TPM 207-A20x Series Object Dictionary Manual 207-A204F ... · TPM 207-A20x Series Object Dictionary...

TPM 207-A20x Series Object Dictionary Manual

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207-A204F/A203F/

A202F/A202FH

Object Dictionary Manual

Version: V1.0 2018 Feb. 09

To properly use the product, read this manual thoroughly is necessary.


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Part No.: 81-18A204F-010

Revision History

Date Revision Description

2018/02/09 1.0 Document creation.


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© Copyright 2018 TPM The product, including the product itself, the accessories, the software, the manual and the software

description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,

transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except

the documentation kept by the purchaser for backup purposes.

The names of products and corporations appearing in this manual may or may not be registered trademarks,

and may or may not have copyrights of their respective companies. These names should be used only for

identification or explanation, and to the owners’ benefit, should not be infringed without any intention.

The product’s name and version number are both printed on the product itself. Released manual visions for

each product design are represented by the digit before and after the period of the manual vision number.

Manual updates are represented by the third digit in the manual vision number.

Trademark

MS-DOS and Windows 95/98/NT/2000/XP, Visual Studio, Visual C++, Visual BASIC are registered

trademarks of Microsoft.

BCB (Borland C++ Builder) is registered trademark of Borland.

Other product names mentioned herein are used for identification purposes only and may be trademarks

and/or registered trademarks of their respective companies.


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Electrical safely

To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating

the system.

When adding or removing devices to or from the system, ensure that the power cables for the devices are

unplugged before the signal cables are connected. Disconnect all power cables from the existing system

before you add a device.

Before connecting or removing signal cables from motherboard, ensure that all power cables are

unplugged.

Seek professional assistance before using an adapter or extension card. These devices could interrupt the

grounding circuit.

Make sure that your power supply is set to the voltage available in your area.

If the power supply is broken, contact a qualified service technician or your retailer.

Operational safely

Please carefully read all the manuals that came with the package, before installing the new device.

Before use the product, ensure all cables are correctly connected and the power cables are not damaged. If

the power cables are detected damaged, contact the dealer immediately.

To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and

circuitry.

Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may

become wet.

If you encounter technical problems with the product, contact a qualified service technician or the dealer.


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Contents

CONTENTS ............................................................................................................................................................................ 5

1. ETHERCAT INTRODUCTION ............................................................................................................................................ 7

1.1 INTRODUCTION ................................................................................................................................................................ 7

1.2 SYSTEM CONFIGURATIONS .............................................................................................................................................. 8

1.3 DATA TRANSITION ............................................................................................................................................................ 8

1.4 ETHERCAT TOOL: TWINCAT ............................................................................................................................................ 9

2. PRODUCT OVERVIEW .................................................................................................................................................... 10

2.1 NAMING RULE ............................................................................................................................................................... 10

2.2 DIMENSION ................................................................................................................................................................... 10

2.3 SPECIFICATION .............................................................................................................................................................. 11

2.4 CONNECTION ................................................................................................................................................................ 12

2.4.1 Rotary Switch Description .................................................................................................................... 13

2.4.2 LED Description .................................................................................................................................... 14

2.4.3 EtherCAT Communication .................................................................................................................... 16

2.4.4 Power Connector .................................................................................................................................. 19

2.4.5 Carrier Board ........................................................................................................................................ 20

2.5 SIGNAL CIRCUIT ............................................................................................................................................................ 21

3. TWINCAT 3 OPERATION ................................................................................................................................................. 22

3.1 INSTALL THE ESI DEVICE DESCRIPTION .......................................................................................................................... 22

3.2 CREATE THE ETHERCAT DEVICE ................................................................................................................................... 23

3.3 SCAN THE ETHERCAT DEVICE ....................................................................................................................................... 32

APPENDIX A BASIC INFORMATION .................................................................................................................................. 36

A.1 SYMBOLS AND ABBREVIATIONS ...................................................................................................................................... 36

A.2 DATA TYPES ................................................................................................................................................................. 37

A.3 UNIT NOTATION ............................................................................................................................................................. 38

A.4 DAC CHANNEL IN DEVICE ............................................................................................................................................. 39

A.5 SPECIFICATION LIST ...................................................................................................................................................... 40

A.6 ESM (ETHERCAT STATE MACHINE) .............................................................................................................................. 41

APPENDIX B PROCESS DATA OBJECTS (PDOS) ........................................................................................................... 43

B.1 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE] ........................................................................................................ 43

APPENDIX C SERVICE DATA OBJECTS (SDOS) ............................................................................................................. 45

C.1 STATION ALIAS (4000H) ................................................................................................................................................ 50


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C.1.1 Device Addressing ............................................................................................................................... 51

C.2 RETAIN VARIABLE OPERATION (4005H) .......................................................................................................................... 54

C.2.1 Enter / Exit Retain Operation Process ................................................................................................. 56

C.2.2 Save Retain Parameters to Flash Memory .......................................................................................... 57

C.3 ANALOG OUTPUTS (6411H) ........................................................................................................................................... 58

