Beckhoff EPP3752-0000 Documentation Download Page 41

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CoE parameters

EPP3752-0000

Version: 1.2

Index 1A00 AI TxPDO-Map Inputs Ch.1

Index (hex) Name

Meaning

Data type

Flags Default

1A00:0

AI TxPDO-Map In-
puts Ch.1

PDO Mapping TxPDO 1

UINT8

0x06 (6

dec

)

1A00:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

0x0000:00, 6

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),
entry 0x07 (Error))

UINT32

0x6000:07, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

0x0000:00, 7

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),
entry 0x0F (TxPDO State))

UINT32

0x6000:0F, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),
entry 0x10 (TxPDO Toggle))

UINT32

0x6000:10, 1

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (AI Inputs Ch.1),
entry 0x11 (Value))

UINT32

0x6000:11, 16

Index 1A01 AI TxPDO-Map Inputs Ch.2

Index (hex) Name

Meaning

Data type

Flags Default

1A01:0

AI TxPDO-Map In-
puts Ch.1

PDO Mapping TxPDO 2

UINT8

0x06 (6

dec

)

1A01:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

0x0000:00, 6

1A01:02

SubIndex 002

2. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),
entry 0x07 (Error))

UINT32

0x6010:07, 1

1A01:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

0x0010:00, 7

1A01:04

SubIndex 004

4. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),
entry 0x0F (TxPDO State))

UINT32

0x6010:0F, 1

1A01:05

SubIndex 005

5. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),
entry 0x10 (TxPDO Toggle))

UINT32

0x6010:10, 1

1A01:06

SubIndex 006

6. PDO Mapping entry (object 0x6010 (AI Inputs Ch.2),
entry 0x11 (Value))

UINT32

0x6010:11, 16

Index 1A02 AI TxPDO-Map Inputs Ch.3

Index (hex) Name

Meaning

Data type

Flags Default

1A02:0

AI TxPDO-Map In-
puts Ch.3

PDO Mapping TxPDO 3

UINT8

0x06 (6

dec

)

1A02:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

0x0000:00, 6

1A02:02

SubIndex 002

2. PDO Mapping entry (object 0x6020 (AI Inputs Ch.3),
entry 0x07 (Error))

UINT32

0x6020:07, 1

1A02:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

0x0000:00, 7

1A02:04

SubIndex 004

4. PDO Mapping entry (object 0x6020 (AI Inputs Ch.3),
entry 0x0F (TxPDO State))

UINT32

0x6020:0F, 1

1A02:05

SubIndex 005

5. PDO Mapping entry (object 0x6020 (AI Inputs Ch.3),
entry 0x10 (TxPDO Toggle))

UINT32

0x6020:10, 1

1A02:06

SubIndex 006

6. PDO Mapping entry (object 0x6020 (AI Inputs Ch.3),
entry 0x11 (Value))

UINT32

0x6020:11, 16

Index 1A03 AI TxPDO-Map Inputs Ch.4

Index (hex) Name

Meaning

Data type

Flags Default

1A03:0

AI TxPDO-Map In-
puts Ch.4

PDO Mapping TxPDO 4

UINT8

0x06 (6

dec

)

1A03:01

SubIndex 001

1. PDO Mapping entry (6 bit align)

UINT32

0x0000:00, 6

1A03:02

SubIndex 002

2. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4),
entry 0x07 (Error))

UINT32

0x6030:07, 1

1A03:03

SubIndex 003

3. PDO Mapping entry (7 bit align)

UINT32

0x0000:00, 7

1A03:04

SubIndex 004

4. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4),
entry 0x0F (TxPDO State))

UINT32

0x6030:0F, 1

1A03:05

SubIndex 005

5. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4),
entry 0x10 (TxPDO Toggle))

UINT32

0x6030:10, 1

1A03:06

SubIndex 006

6. PDO Mapping entry (object 0x6030 (AI Inputs Ch.4),
entry 0x11 (Value))

UINT32

0x6030:11, 16

Summary of Contents for EPP3752-0000

Page 1: ...Documentation EN EPP3752 0000 2 x 3 axis accelerometers 2022 09 19 Version 1 2...

