involved, the measurement/measured value is subject to a random measuring error that cannot be eliminated. With its practically determined specification data, Beckhoff provides an approach that can be used to calculate the residual measurement uncertainty in the individual case. The following paragraphs elucidate this.
Page 55 The independent specification data can be divided into two groups: • the data on offset/gain deviation, non-linearity, and repeatability, whose effect on the measurement cannot be influenced by the user. These are summarized by Beckhoff according to the calculation below, at "basic accuracy at 23°C".
Page 56 Total measurement accuracy = basic accuracy & noise & temperature values according to above formula Beckhoff usually gives the specification data symmetrically in [±%], i.e. ±0.01% or ±100 ppm. Accordingly, therefore, the unsigned total range would be double this given value. A peak-to-peak specification is a total range specification;...
Page 57 Error coefficient of ageing If the specification value for aging from Beckhoff has not (yet) been specified, it must be assumed to be 0 ppm when considering measurement uncertainty, as in the above example, even if in reality it can be assumed that the measurement uncertainty of the device under consideration changes over the operating time, or colloquially stated, the measured value "drifts".
Page 58 This value could easily be calculated from the data given by the specification, as the total accuracy consists of a measured value and full scale value dependent component and an exclusively full scale value dependent component, according to the formula: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 59: Scope Of Supply
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. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 60: Commissioning
Commissioning Commissioning Notes to short documentation NOTICE This short documentation does not contain any further information within this chapter. For the complete documentation please contact the Beckhoff sales department responsible for you. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 61: Coe Overview
If values are to be changed or read specifically at application runtime, function blocks (FBs) can be used for CoE access to the TwinCAT TC2_EtherCAT.lib. See also the sample programs in this documentation. Single access and CompleteAccess are possible. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 62: Fig. 19 Function Blocks (Fbs) For Coe Access To The Twincat Tc2_Ethercat.lib
Fig. 19: Function blocks (FBs) for CoE access to the TwinCAT TC2_EtherCAT.lib TwinCAT TF6010 ADS Monitor The TF6010 ADS Monitor is a free tool from Beckhoff for monitoring ADS communication. It can be used to read or write CoE values from/to the EtherCAT device (Command Test). Single access and CompleteAccess are possible.
Page 63: Fig. 21 Filter Coefficients Nos. 1 To 12 Of Channel 1 In The Coe Online Of An Elm3602 Ethercat Ter- Minal
"in one set", alternatively they could also be copied out manually one after the other as above. After installing the TF6010 ADS Monitor from the Beckhoff website, it can be started in the development environment menu under [TwinCAT] → [ADS Monitor]: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 64: Fig. 23 Calling The Ads Monitor Command Test
TwinCAT must be activated or restarted. Fig. 24: Activation of "EtherCAT Addr." The following is to be entered in the dialog: • A: Ams Net ID of the EtherCAT master • B: as port, the EtherCAT address of the 'Slave' Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 65 Which corresponds exactly to the values from figure above "Filter coefficients nos. 1 to 12 of channel 1 in CoE-Online of an ELM3602 EtherCAT Terminal". The values can thus be further processed using a spreadsheet program and, if necessary, incorporated into a self-generated Startup.xml. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 66: 0X10E2 Manufacturer-Specific Identification Code
BOOLEAN 0x00 (0 60n0:0D Diag TRUE: New diagnostic message BOOLEAN 0x00 (0 available 60n0:0E TxPDO State TRUE: data invalid BOOLEAN 0x00 (0 60n0:0F Input cycle Incremented by one when values have BIT2 0x00 (0 counter changed Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 67: 0X60N1 Pai Samples Ch.[N+1] (24 Bit)
0 ≤ n ≤ m, n+1 = Channel number, m+1 = max. No. of channels Index Name Meaning Data type Flags Default (hex) 60n5:0 PAI Timestamp UINT8 0x02 (2 Ch.[n+1] 60n5:01 Low Timestamp (low) UINT32 0x00000000 60n5:02 Hi Timestamp (hi) UINT32 0x00000000 EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 68: 0X60N6 Pai Synchronous Oversampling Ch.[N+1]
3 - 1.5 V 4 - 2.0 V 5 - 2.5 V 6 - 3.0 V 7 - 3.5 V 8 - 4.0 V 9 - 4.5 V 10 - 5.0 V 65535 - External Supply Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 69 TrueRMS 80n0:1C Enable True Activation of "True RMS" BOOLEAN 0x00 (FALSE) calculation 80n0:1D Enable Enable Frequency Counter BOOLEAN 0x00 (FALSE) Frequency Counter 80n0:1E Reset Load Reset Load Cycle Counter BOOLEAN 0x00 (FALSE) Cycle Counter EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 70 Low load cycle limit REAL32 0xFF7FFFFD Limit (-3.4028231e+38) 80n0:3B High Load Cycle High load cycle limit REAL32 0x7F7FFFFD Limit (3.4028231e+38) 80n0:40 Filter 1 Type Filter 1 type information STRING Info 80n0:41 Filter 2 Type Filter 2 type information STRING Info Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 71: 0X80N1 Pai Filter 1 Settings Ch.[N+1]
80n6:03 Scaler Value 3 LookUp x value 2 REAL32 0x00000000 (0 80n6:04 Scaler Value 4 LookUp y value 2 REAL32 0x00000000 (0 80n6:63 Scaler Value 99 LookUp x value 50 REAL32 0x00000000 (0 80n6:64 Scaler Value 100 LookUp y value 50 REAL32 0x00000000 (0 EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 72: 0X80Na Pai Extended Settings Ch.[N+1]
(T1S1 * temp * sample) 80nE:09 T2 Temperature coefficient for second- REAL32 0x00000000 order temperature value (0.0 (T2 * temp²) 80nE:0A T2S1 Combined coefficient for second-order REAL32 0x00000000 gain and temperature values (0.0 (T2S1 * temp² * sample) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 73: 0X80Nf Pai Vendor Calibration Data Ch.[N+1]
(T2S1 * temp² * sample) 80nF:0B T3 Temperature coefficient for third-order REAL32 0x00000000 temperature value (0.0 (T3 * temp³) 80nF:0C T3S1 Combined coefficient for third-order REAL32 0x00000000 gain and temperature values (0.0 (T3S1 * temp³ * sample) EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 74: 0X90N0 Pai Internal Data Ch.[N+1]
0x90n2 PAI Info Data Ch.[n+1] 0 ≤ n ≤ m, n+1 = Channel number, m+1 = max. No. of channels Index Name Meaning Data type Flags Default (hex) 90n2:0 PAI Info Data UINT8 0x12 (18 Ch.[n+1] Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 75 Counter of the user calibration UINT16 0x0000 Counter (related to the selected interface) The counter counts +1 when data has changed and the memory code word is written. Depending on the adjustment method, the counter may therefore count several times. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 76: 0X90Nf Pai Calibration Dates Ch.[N+1]
3Wire 4 mV/V 90nF:18 Vendor SG Half-Bridge OCTET-STRING[4] 3Wire 4 mV/V compensated 90nF:19 Vendor SG Half-Bridge OCTET-STRING[4] 3Wire 8 mV/V 90nF:1A Vendor SG Half-Bridge OCTET-STRING[4] 3Wire 16 mV/V 90nF:1B Vendor SG Half-Bridge OCTET-STRING[4] 5Wire 2 mV/V Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 77 Vendor SG Quarter-Bridge OCTET-STRING[4] 2Wire 350R 4 mV/V compensated 90nF:31 Vendor SG Quarter-Bridge OCTET-STRING[4] 2Wire 350R 8 mV/V 90nF:32 Vendor SG Quarter-Bridge OCTET-STRING[4] 2Wire 350R 32 mV/V 90nF:33 Vendor SG Quarter-Bridge OCTET-STRING[4] 3Wire 350R 2 mV/V EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 78 User PT1000 3Wire OCTET-STRING[4] 90nF:86 User PT1000 4Wire OCTET-STRING[4] 90nF:87 User Poti 3Wire OCTET-STRING[4] 90nF:88 User Poti 5Wire OCTET-STRING[4] 90nF:89 User SG Full-Bridge 4Wire OCTET-STRING[4] 2 mV/V 90nF:8A User SG Full-Bridge 4Wire OCTET-STRING[4] 2 mV/V compensated Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 79 User SG Quarter-Bridge OCTET-STRING[4] 2Wire 120R 2 mV/V 90nF:A2 User SG Quarter-Bridge OCTET-STRING[4] 2Wire 120R 2 mV/V compensated 90nF:A3 User SG Quarter-Bridge OCTET-STRING[4] 2Wire 120R 4 mV/V 90nF:A4 User SG Quarter-Bridge OCTET-STRING[4] 2Wire 120R 4 mV/V compensated EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 80 User SG Quarter-Bridge OCTET-STRING[4] 3Wire 350R 32 mV/V 90nF:B9 User SG Quarter-Bridge OCTET-STRING[4] 2Wire 1k 2 mV/V 90nF:BA User SG Quarter-Bridge OCTET-STRING[4] 2Wire 1k 2 mV/V compensated 90nF:BB User SG Quarter-Bridge OCTET-STRING[4] 2Wire 1k 4 mV/V Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 81: 0Xf000 Modular Device Profile