C.4 ANALOG OUTPUT ERROR MODE (6443H) ....................................................................................................................... 59

C.5 ANALOG OUTPUT ERROR VALUE (6444H) ...................................................................................................................... 60

C.4 ANALOG OUTPUT OFFSET INTEGER (6446H) .................................................................................................................. 62

C.5 ANALOG OUTPUT SCALING INTEGER (6447H) ................................................................................................................. 63

C.6 ANALOG OUTPUT SI UNIT (6450H) ................................................................................................................................ 64

C.7 ERROR REGISTER (1001H) ........................................................................................................................................... 65

C.7.1 Emergency Messages ......................................................................................................................... 66

C.7.2 Error Code ............................................................................................................................................ 67


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1. EtherCAT Introduction

1.1 Introduction

EtherCAT® is an ultra-high-speed serial communication system. This technology is widely applied in factory

and machinery automation industries. EtherCAT® is real-time down to the I/O level. The transmission rate of

EtherCAT® is 2 x 100 Mbit/s, which makes it the fastest ethernet. Each EtherCAT® slave device reads and

writes the data by the function of "on the fly". One can extract or insert bits or bytes without suspending the

system. Each EtherCAT® segment can connect up to 65,535 nodes. With 100BASE-TX, the distance between

two nodes is up to 100M with EtherCAT® . With 100BASE-FX (fiber optics), the distance between two nodes

is longer than 100M.

Precise synchronization is one of the features of EtherCAT® . The Distributed Clocks (DC) can adjust the

time of Master and Slaves to achieve the synchronization. The time of synchronization is less than 1μs.

EtherCAT® also leads to lower solution costs because of the low cost slave controller with FPGA, small

volume with EtherCAT® instead of IPC, and so on. EtherCAT® is IEC, ISO, and SEMI standard protocol.

The slave controller can provide interoperability. The master stacks are suitable for various Real-time

Operating System (RTOS).


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1.2 System Configurations

1.3 Data Transition


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1.4 EtherCAT Tool: TwinCAT

TwinCAT® is the EtherCAT® tool which is developed by Beckhoff. The TwinCAT® (The Windows Control

and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software

system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or

robotics runtime systems.

All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and

EtherCAT® slaves can connect to achieve the control system. EZE-xxx model names will be displayed on

TwinCAT® for users to operate system conveniently. Carrier specific model name will not be listed.

Figure 0-1: illustration of the wiring topology of Motionnet master and slaves


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2. Product Overview

2.1 Naming Rule

2 0 7 - A 2 0 4 F EtherCAT Plug-in module Analog

EtherCAT

series 4 OUT 16 bits

2.2 Dimension

12

2 m

m

66mm

CN6CN5

CN7

CN0 CN1

CN2 CN3

P0 P1 R E

SW1

SW2

Figure 0-1: Dimension


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2.3 Specification

EtherCAT

Serial interface Fast Ethernet, Full-Duplex

Distributed Clock 1ms

Cable type CAT5 UTP/STP Ethernet cable

Surge protection 10KV

Transmission speed 100 Mbps

Communication type DC

I/O isolation voltage 3750Vrms

DA Converter

Effective resolution 16 bits

Accuracy ±0.1%

Output range ±10V

Operation mode Ramp and Noise, Single Value,

Single Coupled Value, Pattern

General

Power input 24VDC±10%

Power consumption 3W typical

Working temperature 0 to 60°C


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2.4 Connection

12

2 m

m

66mm

CN6CN5

CN7

CN0 CN1

CN2 CN3

P0 P1 R E

SW1

SW2

Label Function

CN0 I/O Signal Connector




CN5 EtherCAT Communication IN

CN6 EtherCAT Communication OUT

CN7 Power Connector

SW1 Address Switch1

SW2 Address Switch2


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2.4.1 Rotary Switch Description

Label Description Value

SW1 node number_L 0 ~ 15

SW2 node number_H 0 ~ 15

Node IP settings:

The node number

= 16 * SW2 + 1 * SW1

e.g.

SW1 = 10, SW2 =2

The node number will be set as “16 * 2 + 1 * 10=

42”

*Default value is 0.


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2.4.2 LED Description

There are four patterns below indicating the LED status besides ON and OFF.

Pattern 1: Flickering

50ms 50ms

Figure 2-2: Flickering pattern

LED Description

P0 - Yellow DC +24V Supply

P1 - Yellow DC +5V Supply for Internal

R - Green In Normal Communication

E - Red Error Communication


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Pattern 2: Blinking

200ms200ms

Figure 2-3: Blinking pattern

Pattern 3: Single flash

200ms

Figure 2-4: Single flash pattern

Pattern 4: Double flash

200ms200ms

200ms1000ms

Figure 2-5: Double flash pattern

Run Indicator

Run Indicator indicates the ESM (EtherCAT® State Machine) status. LED lights in green.

LED Status Meaning

OFF ESM: In INIT state

Blinking ESM: In Pre-operational state

Single Flash ESM: In Safe-operational state

ON ESM: Operation state

Error Indicator

Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.