Page 2: ......

Page 3: ...7 4 2 3 Conductor losses 18 4 3 UL Requirements 19 4 4 Disposal 20 5 Commissioning Configuration 21 5 1 Integrating into a TwinCAT project 21 5 2 Acceleration sensors 22 5 2 1 Settings 23 5 2 2 Inclin...

Page 4: ...Table of contents EPP3752 0000 4 Version 1 2...

Page 5: ...products that have already been supplied may be made on the basis of the data diagrams and descriptions in this documentation Trademarks Beckhoff TwinCAT TwinCAT BSD TC BSD EtherCAT EtherCAT G EtherCA...

Page 6: ...trained specialists in control automation and drive engineering who are familiar with the applicable national standards Description of instructions In this documentation the following instructions are...

Page 7: ...operties as modules with the latest status However existing properties are retained and are not changed so that older modules can always be replaced with new ones Documentation Firmware Hardware 1 1 0...

Page 8: ...d from each other and can therefore be switched individually The nominal supply voltage for both is 24 VDC EtherCAT P uses the same cable structure as EtherCAT a 4 core Ethernet cable with M8 connecto...

Page 9: ...16 g The sampling frequency is 1 Hz to 5 kHz Possible applications include the recording of vibrations and shocks oscillations and furthermore inclination measurements in all three axes Since measurem...

Page 10: ...16 bit left aligned Measuring range 1 2 g 4 g 8 g 16 g selectively Sampling rate 200 Hz to 5 kHz 1 Unit of measurement 1 g 9 81 m s2 acceleration of gravity 1 mg 1 1000 g 2 The resolution depends on t...

Page 11: ...es 2 g 1 kHz 1 ms 10 bit 4 mg 4 g 8 mg 8 g 16 mg 16 g 48 mg 2 g 1 kHz 1 ms 8 bit 16 mg 4 g 32 mg 8 g 64 mg 16 g 192 mg The setting of the Measuring range and Sampling rate parameters is described in t...

Page 12: ...the two accelerometers can be found under AI Inputs Channel Status Error An error occurred during communication with the accelerometer Value 16 bit acceleration value The assignment of the process va...

Page 13: ...rawing is not true to scale Housing features Housing material PA6 polyamide Sealing compound polyurethane Mounting two mounting holes 3 5 mm for M3 Metal parts brass nickel plated Contacts CuZn gold p...

Page 14: ...the mounting holes in the corners of the module The mounting holes have no thread 4 1 3 Functional earth FE The upper mounting holes also serves as a connection for functional earth FE Make sure that...

Page 15: ...irements 19 EtherCAT P transmits two supply voltages Control voltage US The following sub functions are supplied from the control voltage US the fieldbus the processor logic typically the inputs and t...

Page 16: ...r EtherCAT P supply OUT right M8 socket for downstream connection of EtherCAT P The metal threads of the M8 EtherCAT P sockets are internally linked to the FE connection via high impedance RC combinat...

Page 17: ...EtherCAT L A Link Act 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 LED Meaning off no conn...

Page 18: ...ply unit must also be taken into account Planning tool for EtherCAT P You can plan cable lengths voltages and currents of your EtherCAT P system using TwinCAT 3 The requirement for this is TwinCAT 3 B...

Page 19: ...4 Amp or by a 24 VDC power source that has to satisfy NEC class 2 A NEC class 2 power supply shall not be connected in series or parallel with another class 2 power source CAUTION CAUTION To meet the...

Page 20: ...cts 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 dis...

Page 21: ...oning Configuration EPP3752 0000 21 Version 1 2 5 Commissioning Configuration 5 1 Integrating into a TwinCAT project The procedure for integration in a TwinCAT project is described in these Quick star...