Code word UINT32 0x00000000 5.2.23 0xF009 Password Protection Index Name Meaning Data type Flags Default (hex) F009:0 Password UINT32 0x00000000 protection 5.2.24 0xF010 Module list Index Name Meaning Data type Flags Default (hex) F010:0 Module list UINT8 EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 82: 0Xf083 Btn
= number of existing channels by the box module 5.2.25 0xF083 BTN Index Name Meaning Data type Flags Default (hex) F083:0 Beckhoff Traceability Number STRING 00000000 5.2.26 0xF900 PAI Info Data Index Name Meaning Data type Flags Default (hex)
Page 83: 0Xfb00 Pai Command
(100 = 0% etc.) 255: function is busy, if [100..200] won’t be used as progress display FB00:03 Response Command response OCTET- STRING[6] If the transferred command returns a response, it will be displayed here. Functional dependent, see resprective sections. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 84: 0X80N0:01 Pai Settings.interface
524 - SG Quarter-Bridge 2Wire 1k 32 mV/V 548 - SG Quarter-Bridge 3Wire 1k 2 mV/V compensated 550 - SG Quarter-Bridge 3Wire 1k 4 mV/V compensated 551 - SG Quarter-Bridge 3Wire 1k 8 mV/V 556 - SG Quarter-Bridge 3Wire 1k 32 mV/V Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 85: Sample Programs
• The EtherCAT device of the example should usually be declared your present system. After selection of the EtherCAT device in the “Solutionexplorer” select the “Adapter” tab and click on “Search...”: Fig. 26: Search of the existing HW configuration for the EtherCAT configuration of the example EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 86: Sample Program 1 And 2 (Offset/Gain)
The configuration of the minimum permitted input frequency, the order of the Gain and Offset calculations, and the direct writing to the CoE directory ("PAI Scaler Settings" object) can be done in this sample program (see Variable declaration). Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 87 Example program 1 and 2 program code: PROGRAM MAIN VAR_INPUT bEnable :BOOL; // Start the code (Offset / Gain adjust) nPAI_Sample AT%I* :DINT; // Input samples of the measurement value END_VAR // Enter your Net-Id here: userNetId :T_AmsNetId := 'a.b.c.d.x.y'; // Enter EtherCAT device address here: nUserSlaveAddr :UINT := 1002; // Check, if correct // Configurations: fMinFrequencyIn :REAL:=1.5; // Hz bScalingOrder :BOOL:=FALSE; // TRUE: Start scale offset first bWriteToCoEEnable :BOOL:=FALSE; // TRUE: Enable writing to CoE // =============================================== // "Main" State controlling Offset/Gain adjusting: nMainCal_State :BYTE:=0; // For CoE Object 0x8005 access: fb_coe_write :FB_EcCoESdoWrite; // FB for writing to CoE nSTATE_WRITE_COE :BYTE := 0; nSubIndex :BYTE; nCoEIndexScaler :WORD := 16#8005; // Use channel 1 // For EPP3504/ ERP3504 this is 0x8006 nSubIndScalGain :BYTE := 16#02; nSubIndScalOffs :BYTE := 16#01; nADSErrId :UDINT; // Copy of ADS-Error ID // =============================================== fb_get_min_max :FB_GET_MIN_MAX; // Min/Max values needed EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 88 fb_trig_bEnable :R_TRIG; // Trigger FB for Enable bError :BOOL := FALSE; // Evaluate.. END_VAR Execution part: // THIS CODE IS ONLY AN EXAMPLE - YOU HAVE TO CHECK APTITUDE FOR YOUR APPLICATION // Example program 1 and 2 program code: // ===================================== // 1. PAI setting of 0x80n0:2E must be "Extended Range" at first // 2. When writing of scaling values were done, switch to "Linear" // Calculation of the temporary value (..and use for ScopeView to check) nScaledSampleVal := nOffset + nGain * DINT_TO_REAL(nPAI_Sample); // Main-State Procedure: CASE nMainCal_State OF 0: fb_trig_bEnable(CLK:=(bEnable AND NOT bError)); IF fb_trig_bEnable.Q THEN // Poll switch or button // Initialize temporary offset and gain values: nOffset:= 0; nGain := 1; bScaleOffsetStart := bScalingOrder; bScaleGainStart := NOT bScalingOrder; fb_get_min_max.nMinFreqInput := fMinFrequencyIn; nMainCal_State := 10; // Start END_IF 10: IF (bScaleGainDone AND NOT bScalingOrder) OR (bScaleOffsetDone AND bScalingOrder) THEN bScaleOffsetStart := NOT bScalingOrder; bScaleGainStart := bScalingOrder; nMainCal_State := nMainCal_State + 10; END_IF 20: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 89 fOffsetDeviationVal := (fb_get_min_max.nMaxVal - ABS((fb_get_min_max.nMaxVal-fb_get_min_max.nMinVal)/2)); // Offset deviation check: IF ABS(fOffsetDeviationVal) < nOFFSET_MIN_VAL_REF THEN // Deviation in acceptable range - offset scaling done, // now write correction value into CoE Object: nDINT_Value := REAL_TO_DINT(nOffset); // Initiate writing to CoE: nSubIndex := nSubIndScalOffs; nSTATE_WRITE_COE := 10; nSTATE_SCALE_OFFSET := nSTATE_SCALE_OFFSET + 10; ELSE // Calculate new offset value (new by old with deviation) nOffset := nOffset - fOffsetDeviationVal; END_IF END_IF 10: IF(nSTATE_WRITE_COE = 0) THEN // Scaling offset done within CoE of the device bScaleOffsetDone := TRUE; bScaleOffsetStart := FALSE; nSTATE_SCALE_OFFSET := 0; END_IF END_CASE END_IF // ----- Gain scaling (program 2) ----- IF bScaleGainStart THEN CASE nSTATE_SCALE_GAIN OF 0: bScaleGainDone := FALSE; // Initialization of confirmation flag // Get min/max values within a period of the signal: fb_get_min_max(nInputValue:=DINT_TO_REAL(nPAI_Sample)); IF fb_get_min_max.bRESULT THEN // Wait if Limit-Values are valid // Calculate Gain nGain := nPRESET_MAX_VAL/ABS((fb_get_min_max.nMaxVal-fb_get_min_max.nMinVal)/2); // ..shift gain value by 16 Bit left and convert to DINT: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 90 nSTATE_WRITE_COE := 10; END_IF nSTATE_SCALE_GAIN := nSTATE_SCALE_GAIN + 10; END_IF 20: IF(nSTATE_WRITE_COE = 0) THEN // Scaling gain done within CoE of the device bScaleGainStart := FALSE; bScaleGainDone := TRUE; nSTATE_SCALE_GAIN := 0; // Set initial state END_IF END_CASE END_IF IF (nSTATE_WRITE_COE > 0) THEN IF bWriteToCoEEnable THEN CASE nSTATE_WRITE_COE OF 10: // Prepare CoE write access fb_coe_write( sNetId:= userNetId, nSlaveAddr:= nUserSlaveAddr, nIndex:= nCoEIndexScaler, bExecute:= FALSE, tTimeout:= T#1S ); nSTATE_WRITE_COE := nSTATE_WRITE_COE + 10; 20: // Write nDINT_Value to CoE Index "Scaler": fb_coe_write( nSubIndex:= nSubIndex, pSrcBuf:= ADR(nDINT_Value), cbBufLen:= SIZEOF(nDINT_Value), bExecute:= TRUE ); nSTATE_WRITE_COE := nSTATE_WRITE_COE + 10; 30: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 91 Function block FB_GET_MIN_MAX Declaration part: FUNCTION_BLOCK FB_GET_MIN_MAX VAR CONSTANT CMAXinit :REAL := -3.402823E+38; CMINinit :REAL := 3.402823E+38; END_VAR VAR_INPUT bInit :BOOL := TRUE; nInputValue :REAL; nMinFreqInput :REAL; END_VAR VAR_OUTPUT bRESULT :BOOL; nMaxVal :REAL; nMinVal :REAL; END_VAR CMMcnt :UINT; nMaxValCnt :UINT; nMinValCnt :UINT; bValidMinVal :BOOL; bValidMaxVal :BOOL; fbGetCurTaskIdx : GETCURTASKINDEX; END_VAR Execution part: IF bInit THEN // Counter initialization: // [counter value] > [1/(<input frequency> * TaskCycleTime)] fbGetCurTaskIdx(); CMMcnt := REAL_TO_UINT( 1.1E7/(nMinFreqInput*UDINT_TO_REAL( _TaskInfo[fbGetCurTaskIdx.index].CycleTime))); EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 92: Sample Program 3 (Write Lookup Table)
bRESULT := NOT (nMaxVal = nMinVal); // Sign valid results ELSE bRESULT := FALSE; // Sign still invalid results END_IF 5.3.2 Sample program 3 (write LookUp table) Download TwinCAT 3 project: https://infosys.beckhoff.com/content/1033/epp3504/Resources/ 2152669707/.zip Program description Transmission of LookUp table interpolation values for mapping of an equation f(x) = x via CoE into the box module. Variable declaration sample program 3 PROGRAM MAIN...