LED Status Meaning

OFF No occurrence of alarms defined in the AL status code

Blinking Communication setup error

Single flash Synchronous event error

Double flash Application watchdog timeout

Flickering Initialization error

ON PDI error


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2.4.3 EtherCAT Communication

Communication IN and OUT

CN6CN51 1

INO

UT

No. Description

1 TX+

2 TX-

3 RX+

4 -

5 -

6 RX-

7 -

8 -


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EtherCAT LED Status

There are four patterns below indicating the LED status besides ON and OFF.

Pattern 1: Flickering

50ms 50ms

Figure 2-6: Flickering pattern

Pattern 2: Blinking

200ms200ms

Figure 2-7: Blinking pattern

Pattern 3: Single flash

200ms

Figure 2-8: Single flash pattern

LED Description

Left

(Orange)

Link/Activity indicator:

Blinking – There is activity on this port.

Off – No link is established.

Right

(Green)

Speed indicator:

Green on – Operating as a 100/1000-Mbps

connection.

Off – Operating as a 10-Mbps connection.


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Pattern 4: Double flash

200ms200ms

200ms1000ms

Figure 2-9: Double flash pattern

RUN Indicator

Run Indicator indicates the ESM (EtherCAT State Machine) status. LED lights in green.

LED Status Meaning

OFF ESM: In INIT state

Blinking ESM: In Pre-operational state

Single Flash ESM: In Safe-operational state

ON ESM: Operation state

Error Indicator

Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.

LED Status Meaning

OFF No occurrence of alarms defined in the AL status code

Blinking Communication setup error

Single flash Synchronous event error

Double flash Application watchdog timeout

Flickering Initialization error

ON PDI error


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2.4.4 Power Connector

No. Label Description

1 24V DC 24V Input

2 GND DC 24V ground

3 FG Field ground

4 24V DC 24V Input

5 GND DC 24V ground

6 FG Field ground

1


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2.4.5 Carrier Board

CN6CN5

CN7

CN0 CN1

CN2 CN3

CN0 CN1

P0 P1 R E

SW1

SW2

CN0

Pin Label Function

P00 AO0 Analog Output #0

P01 AGND0 Analog Ground #0







P0A +24V DC 24V Output

P0B GND DC 24V Ground

CN1

Pin Label Function











CN6CN5

CN7

CN0 CN1

CN2 CN3

CN2 CN3

P0 P1 R E

SW1

SW2

CN2

Pin Label Function





P24 NC

P25 NC

P26 NC

P27 NC



CN3

Pin Label Function

P30 NC

P31 NC

P32 NC

P33 NC

P34 NC

P35 NC

P36 NC

P37 NC



Note AO8 and AO9 are used for 12-bit output channels in EZE-A203F.


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2.5 Signal Circuit

Analog Output Signal Circuit (NPN type)

AOUT_0

AGND

+

-

AOUT_1+

-

AGND


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3. TwinCAT 3 Operation

3.1 Install the ESI Device Description

Step 1 Copy the ESI file “EZE_A204F_V1000S0101.xml”.

Figure 3-1: ESI file

Note Please update the latest ESI file. If there is any question, please contact your vendor.

Step 2 Paste the ESI file into the EtherCAT Master PC’s folder:

C:\TwinCAT\3.1\Config\Io\EtherCAT


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3.2 Create the EtherCAT Device

Step 1 Provide a name to this project “207-A204_Test”.

Figure 3-2: New project

Step 2 Click button “OK” to finish creating the project.

Figure 3-3: New project


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Step 3 To create one EtherCAT Master, right click on “Devices”.

Figure 3-4: I/O list

Step 4 Select “Add New Item”.

Figure 3-5: Device → Add new item


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Step 5 Select “EtherCAT Master”.

Figure 3-6: EtherCAT Master

Step 6 Click button “OK”.

Figure 3-7: EtherCAT Master


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Step 7 Select your “Local LAN”.

Figure 3-8: Local LAN

Step 8 Click button “OK”.



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Step 9 The “Device 1” will show in the list.

Figure 3-10: Device 1 EtherCAT Master


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Step 10 Double click “Device 1”, and select “Adapter”.

Step 11 The detailed information of the Device will show at “Description”, “Device Name”,

“MAC Address”, and “IP Address”.

Figure 3-11: Device 1 → Adapter


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Step 11-1 If the detailed information of the Device isn’t shown, please select “Compatible Devices”.

Figure 3-12: Device 1 EtherCAT Master missed


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Step 11-2 Select your “Local LAN”, and click button “Install”.



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Step 11-3 Click “Search”, select your “Local LAN”, and click button “OK”.

Figure 3-14: Search Local LAN


Step 11-4 After finishing the above steps, the detailed information of the Device will show at

“Description”, “Device Name”, “MAC Address”, and “IP Address”.


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3.3 Scan the EtherCAT Device

Step 1 Right click on “Device 1”.

Figure 3-16: I/O list


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Step 2 Select “Scan”.