Page 22: ...ccelerometers are offset by 90 This enables a plausibility check of the measured values The measured acceleration values can be converted to inclination angles see chapter on Inclination measurement 2...

Page 23: ...rameter 0xF800 11 Range If you select the option Channel setting you can set the measuring range for each sensor individually Measuring range for sensor 1 Index 0x8000 19 Range Measuring range for sen...

Page 24: ...aw values is not higher than the resolution of the measured values in mg See diagram below milli G mG default The measured values of all acceleration axes are scaled to 1 mg LSB Channel setting This o...

Page 25: ...is calculated The internal sampling rate time interval between the individual measured values can be parameterized via index 0xF800 0D Filter sampling rate IIR1 8 The filter with IIR characteristic ca...

Page 26: ...mode the EtherCAT cycle time determines the sampling rate in each EtherCAT cycle the measured values are read out from the sensors The sensor operates internally with 10 bits up to a cycle time of 1...

Page 27: ...on values which are subject to certain noise they have to be filtered via suitable algorithms In simple cases this could be a sliding average value for example Fig 7 Angle measurement process data as...

Page 28: ...notices contained in this document explicitly do not refer to specific applications The customer is therefore respon sible for assessing and deciding whether the product is suitable for a particular...

Page 29: ...bindex 001 3 Double click on Subindex 001 The Set Value Dialog dialog box opens 4 Enter the value 1684107116 in the Dec field Alternatively enter the value 0x64616F6C in the Hex field 5 Confirm with O...

Page 30: ...ommissioning Configuration EPP3752 0000 30 Version 1 2 5 4 Decommissioning WARNING Risk of electric shock Bring the bus system into a safe de energized state before starting disassembly of the devices...

Page 31: ...rview EtherCAT XML Device Description The display matches that of the CoE objects from the EtherCAT XML Device Description We rec ommend downloading the latest XML file from the download area of the B...

Page 32: ...01 0 41 Subindex AI TxPDO Map Inputs Ch 2 RO 0x06 6dec 1A01 01 SubIndex 001 RO 0x0000 00 6 1A01 02 SubIndex 002 RO 0x6010 07 1 1A01 03 SubIndex 003 RO 0x0000 00 7 1A01 04 SubIndex 004 RO 0x6010 0F 1 1...

Page 33: ...time RO 0x00000000 0dec 1C33 04 Sync modes supported RO 0x0003 3dec 1C33 05 Minimum cycle time RO 0x00030D40 200000dec 1C33 06 Calc and copy time RO 0x00000000 0dec 1C33 07 Minimum delay time RO 0x000...

Page 34: ...02 2dez 8030 19 Range RW 0x0000 0dez 8030 1A Presentation RW 0x0001 1dez 8040 0 38 Subindex AI Settings Ch 5 RW 0x1A 26dec 8040 06 Enable filter RW 0x00 0dec 8040 15 Filter settings RW 0x0002 2dez 804...

Page 35: ...E overview contains objects for different intended applications Objects required for parameterization 35 during commissioning Objects for indicating internal settings 40 may be fixed Further profile s...

Page 36: ...NT16 RW 0x0000 0dec 8000 1A Presentation Representation of the data 0dec Raw values 1dec milli G mG UINT16 RW 0x0001 1dec Index 8010 AI Settings Ch 2 Index hex Name Meaning Data type Flags Default 801...

Page 37: ...NT16 RW 0x0000 0dec 8020 1A Presentation Representation of the data 0dec Raw values 1dec milli G mG UINT16 RW 0x0001 1dec Index 8030 AI Settings Ch 4 Index hex Name Meaning Data type Flags Default 803...

Page 38: ...NT16 RW 0x0000 0dec 8040 1A Presentation Representation of the data 0dec Raw values 1dec milli G mG UINT16 RW 0x0001 1dec Index 8050 AI Settings Ch 6 Index hex Name Meaning Data type Flags Default 805...