Page 93 • The variable "userSlaveAddr" must contain the EtherCAT address of the box module. Sample program for transferring the LookUp table: Execution part: // Example program 3: // ###### Write LookUp table into CoE object 0x8005: ####### IF bWriteLUT2CoE THEN CASE wState OF 0: fb_coe_writeEx(bExecute := FALSE);// Prepare CoE-Access wState := wState + 1;// Next state 1: // Write 100 X/Y LookUp-Table entries fb_coe_writeEx( sNetId:= userNetId, nSlaveAddr:= userSlaveAddr, nSubIndex:= 1, nIndex:= wCoEIndexScaler, pSrcBuf:= ADR(aLUT), cbBufLen:= SIZEOF(aLUT), bCompleteAccess:= TRUE, bExecute:= TRUE ); EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 94: Sample Program 4 (Generate Lookup Table)
bWriteLUT2CoE := TRUE; END_IF 5.3.3 Sample program 4 (generate LookUp table) Download TwinCAT 3 project: https://infosys.beckhoff.com/content/1033/epp3504/Resources/ 2152669707/.zip Program description / function: Inclusion of LookUp table interpolation values from a box module input signal to a field variable (and optional subsequent transfer of the LookUp table interpolation values via CoE access to the box module using sample program 3).
Page 95: Sample Program 5 (Write Filter Coefficients)
// next Y value of the LUT (make a "straight"): nYvalue := nYvalue + nYstepValue; // f(x) = b+x END_FOR END_IF END_IF 5.3.4 Sample program 5 (write filter coefficients) Download TwinCAT 3 project: https://infosys.beckhoff.com/content/1033/epp3504/Resources/ 2152672011/.zip Program description Transmission of exemplary filter coefficients via CoE access into the box module. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 96 // Writing PLC state for coefficients transfer (Set to 0 for start) wState :BYTE:=255; index :BYTE:=1; // Start index for coefficients transfer wCoEIndexUserFilterCoeffizents :WORD:=16#8001; aFilterCoeffs:ARRAY[0..NumOfFilterCoeff] OF LREAL := [ // Example filter coefficients FIR band pass: 3600..3900 Hz // Usage: "User defined FIR Filter" (32) 0.03663651655662163, 0.04299467480848277, -0.007880289104928245, 0.0664029021294729, -0.0729038234874446, -0.00005849791174519834, 0.05628409460964408, -0.0525134329294473, 0.026329003448584205, 0.00027114381194760643, -0.03677629552114248, 0.06743018479714939, -0.0560894442193289, 0.0009722394088121363, 0.05676876756757213, -0.07775650809213645, 0.05330627422911416, 0.0009941073749156226, -0.055674804078696793, 0.07874009379691002, -0.055674804078696793, 0.0009941073749156226, 0.05330627422911416, -0.07775650809213645, 0.05676876756757213, 0.0009722394088121363, -0.0560894442193289, Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 97 // writes filter coefficients of // "User defined FIR Filter" (32) // incl. example coefficients for band pass // Note: writing possible, if CoE Object // PAI Settings Ch.1 (0x8000:16) has value 32 or 33 set, only! // (32 = User defined FIR Filter / 33 = User defined IIR Filter) // =============================================================== CASE wState OF 0: fb_coe_write(bExecute := FALSE);// Prepare CoE access wState := wState + 1;// Go to next state 1: //nValue := REAL_TO_DINT(DINT_TO_REAL(aFilterCoeffs[index]) *16384); nValue := LREAL_TO_DINT(aFilterCoeffs[index] * 1073741824); // Bit-shift factor: 2^30 // Write filter coefficients (max. 40 entries) fb_coe_write( sNetId:= userNetId, nSlaveAddr:= userSlaveAddr, nSubIndex:= index, nIndex:= wCoEIndexUserFilterCoeffizents, pSrcBuf:= ADR(nValue), cbBufLen:= SIZEOF(nValue), bExecute:= TRUE, tTimeout:= T#1S ); wState := wState + 1; // Go to next state 2: // Execute writing to CoE fb_coe_write(); IF fb_coe_write.bError THEN wState := 100; // Error case ELSE IF NOT fb_coe_write.bBusy THEN index := index + 1; IF index <= (NumOfFilterCoeff) THEN fb_coe_write(bExecute := FALSE);// Prepare the next CoE access EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 98: Sample Program 6 (Interlacing Of Measured Values)
(in this case: 50 µs). If the two measured data streams are now combined alternately in the controller, i.e. "interlaced", the result is a net measured data stream of 20 ksps. Fig. 27: Process of interlacing the input data The following configuration is used for this purpose: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 99: Fig. 28 Configuration And Setup For Sample Program 6: Doubling Of The Sample Rate With 2 X El3751
50 µs for the second terminal. This is set in the "Advanced settings" for Distributed Clocks ("DC" tab) for the second terminal: Fig. 29: Setting the DC shift time for terminal 2 EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 100 Sample program This setting, like the base time and the task cycle time, is already configured in the sample program: Download TwinCAT 3 project / sample program 6a: https://infosys.beckhoff.com/content/1033/epp3504/ Resources/4867888523/.zip In the following section, the simplest form of input value interlacing in Structured Text is initially shown with oversampling = 1 for each input value: each of two elements of a field variable receives a value from a...
Page 101: Fig. 30 Oversampling 20 Ksps With 2 X El3751 With Input Signals (Below) And Result Signal (Top)
For this purpose the sample program contains an additional task with 50 µs cycle time, which is required for representing the input signals in the SopeView and contains a variable (nCollected) to which both inputs are assigned alternately: // 50 µs task EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 102: Sample Program 7 (General Decimation In The Plc)
aCollectedResult[2*nPos] := aSamples_1[nPos]; // Put n-th value of sequence into array (2nd here): aCollectedResult[2*nPos+1] := aSamples_2[nPos]; END_FOR Download TwinCAT 3 project / sample program 6b: https://infosys.beckhoff.com/content/1033/epp3504/ Resources/4867891467/.zip Sample program 6b returns the same result, except that the total input signal is only available in the form of a field variable with 20 elements.