Figure 3-17: Device 1 → Scan


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Step 3 The name of the slave will be shown as “EZE-A204F”.

Figure 3-18: Box 1 (EZE-A204F)

Step 4 If the slave is not found, please do the following steps.

Figure 3-19: EZE- A204F missed


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Step 4-1 Double click “Box 1” with green point.

Figure 3-20: EZE-A204F missed

Step 4-2 Click “EtherCAT”, and check the “Version” of the slave.

Step 4-3 Check if the version is the same with the ESI file.

Figure 3-21: Version check

10000101 V1000 0101

Decimal Hexadecimal

Hardware Version Firmware Version


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Appendix A Basic Information

A.1 Symbols and Abbreviations

Abbreviation Term Description

AL AL-layer EtheCAT Application Layer Service

CiA CAN in Automation A non-profit organization established in 1992 as a joint venture between

companies to provide CAN technical information, product information, and

marketing information.

CAN Controller Area Network Communications protocol for the physical layer and data link layer established

for automotive LANs. It was established as an international standard as ISO

11898.

CANopen CANopen An upper-layer protocol based on the international CAN standard (EN

50325-4). It consists of profile specifications for the application layer,

communications, applications, devices, and interfaces.

CoE CANopen over EtherCAT A network that uses Ethernet for the physical layer, EtherCAT for the data link

layer, and CANopen for the application layer in a seven-layer OSI reference

model.

DC Distributed Clocks A clock distribution mechanism that is used to synchronize

the EtherCAT slaves with the EtherCAT master.

EEPROM Electrically Erasable

Programmable Read Only

Memory

A ROM that can be electrically overwritten.

ESC EtherCAT Slave Controller A hardware chip that processes EtherCAT communications

(such as loopbacks) and manages the distributed clock.

ESM EtherCAT State Machine A state machine in which the state of EtherCAT (the data link

layer) changes according to transition conditions.

ETG EtherCAT Technology Group An international organization established in 2003 to provide

support for developing EtherCAT technologies and to promote

the spread of EtherCAT technologies.

EtherCAT Ethernet for Control

Automation Technology

An open network developed by Beckhoff Automation.

FMMU Fieldbus Memory

Management Unit

A unit that manages fieldbus memory.

INIT INIT The Init state in the EtherCAT state machine.

OP Object Dictionary A group of objects and structure supported by an EtherCAT


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SERVOPACK.

PDI Physical Device Internal

Interface

A set of elements that allows access to DL-Service from the AL

PDO Process Data Object Objects that are sent and received in cyclic communications.

PDO mapping

Definitions

Process Data Object Mapping Definitions of the applications objects that are sent with

PDOs.

SDO Service Data Object Objects that are sent and received in mailbox communications.

PREOP PRE-OPERATIONAL The Pre-operational state in the EtherCAT state machine.

RXPDO Receive Process Data Object The process data received by the ESC.

TXPDO Transmit Process Data Object The process data sent by the ESC.

SM Sync. Manager The ESC unit that coordinates data exchange between the master and slaves.

ro Read only COE Object just can be read only

rw Read & write COE Object just can be read and written .

SAVE Save to flash memory There is flash memory on K121 which can be used to save retain variables .

STLD Step Loss Detection Function is used to detect the loss of stepper motor when it is running.

FoE File transfer over EtherCAT File can transfer over EtherCAT like Ethernet operation.

A.2 Data Types

The following table lists the data types and ranges that are used in this manual

Symbol Data Type Range

I8 Signed 8 bit integer -128 to 127

I16 Signed 16 bit integer -32,768 to 32,767

I32 Signed 32 bit integer -2,147,483,648 to 2,147,483,627

U8 Unsigned 8 bit integer 0 to 255

U16 Unsigned 16 bit integer 0 to 65535

U32 Unsigned 32 bit integer 0 to 4,294,967,295

F32 32 bit float

F64 64 bit double float

STRING Character string –


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A.3 Unit Notation

The following table lists the data units and notations that are used in this manual.

Notation Description

Inc.

The minimum unit of the DAC’s incremental resolution.

Device Type DAC ID Output range resolution Inc. range

A202F/A203F/A204F AO_0 ~AO_3 (16 Bits, ±10V) 65536 -32768 ~ 32767

A202FH AO_0 ~AO_3 (16 Bits, ±5V) 65536 -32768 ~ 32767

A204F AO_4 ~AO_7 (16 Bits, ±10V) 65536 -32768 ~ 32767

A203F AO_8 ~AO_9 (12 Bits, ±11V) 4096 -2048 ~ 2047

Unit The actual physical amount of the incremental output.

Device Type DAC ID Unit

A202F/A203F/A204F AO_0 ~AO_3

(16 Bits, ±10V)

1 Unit=20V/65536=0.30518mv

A202FH AO_0 ~AO_3

(16 Bits, ±5V)

1 Unit=10V/65536=0.1526mv

A204F AO_4 ~AO_7

(16 Bits, ±10V)

1 Unit=20V/65536=0.30518mv

A203F AO_8 ~AO_9

(12 Bits, ±11V)

1 Unit=22V/4096=5.3711mv

Step The minimum incremental unit of the DAC’s zero offset and gain

adjustment.