Page 39: ...ing the measuring range 0dec 2G 1dec 4G 2dec 8G 3dec 16G UINT16 RW 0x0000 0dec 8060 1D Presentation Representation of the data 0dec Raw values 1dec milli G mG UINT16 RW 0x0001 1dec Index F800 SAI Sett...

Page 40: ...TRING RO 00 Index 1018 Identity Index hex Name Meaning Data type Flags Default 1018 0 Identity Information for identifying the slave UINT8 RO 0x04 4dec 1018 01 Vendor ID Vendor ID of the EtherCAT slav...

Page 41: ...0x6010 10 1 1A01 06 SubIndex 006 6 PDO Mapping entry object 0x6010 AI Inputs Ch 2 entry 0x11 Value UINT32 RO 0x6010 11 16 Index 1A02 AI TxPDO Map Inputs Ch 3 Index hex Name Meaning Data type Flags Def...

Page 42: ...INT32 RO 0x6050 10 1 1A05 06 SubIndex 006 6 PDO Mapping entry object 0x6050 AI Inputs Ch 6 entry 0x11 Value UINT32 RO 0x6050 11 16 Index 1C00 Sync manager type Index hex Name Meaning Data type Flags D...

Page 43: ...3 08 UINT16 RO 0x0003 3dec 1C33 05 Minimum cycle time Minimum cycle time supported in ns UINT32 RO 0x0003D040 20000dec 1C33 06 Calc and copy time Time between reading of the inputs and availability of...

Page 44: ...020 0 AI Inputs Ch 3 UINT8 RO 0x11 17dec 6020 07 Error BOOLEAN RO 0x00 0dec 6020 0F TxPDO State BOOLEAN RO 0x00 0dec 6020 10 TxPDO Toggle BOOLEAN RO 0x00 0dec 6020 11 Value INT16 RO 0x0000 0dec Index...

Page 45: ...stance of the objects of the individual channels UINT16 RO 0x0010 16dec F000 02 Maximum number of modules Number of channels UINT16 RO 0x0002 2dec Index F008 Code word Index hex Name Meaning Data type...

Page 46: ...otection Definition 0 Non protected 1 Protected against water drops 2 Protected against water drops when enclosure tilted up to 15 3 Protected against spraying water Water sprayed at an angle up to 60...

Page 47: ...material protective caps Ordering information Description ZS5000 0010 Protective cap for M8 sockets IP67 50 pieces ZS5100 0000 Inscription labels unprinted 4 strips of 10 ZS5000 xxxx Printed inscripti...

Page 48: ...entifier in the case of 0000 usually abbreviated to EL3314 0016 is the EtherCAT revision The order identifier is made up of family key EL EP CU ES KL CX etc type 3314 version 0000 The revision 0016 sh...

Page 49: ...06 production year 2006 3A firmware version 3A 02 hardware version 02 Exceptions can occur in the IP67 area where the following syntax can be used see respective device documentation Syntax D ww yy x...

Page 50: ...ct it can be found in the following places on the packaging unit directly on the product if space suffices on the packaging unit and the product The BIC is machine readable and contains information th...

Page 51: ...of composite information from positions 1 to 4 and with the above given example value on position 6 The data identifiers are highlighted in bold font 1P072222SBTNk4p562d71KEL1809 Q1 51S678294 Accordi...

Page 52: ...roduced into the Beckhoff I O production terminals box modules from 2020 widespread implementation is expected in 2021 The user can electronically access the eBIC if existent as follows With all Ether...

Page 53: ...or specific content is stored with the help of a category according to ETG 2010 ID 03 indicates to all EtherCAT masters that they must not overwrite these data in case of an update or restore the data...

Page 54: ...s there Beckhoff Support Support offers you comprehensive technical assistance helping you not only with the application of individual Beckhoff products but also with other wide ranging services suppo...

Page 55: ......

Page 56: ...Beckhoff Automation GmbH Co KG H lshorstweg 20 33415 Verl Germany Phone 49 5246 9630 info beckhoff com www beckhoff com More Information www beckhoff com epp3752 0000...

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