Page 103 (finite) number, value/time pairs are used for representation in the PLC/Scope, i.e., an X time value is assigned to each Y value. Such value/time pairs can easily be displayed with TwinCAT ScopeView in XY mode. See also infosys.beckhoff.com: TwinCAT3 → TExxxx | TC3 Engineering → TE13xx | TC3 ScopeView → Configuration → XY‑Graph •...
Page 104 It is therefore advisable to perform low-pass filtering in the PLC, e.g. with the TC3 Controller Toolbox or the TC3 Filter Library, before the conversion/decimation is performed. Suitable filters can easily be created with the TE1310 FilterDesigner. For more information, see www.beckhoff.com: Version: 1.3...
Page 105: Fig. 32 Decimation From 20 Μs (Left) To 22.675
It can be remedied by changing the DC ShiftTime of the box module; see the EtherCAT system documentation. Declaration // THIS CODE IS ONLY AN EXAMPLE - YOU HAVE TO CHECK APTITUDE FOR YOUR APPLICATION PROGRAM MAIN VAR CONSTANT // User decimation factor e.g. 50 to 44.1 kSps: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 106 nDX :LREAL; // X-Difference: target input element to decimation element nDY :DINT; // Y-Difference: two values for interpolation sVal :LREAL; // Slope for calculation of new value bEnable :BOOL:=FALSE; // Start/Stop conversion to decimation values nOVS_CycleCount :ULINT := 0; // Time value for every OVS sample // Values for testing bTEST_VALUES_ENABLED :BOOL := FALSE; // No input value needed, if TRUE nPhi :LREAL := 1.4; // Start angle for sinus simulation // For visualization only: aOVS_Samples :ARRAY[0..nOVS-1] OF DINT; // 2 OVS sample sets (value) aOVS_Samples_TS :ARRAY[0..nOVS-1] OF ULINT; // 2 OVS sample sets (timestamp) END_VAR Program // 500 µs Task FOR i:= 0 TO nOVS-1 DO // Shift OVS set to left and update on right: aOVS_SampleSets[i] := aOVS_SampleSets[i+nOVS]; // Transfer "samples set" to the left side IF bTEST_VALUES_ENABLED THEN // Simulate values: aOVS_SampleSets[i+nOVS] := LREAL_TO_DINT(1000000 * SIN(nPhi)); nPhi := nPhi + 0.01;//0.003141592653; ELSE // Fill current new samples set on right: aOVS_SampleSets[i+nOVS] := aSamples_1[i]; END_IF END_FOR IF bEnable THEN nResultNoOfSamples := 0; // Use for further processing Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 107: Sample Program 8 (Diagnosis Messages)
END_FOR END_IF IF nOVS_CycleCount = 1000000000 THEN bEnable := FALSE;// Stop after 1s just for recording IF NOT bEnable THEN bEnable := TRUE; // OVS‑Samples transferred complete into both array sets END_IF END_IF 5.3.7 Sample program 8 (diagnosis messages) Download TwinCAT 3 project: https://infosys.beckhoff.com/content/1033/epp3504/Resources/ 4279234443/.zip Note on loading the program: Preparation to start the sample program (tpzip file/ TwinCAT 3) [} 86] EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 108: Sample Program 9 (Measuring Range Combination)
Diagnosis message No.01...16 (0x10F3:06...0x10F3:15). Format of a message (consider little endian): [dddd cccc ffff mmmm tttttttttttttttt pppp kk dddd = DiagCode: z.B. (00 E0): 0xE000 standard Beckhoff Message cccc = ProductCode (21 50): 0x5021 = Code for ELM ffff = Flags, amongst others indication of the number (i) of parameters (pppp kk) to be given.
Page 109: Fig. 33 Principle Of Combining Two Measuring Channels With Fsv1 And Fsv2
). In this sample, using a combination of FSV1 and FSV2, the calculation is as follows: Dynamic range = 20 · log(FSV1 / Resolution FSV2 The following sample program is based on a parallel connection of two input channels of the ELM3602-0002: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 110: Fig. 34 Possible Structure For The "Measurement Range Combination" Sample Program
0x8010:01→ ±80 mV Scaling for both channels: "Extended Range"; no filters active (corresponds to the default setting of the terminal). Variables declaration: PROGRAM MAIN VAR CONSTANT nFSV_PDO : REAL := 7812500; nMAX_PDO : REAL := 8388607; nEXT_F : REAL := nMAX_PDO/nFSV_PDO; nFSV_HI : REAL := 5; // V nFSV_LO : REAL := 0.08; // V nStep_HI : REAL := nFSV_HI/nFSV_PDO; nStep_LO : REAL := nFSV_LO/nFSV_PDO; END_VAR nSamplesIn1 AT%I* : DINT; nSamplesIn2 AT%I* : DINT; nValueCombi : LINT; Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 111: Fig. 35 Combination Of Two Channels Of The Elm3602-0002 With ±5 V And ±80 Mv Measuring Range
Fig. 35: Combination of two channels of the ELM3602-0002 with ±5 V and ±80 mV measuring range With an applied delta voltage of approx. 86 mV ±5 mV, the transition range is indicated by the voltage characteristic of input 2 (values < 0 V): EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 112: Sample Program 10 (Fb For Real Time Diagnosis)
It can be extended with data-processing code or further particular diagnostics or assigned to a completely different type of a box module (analog output EL4xxx, Encoder EL5xxx, ...). The function block between the box module and the PLC can be schematically illustrated as follows: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 113: Fig. 37 Function Block As An Example For Analysis Of Diagnostics Information Of The Box Module
This and all configurations are already included in the respective example program: • Example program (variant A – using the “Plc” tab of the box module): https://infosys.beckhoff.com/content/1033/epp3504/Resources/7161530379/.zip • Example program (variant B – using of “Create SM/PDO Variables” by the advanced settings of the box module): https://infosys.beckhoff.com/content/1033/epp3504/Resources/7161533067/.zip EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 114: Fig. 38 Creation Of Pdo Variables (Twincat Version >= V3.1.4024.0)
EtherCAT settings of the box module: within the advanced settings under “General”/ "Behavior" the checkbox "Create SM/PDO Variables“ in “Process Data” is to set: Fig. 39: Creation of the SmPdoVariables (TwinCAT version >= V3.1.4022.30) The data type is visible by selecting the object and can be copied to the clipboard there: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 115: Sample Program 11 (Scripts For Generation And Transformation Of Filter Coefficients)
TRUE (no inequality). After a write access the entry remains in the read CoE and can be checked by reading (a write access does not change the state of bCmpResult). EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 116: Fig. 41 Visualization Of The Sample Implementation: Calibration Signature
"bInit := FALSE" (e.g. if the channel number or the interface number has been corrected according to the addressed box module). The "nErrorId" can be used for evaluation. In the function block, the signature calculation can be changed/extended at the following point: // Calculate signature // ============== User code here ============== // Example: simple CRC: nCrc := nIfSlectCoE + nChSelectCoE; // Default setting of start value nCrc := F_DATA_TO_CRC16_CCITT(ADR(aData), nDataLen, nCrc); // Calculate "signature" Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 117: Sample Program 13: Reading The Bic From The Coe
BTN. The BIC is also stored electronically in the ESI EPROM in all Beckhoff EtherCAT devices and can be read there by the EtherCAT Master (e.g. TwinCAT). A reading function is available for this in the TC3 EtherCAT lib from 2020 onwards.
Page 118 The function block is available as a .tpzip file in the following download (as a .zip file) and also contains the necessary library references (Tc2_EtherCAT, Tc3_DynamicMemory), the necessary data structure and a call in MAIN: https://infosys.beckhoff.com/content/1033/epp3504/Resources/9880941579/.zip Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 119: Features
Features Features NOTICE This short documentation does not contain any further information within this chapter. For the complete documentation please contact the Beckhoff sales department responsible for you. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 120: Commissioning On Ethercat Master
The colors in Fig. Selection of the diagnostic information of an EtherCAT Slave also correspond to the variable colors in the System Manager, see Fig. Basic EtherCAT Slave Diagnosis in the PLC. Colour Meaning yellow Input variables from the Slave to the EtherCAT Master, updated in every cycle Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 121 Fig. Basic EtherCAT Slave Diagnosis in the PLC shows an example of an implementation of basic EtherCAT Slave Diagnosis. A Beckhoff EL3102 (2-channel analogue input terminal) is used here, as it offers both the communication diagnosis typical of a slave and the functional diagnosis that is specific to a channel.