Parameter Device Type DAC ID Step

Zero Offset A202F/A202FH

/A203F/A204F

AO_0 ~AO_3

1 Step =0.125 inc.

A204F AO_4 ~AO_7 1 Step =0.125 inc.

A203F AO_8 ~AO_9 1 Step =1 inc.

Gain A202F/A202FH

/A203F/A204F

AO_0 ~AO_7

1 Step=(0.00195/128) Gain

A204F AO_4 ~AO_7 1 Step=(0.00195/128) Gain

A203F AO_8 ~AO_9 1 Step= (0.02/128) Gain


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A.4 DAC Channel in Device

Following table shows the relationship between DAC channels and different device type.

Device Type

AO_0 ~AO_3

(16 Bits, ±10V)

AO_0 ~AO_3

(16 Bits, ±5V)

AO_4 ~AO_7

(16 Bits,

±10V)

AO_8 ~AO_9

(12 Bits, ±10V)

EZE-A202F √ X X X

EZE-A202FH X √ X X

EZE-A203F √ X X √

EZE-A204F √ X √ X

* √: used X: not used


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A.5 Specification List

Item Specification

Physical layer 100 BASE-TX (IEEE802.3)

Baud rate 100 Mbps , Full Duplex

Topology Line

Connection cable Twist pair CAT5e

Cable length Between nodes: up to 100 m

Number of slaves

connected

Up to 65535

EtherCAT Indicators RUN/ERROR/LINK(IN/OUT)

RUN: Green LED , ERROR: RED LED, LINK(IN/OUT): Green LED

Station Alias (ID) Range: 0 to 65535, SII Save Value

Explicit Device ID Supported

Device profile MDP, ETG5001.1

SyncManager 4

FMMU 3

Synchronous Mode DC (SYNC0 event synchronization)

Free Run (No slave application synchronization)

Cycle Time Minimum DC time : 1ms

Communication object SDO (Service Data Object)

PDO (Process Data Object)

SDO message Supported: SDO Request, SDO Response, SDO information

Not supported: Emergency Message ,Complete Access

Maximum number of

PDO assigns

RxPDO: 4 [table]

TxPDO: 4 [table]

Maximum PDO data

length

RxPDO: 20 [byte]

TxPDO: 0 [byte]

Diagnosis Object Not supported

Command Object Not supported

Firmware update Firmware download to update via FoE


41

A.6 ESM (EtherCAT State Machine)

The EtherCAT State machine (ESM) is used to manage the communications states between the master and

slave applications when EtherCAT communications are started and during operation, as show in the following

figure.

Normally, the requests of state changes are from the master. The master requests the change by writing the

ESM with the request to be changed in the AL control register of the slaves. The slave confirms the result of the

state change as either successful or failed and then responds to the master with the local AL status. If the

requested state change fails, the slave responds with an error flag.

Init

Pre_Operational Bootstrap

Safe-Operational

Operational

Safe-Operational

(OI) (OP)

(PI)

(OS)

(SP) (SI)

(BI) (IB)

(SO)

(PS)

(IP)

Power On

ESM contains states

Symbol Name Communication Operation Description

INIT Init The communication part is initializing

and the transmission and reception

with bot SDO (Mailbox) and PDO are

impossible

INIT state defines basic communication relation between the master and

slave in the application layer. Direct communication between the master

and slaves is not possible in the application layer. The master user the

INIT state to initialize the setting for the configuration of the slaves.

When the slaves support the mailbox service, the corresponding SM

settings will also be executed in INIT state.

PREOP Pre-Operational Possible to send and receive data

through SDO (Mailbox)

The mailbox communication can be performed in the PREOP state

when the slaves support the optional mailbox. Both master and slaves

can use the mailbox to initialize application specifications and to change

parameters. Process data communication cannot be executed in this

state.

SAVEOP Safe-Operational The transmission (from slave to

master) with PDO as well as the

transmission and reception over SDO

(Mailbox) are possible.

In SAVEOP state, Slave applications transfer the actual input data, but

not the output data that may not be available for processing. The output

must be set in this state.

OP Operational Possible to send and receive both SDO

(Mailbox) and PDO.

In OP state, slave applications transfer the actual input data and the

master application transfers the actual output data.


42

BOOT Bootstrap Impossible to send and receive both

SDO and PDO, in this state.

In BOOT state, slave applications can receive new firmware

downloaded to the FoE (File access Over EtherCAT).

State transition and local Management Service

Transition

Symbol

Direction Local Management Service

IP INIT => PREOP Start Mailbox Communication

PI PREOP => INIT Stop Mailbox Communication

PS PREOP => SAVEOP Start Input Update

SP SAVEOP => PREOP Stop Input Update

SO SAVEOP => OP Start Output Update

OS OP => SAVEOP Stop Output Update

OP OP => PREOP Stop Input Update, Stop Output Update

SI SAVEOP => INIT Stop Input Update, Stop Mailbox Communication

OI OP => INIT Stop Input Update, Stop Output Update, Stop Mailbox Communication

IB INIT => BOOT Start Firmware Update(FoE), Start Bootstrap Mode

BI BOO => INIT Start Firmware Update(FoE), Restart Device


43

Appendix B Process Data Objects (PDOs)

The CANOpen over EtherCAT protocol allows the user to map objects to PDOs (Process Data Objects) in

order to use the PDO for real-time data transfer. The PDO mappings define which objects will be included in

the PDOs. PDO is composed of RxPDO transferring from master to slave and TxPDO transferring from slave

to master.

Note The object updates by the PDO should not carry out updating by SDO because the data of SDO

will be covered by the data of PDO.

PDO types Sender Receiver

TxPDO Slave Master

RxPDO Master Slave

B.1 RxPDO List [Master transmits data to Slave]

Index Sub-

Index

Name/Description Units Range Data

Type

Acc

-ess

PDO ESM EEPRO

M

6411h 10-Channels Analog Output

01h AO_0

16Bits Channel-0 Output

0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 wo RxPDO OP No

02h AO_1


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 wo RxPDO OP No

03h AO_2


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 wo RxPDO OP No

04h AO_3


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 wo RxPDO OP No

05h AO_4 0.30518m -32768~ 32767 I16 wo RxPDO OP No


44

16Bits Channel-4 Output v /unit (-10.00 V..+10.00V)

06h AO_5


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 wo RxPDO OP No

07h AO_6


0.30518m

v /unit

--32768~ 32767

(-10.00 V..+10.00V)

I16 wo RxPDO OP No

08h AO_7


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 wo RxPDO OP No

09h AO_8

12Bits hannel-7 Output

5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 wo RxPDO OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 wo RxPDO OP No


45

Appendix C Service Data Objects (SDOs)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM

4000h Station Alias

01h Selection 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 PREOP Yes

02h Setup (High byte) 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 PREOP Yes

03h Station Switch 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP Yes

04h Station Alias 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 ro 0 IP No

4005h Retain Variable Operation

01h Control Word 0x0000 ~ 0xFFFF U16 rw - OP No

02h Status Word 0x0000 ~ 0xFFFF U16 ro - OP No

03h State Of Control Cycle 0x00~0x99 U16 ro OP

Relationship between Analog Output objects.

Receive RTPDO2..4

Entry Into0x6411h

SWITCHIF 0

0x6444h

Error Value

0x6443h(0,1)

Error Mode

Signal Conditoning

D/AConverter

0x6446h

Offset

0x6447h

Scaling

Switch IF device Failure

ESCReceive

Signal Analog Output


46

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


01h AO_0


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

02h AO_1


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

03h AO_2


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

04h AO_3


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

05h AO_4


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

06h AO_5


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

07h AO_6


0.30518m

v /unit

--32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

08h AO_7


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

09h AO_8


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP No

6443h Analog Output Error Mode

01h AO_0 , Channel-0 _ 0~1 U8 rw 1 OP Yes

02h AO_1, Channel-1 _ 0~1 U8 rw 1 OP Yes






47




0Ah AO_9, Channel-9 _ 0~1 U8 rw 1 OP Yes

6444h Analog Output Error Value Integer

01h AO_0


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

02h AO_1


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

03h AO_2


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 Yes

04h AO_3


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

05h AO_4


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

06h AO_5


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

07h AO_6


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

08h AO_7


0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

09h AO_8


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP No

6446h Analog Output Offset Integer

01h AO_0


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes


48

02h AO_1


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

03h AO_2


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

04h AO_3


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

05h AO_4 , Channel-4 0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

06h AO_5, Channel-5 0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

07h AO_6 , Channel-6 0.30518m

v /unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

08h AO_7 , Channel-7 0.30518m

v/unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

09h AO_8


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I132 rw 0 OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I32 rw 0 OP No

6447h Analog Output Scaling Integer

01h AO_0 , Channel-0 I32 rw 1 OP Yes





06h AO_5, Channel-5 I32 rw 1 OP Yes




0Ah AO_9 , Channel-9 I32 rw 1 OP Yes

6450h Analog Output SI unit

01h AO_0 , Channel-0 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No


49

02h AO_1 , Channel-1 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

03h AO_2 , Channel-2 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

04h AO_3 , Channel-3 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

05h AO_4 , Channel-4 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

06h AO_5, Channel-5 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

07h AO_6 , Channel-6 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

08h AO_7 , Channel-7 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC99322

6

OP No

09h AO_8 , Channel-8 0x00000000 ~

0xFFFFFFFF

I32 ro 0x867A192

6

OP No

0Ah AO_9 , Channel-9 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFD86192

6

OP No


50

C.1 Station Alias (4000h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM

4000h Station Alias

01h Selection 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 PREOP Yes

02h Setup (High byte) 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 PREOP Yes

03h Station Switch 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP Yes

04h Station Alias 0.30518m

v / 1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 ro 0 IP No

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM

4000h Station Alias

01h Selection _ 0~2 U8 rw 1 PREOP Yes

how to set a station alias (Default is 1)

value definition

0 The value saved at 004h in the SII is set as station alias.

1 The value made of object 4000h:02h and dip switch of amplifier is set as station alias. (*1)

2 Read station alias via AL control word

(*1) If Setting values for both the dip switch and object 4000h:02 are 0, the value of the SII area (0004h) is regard as Station Alias.