Page 122 The CoE parameter directory (CanOpen-over-EtherCAT) is used to manage the set values for the slave concerned. Changes may, in some circumstances, have to be made here when commissioning a relatively complex EtherCAT Slave. It can be accessed through the TwinCAT System Manager, see Fig. EL3102, CoE directory: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 123 Commissioning interfaces are being introduced as part of an ongoing process for EL/EP EtherCAT devices. These are available in TwinCAT System Managers from TwinCAT 2.11R2 and above. They are integrated into the System Manager through appropriately extended ESI configuration files. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 124 The target state wanted by the user, and which is brought about automatically at start-up by TwinCAT, can be set in the System Manager. As soon as TwinCAT reaches the status RUN, the TwinCAT EtherCAT Master will approach the target states. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 125 Fig. 48: Default target state in the Slave Manual Control There are particular reasons why it may be appropriate to control the states from the application/task/PLC. For instance: • for diagnostic reasons • to induce a controlled restart of axes EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 126 The pre-calculated theoretical maximum E-Bus current is displayed in the TwinCAT System Manager as a column value. A shortfall is marked by a negative total amount and an exclamation mark; a power feed terminal is to be placed before such a position. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 127 Fig. 51: Warning message for exceeding E-Bus current NOTICE Caution! Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 128: Twincat Quick Start
• “offline”: The configuration can be customized by adding and positioning individual components. These can be selected from a directory and configured. ◦ The procedure for the offline mode can be found under http://infosys.beckhoff.com: TwinCAT 2 → TwinCAT System Manager → IO Configuration → Add an I/O device •...
Page 129 Note that all combinations of a configuration are possible; for example, the EL1004 terminal could also be connected after the coupler, or the EL2008 terminal could additionally be connected to the CX2040 on the right, in which case the EK1100 coupler wouldn’t be necessary. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 130: Twincat 2
In the menu under “Actions” → “Choose Target System...”, the following window is opened for this via the symbol “ ” or the “F8” key: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 131 Once the target system has been entered, it is available for selection as follows (a correct password may have to be entered before this): After confirmation with “OK”, the target system can be accessed via the System Manager. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 132 Confirm the message “Find new boxes”, in order to determine the terminals connected to the devices. “Free Run” enables manipulation of input and output values in “Config Mode” and should also be acknowledged. Based on the example configuration [} 129] described at the beginning of this section, the result is as follows: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 133 TwinCAT PLC Control is the development environment for generating the controller in different program environments: TwinCAT PLC Control supports all languages described in IEC 61131-3. There are two text- based languages and three graphical languages. • Text-based languages ◦ Instruction List (IL) ◦ Structured Text (ST) EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 134 After starting TwinCAT PLC Control, the following user interface is shown for an initial project: Fig. 61: TwinCAT PLC Control after startup Example variables and an example program have been created and stored under the name “PLC_example.pro”: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 135 Manager has been notified, the warning no longer appears. First, integrate the TwinCAT PLC Control project in the System Manager. This is performed via the context menu of the PLC configuration (right-click) and selecting “Append PLC Project…”: Fig. 63: Appending the TwinCAT PLC Control project EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 136 “PLC_example” and via “Modify Link...” “Standard”: Fig. 65: Creating the links between PLC variables and process objects In the window that opens, the process object for the “bEL1004_Ch4” BOOL-type variable can be selected from the PLC configuration tree: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 137 The links can also be checked by selecting “Goto Link Variable” from the context menu of a variable. The opposite linked object, in this case the PDO, is automatically selected: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 138 The PLC system can then be started as described below. Starting the controller Starting from a remote system, the PLC control has to be linked with the embedded PC over the Ethernet via “Online” → “Choose Runtime System…”: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 139 This results in the message “No program on the controller! Should the new program be loaded?”, which should be confirmed with “Yes”. The runtime environment is ready for the program start: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 140: Twincat 3
(see “TwinCAT System Manager” of TwinCAT 2) for communication with the electromechanical components. After successful installation of the TwinCAT system on the PC to be used for development, TwinCAT 3 (shell) displays the following user interface after startup: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 141 First create a new project via (or under “File”→“New”→ “Project…”). In the following dialog, make the corresponding entries as required (as shown in the diagram): Fig. 72: Create new TwinCAT 3 project The new project is then available in the project folder explorer: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 142 Via the symbol in the menu bar: expand the pull-down menu: and open the following window: Fig. 74: Selection dialog: Choose the target system Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 143 The TwinCAT System Manager may first have to be set to “Config mode” via or via the menu “TwinCAT” → “Restart TwinCAT (Config Mode)”. Fig. 76: Select “Scan” Confirm the warning message, which follows, and select the “EtherCAT” devices in the dialog: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 144 A scan (search function) can also be initiated by selecting “Device ...” from the context menu, which then only reads the elements below which are present in the configuration: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 145 The following section refers solely to Structured Text (ST). In order to create a programming environment, a PLC subproject is added to the example project via the context menu of the “PLC” in the project folder explorer by selecting “Add New Item….”: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 146 Fig. 81: Specifying the name and directory for the PLC programming environment The “Main” program, which already exists due to selecting “Standard PLC project”, can be opened by double-clicking on “PLC_example_project” in “POUs”. The following user interface is shown for an initial project: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 147 Commissioning on EtherCAT Master Fig. 82: Initial “Main” program for the standard PLC project Now example variables and an example program have been created for the next stage of the process: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 148 “Assignments” in the project folder explorer: Assigning variables Via the menu of an instance – variables in the “PLC” context, use the “Modify Link…” option to open a window to select a suitable process object (PDO) for linking: Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 149 The following diagram shows the whole process: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 150 PDOs to a variable. However, in this example, it would not be possible to select all output bits for the EL2008, since the terminal only makes individual digital outputs available. If a terminal has a byte, word, Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 151 5. Then the project folder must be created. This can be done either via the key combination “CTRL + Shift + B” or via the “Build” tab in TwinCAT. 6. The structure in the “PLC” tab of the terminal must then be linked to the created instance. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 152 A few seconds later, the corresponding status of the Run mode is displayed in the form of a rotating symbol at the bottom right of the VS shell development environment. The PLC system can then be started as described below. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 153 Fig. 93: TwinCAT 3 development environment (VS shell): logged-in, after program startup The two operator control elements for stopping and logout result in the required action (also, “Shift + F5” can be used for stop, or both actions can be selected via the PLC menu). EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 154: Twincat Development Environment
7.3.1 Installation of the TwinCAT real-time driver In order to assign real-time capability to a standard Ethernet port of an IPC controller, the Beckhoff real-time driver has to be installed on this port under Windows. This can be done in several ways.
Page 155 This have to be called up by the menu “TwinCAT” within the TwinCAT 3 environment: Fig. 95: Call up under VS Shell (TwinCAT 3) B: Via TcRteInstall.exe in the TwinCAT directory Fig. 96: TcRteInstall in the TwinCAT directory In both cases, the following dialog appears: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 156 TwinCAT 3: the properties of the EtherCAT device can be opened by double click on “Device .. (EtherCAT)” within the Solution Explorer under “I/O”: After the installation the driver appears activated in the Windows overview for the network interface (Windows Start → System Properties → Network) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 157 Commissioning on EtherCAT Master Fig. 99: Windows properties of the network interface A correct setting of the driver could be: Fig. 100: Exemplary correct driver setting for the Ethernet port Other possible settings have to be avoided: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 158 Commissioning on EtherCAT Master Fig. 101: Incorrect driver settings for the Ethernet port Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 159 DHCP. In this way the delay associated with the DHCP client for the Ethernet port assigning itself a default IP address in the absence of a DHCP server is avoided. A suitable address space is 192.168.x.x, for example. Fig. 102: TCP/IP setting for the Ethernet port EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 160: Notes Regarding Esi Device Description
The files are read (once) when a new System Manager window is opened, if they have changed since the last time the System Manager window was opened. A TwinCAT installation includes the set of Beckhoff ESI files that was current at the time when the TwinCAT build was created.
Page 161 1018 in the configuration. This is also stated by the Beckhoff compatibility rule. Refer in particular to the chapter “General notes on the use of Beckhoff EtherCAT IO components” and for manual configuration to the chapter “Offline configuration creation [} 165]”.
Page 162 Faulty ESI file If an ESI file is faulty and the System Manager is unable to read it, the System Manager brings up an information window. Fig. 108: Information window for faulty ESI file (left: TwinCAT 2; right: TwinCAT 3) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 163 Commissioning on EtherCAT Master Reasons may include: • Structure of the *.xml does not correspond to the associated *.xsd file → check your schematics • Contents cannot be translated into a device description → contact the file manufacturer EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 164: Twincat Esi Updater
Commissioning on EtherCAT Master 7.3.3 TwinCAT ESI Updater For TwinCAT 2.11 and higher, the System Manager can search for current Beckhoff ESI files automatically, if an online connection is available: Fig. 109: Using the ESI Updater (>= TwinCAT 2.11) The call up takes place under: “Options”...
Page 165: Offline Configuration Creation
EL6601/EL6614 terminal select “EtherCAT Automation Protocol via EL6601”. Fig. 112: Selecting the EtherCAT connection (TwinCAT 2.11, TwinCAT 3) Then assign a real Ethernet port to this virtual device in the runtime system. Fig. 113: Selecting the Ethernet port EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 166 Fig. “Selection dialog for new EtherCAT device”. If the preceding device has several free ports (e.g. EK1122 or EK1100), the required port can be selected on the right-hand side (A). Overview of physical layer • “Ethernet”: cable-based 100BASE-TX: couplers, box modules, devices with RJ45/M8/M12 connector Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 167 (i.e. highest) revision and therefore the latest state of production is displayed in the selection dialog for Beckhoff devices. To show all device revisions available in the system as ESI descriptions tick the “Show Hidden Devices” check box, see Fig. “Display of previous revisions”.
Page 168 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
Page 169 Commissioning on EtherCAT Master Fig. 120: EtherCAT terminal in the TwinCAT tree (left: TwinCAT 2; right: TwinCAT 3) EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 170: Online Configuration Creation
This scan mode attempts to find not only EtherCAT devices (or Ethernet ports that are usable as such), but also NOVRAM, fieldbus cards, SMB etc. However, not all devices can be found automatically. Fig. 123: Note for automatic device scan (left: TwinCAT 2; right: TwinCAT 3) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 171 [} 175] with the defined initial configuration.Background: since Beckhoff occasionally increases the revision version of the delivered products for product maintenance reasons, a configuration can be created by such a scan which (with an identical machine construction) is identical according to the device list;...
Page 172 Likewise, A might create spare parts stores worldwide for the coming series-produced machines with EL2521-0025-1018 terminals. After some time Beckhoff extends the EL2521-0025 by a new feature C. Therefore the FW is changed, outwardly recognizable by a higher FW version and a new revision -1019. Nevertheless the new device naturally supports functions and interfaces of the predecessor version(s);...
Page 173 Fig. 132: Displaying of “Free Run” and “Config Mode” toggling right below in the status bar Fig. 133: TwinCAT can also be switched to this state by using a button (left: TwinCAT 2; right: TwinCAT 3) The EtherCAT system should then be in a functional cyclic state, as shown in Fig. Online display example. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 174 The connections and devices should be checked in a targeted manner, e.g. via the emergency scan. Then re-run the scan. Fig. 135: Faulty identification In the System Manager such devices may be set up as EK0000 or unknown devices. Operation is not possible or meaningful. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 175 A “ChangeTo” or “Copy” should only be carried out with care, taking into consideration the Beckhoff IO compatibility rule (see above). The device configuration is then replaced by the revision found; this can affect the supported process data and functions.
Page 176 If current ESI descriptions are available in the TwinCAT system, the last revision offered in the selection dialog matches the Beckhoff state of production. It is recommended to use the last device revision when creating a new configuration, if current Beckhoff devices are used in the real application. Older revisions should only be used if older devices from stock are to be used in the application.
Page 177 - PDO (process data: Sequence, SyncUnit SU, SyncManager SM, EntryCount, Ent-ry.Datatype) This function is preferably to be used on AX5000 devices. Change to Alternative Type The TwinCAT System Manager offers a function for the exchange of a device: Change to Alternative Type EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 178: Ethercat Subscriber Configuration
“EL6695” in this case. A specific tab “Settings” by terminals with a wide range of setup options will be provided also (e.g. EL3751). “General” tab Fig. 143: “General” tab Name Name of the EtherCAT device Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 179 CANopen process data objects (Process Data Objects, PDOs). The user can select a PDO via PDO assignment and modify the content of the individual PDO via this dialog, if the EtherCAT slave supports this function. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 180 For Beckhoff EtherCAT EL, ES, EM, EJ and EP slaves the following applies in general: • The input/output process data supported by the device are defined by the manufacturer in the ESI/XML description.
Page 181 (CoE) or Servo drive over EtherCAT protocol. This tab indicates which download requests are sent to the mailbox during startup. It is also possible to add new mailbox requests to the list display. The download requests are sent to the slave in the same order as they are shown in the list. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 182 (CoE) protocol. This dialog lists the content of the object list of the slave (SDO upload) and enables the user to modify the content of an object from this list. Details for the objects of the individual EtherCAT devices can be found in the device-specific object descriptions. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 183 Auto 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. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 184 This button attempts to set the EtherCAT device to the operational state. Bootstrap This button attempts to set the EtherCAT device to the Bootstrap state. Safe-Op This button attempts to set the EtherCAT device to the safe-operational state. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 185 • DC-Synchron (Input based) • DC-Synchron Advanced Settings… Advanced settings for readjustment of the real time determinant TwinCAT-clock Detailed information to Distributed Clocks is specified on http://infosys.beckhoff.com: Fieldbus Components → EtherCAT Terminals → EtherCAT System documentation → EtherCAT basics → Distributed Clocks EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 186 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. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 187: Import/Export Of Ethercat Devices With Sci And Xti
• outside, i.e. beyond the TwinCAT limits: Export/Import as sci file. An example is provided below for illustration purposes: an EL3702 terminal with standard setting is switched to 2-fold oversampling (blue) and the optional PDO "StartTimeNextLatch" is added (red): EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 188 The two methods for exporting and importing the modified terminal referred to above are demonstrated below. 7.3.8.2 Procedure within TwinCAT with xti files Each IO device can be exported/saved individually: The xti file can be stored: and imported again in another TwinCAT system via "Insert Existing item": Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 189 • If TwinCAT is offline (i.e. if there is no connection to an actual running controller) a warning message may appear, because after executing the function the system attempts to reload the EtherCAT segment. However, in this case this is not relevant for the result and can be acknowledged by clicking EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 190 Reference to the original ESI file. Export Save SCI file. • A list view is available for multiple selections (Export multiple SCI files): • Selection of the slaves to be exported: ◦ All: All slaves are selected for export. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 191 • The sci file can be saved locally: • The export takes place: Import • An sci description can be inserted manually into the TwinCAT configuration like any normal Beckhoff device description. • The sci file must be located in the TwinCAT ESI path, usually under: C:\TwinCAT\3.1\Config\Io\EtherCAT...
Page 192 Default setting whether the configured MAC and IP addresses are exported. Keep modules Default setting whether the modules persist. Generic Reload Devices Setting whether the Reload Devices command is executed before the SCI export. This is strongly recommended to ensure a consistent slave configuration. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 193 Commissioning on EtherCAT Master SCI error messages are displayed in the TwinCAT logger output window if required: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 194: Ethercat Basics
Commissioning on EtherCAT Master EtherCAT basics Please refer to the EtherCAT System Documentation for the EtherCAT fieldbus basics. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 195: Ethercat Cabling - Wire-Bound
- RJ45 connector, field assembly ZS1090-0005 - EtherCAT cable, field assembly ZB9010, ZB9020 Suitable cables for the connection of EtherCAT devices can be found on the Beckhoff website! E-Bus supply A bus coupler can supply the EL terminals added to it with the E-bus system voltage of 5 V; a coupler is thereby loadable up to 2 A as a rule (see details in respective device documentation).