02h Setup (High byte) _ 0x00~0xFF U8 rw 0 PREOP Yes

High byte of Station Alias

How to set the parameters with dip switch and object 4000h:02h

Station Alias (16 bits)

High byte Low Byte

Value set by 4000h:02h Value set by dip switch

03h Station Switch _ 0x00~0xFF U8 ro 0 OP No

This parameter is to show the value of Station ID Switch which is in front of device. This value will be refreshed when the switch is changed.

04h Station Alias _ 0x0000~0x0000 U16 ro 0 IP No

This parameter is to show the station alias which will be refreshed After power on.


51

C.1.1 Device Addressing

The device can be addressed via Device Position Address (Auto Increment address), by Node Address

(Configured Station Address/Configured Station Alias), or by a Broadcast.

Position Addressing (Auto-Increment Addressing)

In this mode, the datagram holds the position address of the addressed slave as a negative value. Each slave

increments the address. The slave which reads the address equal zero is addressed and will execute the

appropriate command at receives.

Position Addressing should only be used during starting up of the EtherCAT system to scan the fieldbus and

later only occasionally to detect newly attached slaves.

Node Addressing (Fixed Addressing)

The configured Station Address is assigned by the master during start up and cannot be changed by the

EtherCAT slave. The Configured Station Alias address is stored in the ESI EEPROM. The Configured Station

Alias must be enabled by the master. The appropriate command action will be executed if Node Address

matches with either Configured Station Address or Configured Station Alias.

The slave matched to the address set at station register (0x0010) from the master by position addressing is

normally addressed in node addressing. This enables access without fail even when a device is added, the

segment topology has changed and/or the slave has been removed.

The respective slave node address is set with the dip switch at the front of the device and CoE Object dictionary

4000h. 0 - 65535 axes addresses can be set using the 8 dip switch (0x00 - 0xFF:bit7 - 0) at the front of the

device and with a set value of bit 15 – 8, previously written in the non-volatile memory (4000h:02h) inside the

device. When the alias selection (4000h:01h) is set to 1, the setting values will be written in the station alias

setting register (0x0012) in an address space after the control power has been turned ON. When the device

address has changed under the control power ON status, re-input the power to enable the change in axis

address.


52

0120hbit5

AL Control

0130hbit5

AL Status

0134hbit5

Al Status Code

4000h Station Alias Selection 01h

4000hStation Alias Setup

(High byte) 02h

0010hConfigured Station

Address


Alias

Slave CPU


Alias

SII (EEPROM)

Station Alias ID (Low Byte )Set by Dip Switch

Slave

Master

(1)

ESC (EtherCAT Slave Controller)

(4)

(2)

(3)

Object Backup(EEPROM)

(1.) Set the position address by the master

The slave matched to the address set at station register (0x0010) from the master by position addressing is

normally addressed in node addressing.

(2.) Reading the value of SII from configured station alias (4000h:01h=0)

Setting the value of CoE object 4000h:01h to 0 and reading the value of 0004h (Configured Station Alias) in

the SII from 0012h (Configured Station Alias) of ESC register. The device reads the value of object 4000h:01h

(Configured Station selection) from backup EEPROM at the control power-on. If the value is 0, the value

saved at 0004h (Configured Station Alias ) in the SII into 0012h(Configured Station Alias) of ESC register and

master reads this value.

(3.) Reading the value of dip switch from Configured Station Alias (4000h:01h=1)

Setting the value of CoE object 4000h:01h to 1 and reading the value which is combined by object 4000h:02h

(Station Alias Setup (high byte)) and dip switch on the front of device from 0012h (Configured Station Alias)

of ESC register. The device reads the value of the object 4000h:01h (Station alias selection) from backup

EEPROM at the control power-on. If the value is 1, the value made of object 4000h:02h (Station alias

setup(high)) and dip switch on the front of device from 0012h (Configured Station Alias) of ESC register.

Master reads this value.

(4.) Reading the value of dip switch from AL Status Code (Explicit Device ID) (4000h:01h=2)

Reading the value which is combined by object 4000h:02h (Station Alias Setup (high byte)) and dip switch on

the front of device from 0012h (Configured Station Alias) of ESC register.


53

AL Control Reg 0x0120.5(ID Request)

AL Status Reg 0x0130.5(ID Loaded)

AL Status Code 0x0134 Station Alias

Station Alias is requested by the request of AL Control

AL Status Code is cleared without the request of AL Control.

(1.) Bit5 (ID Request) of AL Control (0120h) is set to 1.

(2.) The Station Alias set up by dip switch (low byte) and 4006h:02h (high byte) returns to AL Status Code

(0134h).