Page 196 Commissioning on EtherCAT Master NOTICE Malfunction possible! The same ground potential must be used for the E-Bus supply of all EtherCAT terminals in a terminal block! Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 197: General Notes For Setting The Watchdog
• if it is not checked, nothing is downloaded and the setting located in the ESC remains unchanged. • the downloaded values can be seen in the ESC registers x0400/0410/0420: ESC Access -> Memory EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 198 If the SM watchdog is activated and a value of 0 is entered the watchdog switches off completely. This is the deactivation of the watchdog! Set outputs are NOT set in a safe state if the communication is interrupted. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 199: Ethercat State Machine
Before it acknowledges the change of state, the EtherCAT slave copies current input data into the associated DP- RAM areas of the EtherCAT slave controller (ECSC). EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 200: Coe Interface
0x8000 area was introduced. EtherCAT devices that were previously equipped with parameters in 0x4000 and changed to 0x8000 support both ranges for compatibility reasons and mirror internally. • 0x6000: Input PDOs (“input” from the perspective of the EtherCAT master) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 201 • Keep a startup list if components have to be replaced, • Distinction between online/offline dictionary, • Existence of current XML description (download from the Beckhoff website), • "CoE-Reload" for resetting the changes • Program access during operation via PLC (see TwinCAT3 | PLC Library: Tc2_EtherCAT and Example program R/W CoE) Data management and function “NoCoeStorage”...
Page 202 Changes in the local CoE list of the terminal are lost if the terminal is replaced. If a terminal is replaced with a new Beckhoff terminal, it will have the default settings. It is therefore advisable to link all changes in the CoE list of an EtherCAT slave with the Startup list of the slave, which is processed whenever the EtherCAT fieldbus is started.
Page 203 ◦ The actual current slave list is read. This may take several seconds, depending on the size and cycle time. ◦ The actual identity is displayed ◦ The firmware and hardware version of the equipment according to the electronic information is displayed ◦ Online is shown in green. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 204 • Channel 1: parameter range 0x8010:00 ... 0x801F:255 • Channel 2: parameter range 0x8020:00 ... 0x802F:255 • ... This is generally written as 0x80n0. Detailed information on the CoE interface can be found in the EtherCAT system documentation on the Beckhoff website. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 205: Distributed Clock
4.2 seconds) • The EtherCAT master automatically synchronizes the local clock with the master clock in the EtherCAT bus with a precision of < 100 ns. For detailed information please refer to the EtherCAT system description. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 206: Mounting And Wiring
Mounting and wiring Mounting and wiring Mounting 8.1.1 Dimensions Fig. 159: Dimensions EPP3504-0023, ERP3504-0022 (values in mm) EPP3504-0023 ERP3504-0022 Housing material PA6 (polyamide)) zinc die-cast Sealing compound polyurethane Mounting two mounting holes Ø 3.5 mm for M3; two mounting holes Ø 4.5 mm for M4...
Page 207: Fixing
Dirty connectors can lead to malfunctions. Protection class can only be guaranteed if all cables and connectors are connected. • Protect the plug connectors against dirt during the assembly. Mount the module with two M4 screws in the centrally located mounting holes. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 208: Functional Earth (Fe)
Make sure that the box is grounded to low impedance via the functional earth (FE) connections. You can achieve this, for example, by mounting the box on a grounded machine bed. Fig. 160: Connection for functional earth (FE) EPP3504-0023 Fig. 161: Connection for functional earth (FE) ERP3504-0022 Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 209: Tightening Torques For Plug Connectors
Mounting and wiring 8.1.4 Tightening torques for plug connectors Screw connectors tight with a torque wrench. (e.g. ZB8801 from Beckhoff) Connector diameter Tightening torque 0.4 Nm 0.6 Nm EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 210: Notes Regarding Connectors And Wiring
The popular 3-wire connection for resistance measurement (PT100, PT1000 etc.) does not provide absolute protection, since the singular line cannot be diagnosed. Current/voltage measurements in industrial environments are less sensitive to contact changes. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 211 This applies to the tools, diligence and time required. Examples: ◦ Cage clamp/push-in connections (e.g. Beckhoff EL terminals), which are common in automation applications, can be established or released in a few seconds with or without ferrule. A screwdriver or push pin is sufficient.
Page 212: Note - Power Supply
• A SELV (Safety Extra Low Voltage) supply provides safe electrical isolation and limitation of the voltage without a connection to the protective conductor, a PELV (Protective Extra Low Voltage) supply also requires a safe connection to the protective conductor. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 213: Notes On Connection Technology Epp3504-0023
1.5 mm² Conductor cross-section ferrule with plastic sleeve min. 0.14 mm² Conductor cross-section ferrule with plastic sleeve max. 0.75 mm² Conductor cross-section AWG min. Conductor cross-section AWG max. ERP3504-0022 See Accessories [} 215] for plugs and cables. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 214: Connectors
Tx + yellow Rx + white Rx - : peripheral voltage, +24 V blue Tx - : control voltage, +24 V orange Housing Shield Shield Shield The core colors apply to EtherCAT P cables and ECP cables from Beckhoff. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 215: Accessories
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. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 216: Power Supply, Potential Groups
HF interference (and this already starts at 50 Hz) finds a defined path and does not impair the operability. The ohmic effect of the capacitors in relation to the parasitic ohmic effects is negligible. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 217 • electrical isolation at a specified level ◦ between field and E-bus: yes ◦ between field and SGND: yes ◦ between E-bus and SGND: yes ◦ between the channels: no • Power contacts in use: no • Connection type: Push-in spring connection EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 218: Status Leds
• Analog circuit "in overload", over voltage detected at inputs; see section “Startup - what is the action for...” and notes in section “Common technical data” [} 19]. • Oversampling Error in Synchron Mode flashing Active self‑test of terminal; see chapter “Features”/ “Self-test and self-test report” No operation Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 219: Supply Voltage
A green LED labeled "L/A" or "Link/Act" is located next to each EtherCAT/EtherCAT P socket. The LED indicates the communication state of the respective socket: Meaning no connection to the connected EtherCAT device LINK: connection to the connected EtherCAT device flashes ACT: communication with the connected EtherCAT device EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 220: Conductor Losses
Further information can be found in the quick start guide IO configuration in TwinCAT in chapter "Configuration of EtherCAT P via TwinCAT". Voltage drop on the supply line I = 3 A 0.14 mm² 0.22 mm² Vert. Faktor: 0,22 cm / V 0.34 mm² Cable length (m) Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 221: 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. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 222: Appendix
The DiagMessages are explained in text form in the ESI/XML file belonging to the EtherCAT device: on the basis of the Text ID contained in the DiagMessage, the corresponding plain text message can be found in the languages contained in the ESI/XML. In the case of Beckhoff products these are usually German and English.
Page 223 DiagMessage as emergency via EtherCAT; the event logger can then retrieve the DiagMessage. The function is activated in the terminal via 0x10F3:05, so such terminals have the following entry in the StartUp list by default: Fig. 169: Startup List EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 224 Structure of the Text ID The structure of the MessageID is not subject to any standardization and can be supplier-specifically defined. In the case of Beckhoff EtherCAT devices (EL, EP) it usually reads according to xyzz: 0: Systeminfo 0: System...
Page 225 System %s: %s Connection Open (IN:%d OUT:%d API:%dms) from %d. %d.%d.%d successful 0x4003 Warning System %s: %s Connection Close (IN:%d OUT:%d) from %d.%d.%d.%d successful 0x4004 Warning System %s: %s Connection (IN:%d OUT: %d) with %d.%d.%d.%d timed EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 226 The internal temperature of the motor exceeds the parameterized warning threshold 0x4418 Warning Drive Limit: Current Limit: current is limited 0x4419 Warning Drive Limit: Amplifier I2T-model The threshold values for the maximum current were exceeds 100%% exceeded. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 227 • There is no voltage applied to the power contacts. (Auxiliary voltage missing) • A firmware update has failed. 0x8281 Error Communication Ownership failed: %X 0x8282 Error Communication To many Keys founded 0x8283 Error Communication Key Creation failed: %X EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 228 • The amplifier is being operated outside the (Error) specification. • The I2T-model of the amplifier is incorrectly parameterized. 0x8409 Error Drive I2T-Model motor overload (Error) • The motor is being operated outside the parameterized rated values. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 229: Tceventlogger And Io
ADC clock No ADC clock available 0xFFFF Information Debug: 0x%X, 0x%X, 0x%X Debug: 0x%X, 0x%X, 0x%X TcEventLogger and IO The TwinCAT 3 EventLogger provides an interface for the exchange of messages between TwinCAT components and non-TwinCAT components. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 230 Appendix Fig. 170: Schematic representation TCEventLogger Refer to the explanations in the TwinCAT EventLogger documentation, e.g. in the Beckhoff InfoSys https:// infosys.beckhoff.com/ → TwinCAT 3 → TE1000 XAE → Technologies → EventLogger. The EventLogger saves to a local database under ..\TwinCAT\3.1\Boot\LoggedEvents.db and, unlike the VisualStudio Error Window, is designed for continuous recording.
Page 231 Appendix Fig. 171: Display EventLogger window • Some DiagMessages and the resulting Logged Events are shown below, taking an ELM3602-0002 as an example EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 232 • If an EtherCAT slave is enabled by default to transmit DiagMessages as events over EtherCAT, this can be activated/deactivated for each individual slave in the CoE 0x10F3:05. TRUE means that the slave provides events for collection via EtherCAT, while FALSE deactivates the function. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 233: Ethercat Al Status Codes
For detailed information please refer to the EtherCAT system description. Firmware Update EL/ES/EM/ELM/EP/EPP/ERPxxxx This section describes the device update for Beckhoff EtherCAT slaves from the EL/ES, ELM, EM, EK, EP, EPP and ERP series. A firmware update should only be carried out after consultation with Beckhoff support.
Page 234 NOTICE Only use TwinCAT 3 software! A firmware update of Beckhoff IO devices must only be performed with a TwinCAT 3 installation. It is recommended to build as up-to-date as possible, available for free download on the Beckhoff website. To update the firmware, TwinCAT can be operated in the so-called FreeRun mode, a paid license is not required.
Page 235: Device Description Esi File/Xml
The device revision is closely linked to the firmware and hardware used. Incompatible combinations lead to malfunctions or even final shutdown of the device. Corresponding updates should only be carried out in consultation with Beckhoff support. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 236 Fig. 177: Scan the subordinate field by right-clicking on the EtherCAT device If the found field matches the configured field, the display shows Fig. 178: Configuration is identical otherwise a change dialog appears for entering the actual data in the configuration. Fig. 179: Change dialog Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 237 Most EtherCAT devices read a modified ESI description immediately or after startup from the INIT. Some communication settings such as distributed clocks are only read during power-on. The EtherCAT slave therefore has to be switched off briefly in order for the change to take effect. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 238: Firmware Explanation
• offline: The EtherCAT Slave Information ESI/XML may contain the default content of the CoE. This CoE directory can only be displayed if it is included in the ESI (e.g. “Beckhoff EL5xxx.xml”). The Advanced button must be used for switching between the two views.
Page 239 Appendix Fig. 183: Firmware Update Proceed as follows, unless instructed otherwise by Beckhoff support. Valid for TwinCAT 2 and 3 as EtherCAT master. • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms). A FW-Update during real time operation is not recommended.
Page 240: Fpga Firmware *.Rbf
The TwinCAT System Manager indicates the FPGA firmware version. Click on the Ethernet card of your EtherCAT strand (Device 2 in the example) and select the Online tab. The Reg:0002 column indicates the firmware version of the individual EtherCAT devices in hexadecimal and decimal representation. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 241 Fig. 185: Context menu Properties The Advanced Settings dialog appears where the columns to be displayed can be selected. Under Diagnosis/Online View select the '0002 ETxxxx Build' check box in order to activate the FPGA firmware version display. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 242 Older firmware versions can only be updated by the manufacturer! Updating an EtherCAT device The following sequence order have to be met if no other specifications are given (e.g. by the Beckhoff support): • Switch TwinCAT system to ConfigMode/FreeRun with cycle time >= 1 ms (default in ConfigMode is 4 ms).
Page 243 • In the TwinCAT System Manager select the terminal for which the FPGA firmware is to be updated (in the example: Terminal 5: EL5001) and click the Advanced Settings button in the EtherCAT tab: • The Advanced Settings dialog appears. Under ESC Access/E²PROM/FPGA click on Write FPGA button: EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 244: Simultaneous Updating Of Several Ethercat Devices
The firmware and ESI descriptions of several devices can be updated simultaneously, provided the devices have the same firmware file/ESI. Fig. 187: Multiple selection and firmware update Select the required slaves and carry out the firmware update in BOOTSTRAP mode as described above. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 245: Firmware Compatibility
Note • It is recommended to use the newest possible firmware for the respective hardware. • Beckhoff is not under any obligation to provide customers with free firmware updates for delivered products. NOTICE Risk of damage to the device! Pay attention to the instructions for firmware updates on the separate page [} 233].
Page 246: Restoring The Delivery State
Alternative restore value In some older terminals / boxes the backup objects can be switched with an alternative restore value: Decimal value: 1819238756 Hexadecimal value: 0x6C6F6164 An incorrect entry for the restore value has no effect. Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 247: Notes On Operation
◦ Noise without filtering E < 560 ppm , basic accuracy ±300 ppm Noise,PtP ◦ Now 560 > (1/3 ⋅ 600), and a low-pass filter is required if the full basic accuracy is to be achieved. EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 248: Continuative Documentation For I/O Components With Analog In And Outputs
I/O Analog Manual Notes on I/O components with analog inputs and outputs, which is available in the Beckhoff Information-System and for download on the Beckhoff homepage www.beckhoff.com on the respective product pages! It explains the basics of sensor technology and contains notes on analog measured values.
Page 249: 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 250 Creation of PDO variables (TwinCAT version >= V3.1.4024.0) ........... 114 Fig. 39 Creation of the SmPdoVariables (TwinCAT version >= V3.1.4022.30) ........114 Fig. 40 Seek the generated data type of SmPdoVariables ..............115 Fig. 41 Visualization of the sample implementation: Calibration signature ..........116 Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 251 Start program compilation ......................148 Fig. 85 Creating the links between PLC variables and process objects ..........149 Fig. 86 Selecting BOOL-type PDO......................149 Fig. 87 Selecting several PDOs simultaneously: activate “Continuous” and “All types” ......150 EPP3504-0023/ ERP3504-0022 Version: 1.3...
Page 252 CAT 3)............................172 Fig. 129 Manual scanning for devices on a specified EtherCAT device (left: TwinCAT 2; right: Twin- CAT 3)............................173 Fig. 130 Scan progressexemplary by TwinCAT 2..................173 Fig. 131 Config/FreeRun query (left: TwinCAT 2; right: TwinCAT 3) ............173 Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 253 Fig. 156 Startup list in the TwinCAT System Manager ................202 Fig. 157 Offline list ............................. 203 Fig. 158 Online list ............................ 204 Fig. 159 Dimensions EPP3504-0023, ERP3504-0022 (values in mm)............206 Fig. 160 Connection for functional earth (FE) EPP3504-0023..............208 Fig. 161 Connection for functional earth (FE) ERP3504-0022..............208 Fig.
Page 254 Fig. 186 Dialog Advanced Settings ......................242 Fig. 187 Multiple selection and firmware update ..................244 Fig. 188 Selecting the Restore default parameters PDO ................246 Fig. 189 Entering a restore value in the Set Value dialog ................246 Version: 1.3 EPP3504-0023/ ERP3504-0022...
Page 256 More Information: www.beckhoff.com/en-us/products/i-o/ethercat-box/eppxxxx- industrial-housing/epp3xxx-analog-input/ Beckhoff Automation GmbH & Co. KG Hülshorstweg 20 33415 Verl Germany Phone: +49 5246 9630 info@beckhoff.com www.beckhoff.com...

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Epp3504-0023

Beckhoff ERP3504-0022 Manual

Table of Contents

2 Foreword

3 Product Group: Ethercat P Box Modules

4 Product Overview

5 Commissioning

6 Features

7 Commissioning on Ethercat Master

8 Mounting and Wiring

9 Appendix

List of Illustrations

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