(3.) To put bit5 (ID Loaded) of AL Status (0130h) from 0 to 1.

(4.) When bit5 (ID Request) of control register is set from 1 to 0, the bit5 (ID Loaded) of AL Status register

(0x130) will change to 0.

(5.) AL Status Code (0134h) is clear.

AL Control Reg 0x0120.4(Error Ind Ack)

AL Control Reg 0x0120.5(ID Request)

AL Status Reg 0x0130.4(Error Ind)

AL Status Reg 0x0130.5(ID Load)

AL Status Code Reg 0x134

Station Alias AL Status code of alarm Station Alias

AL status code of alarm is returned if a alarm which is defined in the AL status code occurs

Station Alias will be returned if the alarm is cleared

In the period of returning Station Alias, if an alarm which is defined in the AL status code occurs, AL status

code of the alarm is returned. When the alarm is cleared, Station Alias will return again.


54

C.2 Retain Variable Operation (4005h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


01h Control Word 0x0000 ~ 0xFFFF U16 rw - OP No

02h Status Word 0x0000 ~ 0xFFFF U16 ro - OP No

03h State Of Control Cycle 0x00~0x99 U16 ro OP

Index Sub-

Index


Type

Acc

-ess

Default

value

OP

Mode

EEP-

ROM


01h Control Word 0x0000 ~ 0xFFFF U16 rw OP No

03478111215 1314

STA CMDID/PSWD3 PSWD2 PSWD1PSW RW ERST

Field Bits Type Description

PSWD1/PSWD2/P

SW3

[0:11] rw Enter Password: 0x0135

Exit Password: 0x0246

PSW=1,RW=1,STA=1,ERST=0

Write Enter Operation Command: 0xE135

Write Exit Operation Command: 0xE246

CMDID [8:11] rw Command ID:

0001B: Save all retain parameters to Flash

0010B: load default parameter from Flash

Others: reserved

ERST 12 rw Error Reset:

0:Normal 1: Reset Error

RW 13 rw Read/Write:

0:Read 1:Write

PSW 14 rw Password command:

0:Normal Command 1: Password Command

STA 15 rw Start to trigger command

0->1 : Trigger to start

02h Status Word 0x0000 ~ 0xFFFF U16 ro OP No


55

03478111215 1314

OPEN CMDID Reserved ErrCodeBUSY RW EFLG

Field Bits Type Description

ErrCode [0:3] ro Error Code: When EFLG=1,please check this error code.

reserved [0:4] ro Reserved

CMDID [8:11] ro Command ID:

Command has been executing

It is same to CmdWord.CMDID.

EFLG [12] ro 0: No Error 1: Error happened

RW [13] ro Executed Command type:

0:Read 1:Write

BUSY [14] ro Command Running Status:

0:Normal 1: BUSY

OPEN [15] ro Operation Mode Status:

1: In Command Operation Mode

0: Not In Command Operation Mode

03h State Of Control Cycle 0~99 U8 ro OP No

Value Symbol Description Note

0x00 RETAIN_STATE_WAIT_TO_START Wait to enter retain operation.

Write the Enter Password to start retain operation

See 4.2.1

0x01 RETAIN_STATE_WAIT_FOR_NEW_CMD Wait for new read/write command See.4.2.2 / 4.2.3

0x02 RETAIN_STATE_EXECUTE_WR_CMD Execute read command

0x03 RETAIN_STATE_EXECUTE_RD_CMD Execute write command

0x04 RETAIN_STATE_WAIT_CMD_FINISH Wait for command finish

0x05 RETAIN_STATE_CMD_IS_FINISHED Command has finished and STA bit set to ‘0’.

0x99 RETAIN_STATE_ERROR Alarm happens for retain operation


56

C.2.1 Enter / Exit Retain Operation Process

ControlWord.STA=1ControlWord.PSW=1ControlWord.RW=1ControlWord.ERST=0Password=135h

Enter/Exit Retain Operational Mode

Write Enter CodeSOD:4005-01h=0xE135

Read StatusWord Status=SOD:4005-02h

(StatusWord & 0x8000) !=0(Bit15=1)

Start

NO

Write Enter CodeSOD:4005-01h=0xE246

Read StatusWord Status=SOD:4005-02h

(StatusWord & 0x8000) ==0(Bit15=0)

End

YES

NO

ControlWord.STA=1ControlWord.PSW=1ControlWord.RW=1ControlWord.ERST=0Password=246h

?Exit Operation

Clear STA SOD:4005-01h=0x0000

ControlWord.STA=0

YES

Command Executed

No


57

C.2.2 Save Retain Parameters to Flash Memory

Save Retain Parameters To Flash

Write ControlWord

SOD:4006-01h=0xA1xx

(x=not care)

Read StatusWord

StatusWord=SOD:4005-02h

?

StatusWord.BUSY=1

Yes

End

?

StatusWord.EFLG=1

No

Check Error Code

StatusWord.ErrCode

Yes

ControlWord.STA=1

ControlWord.PSW=0

ControlWord.RW=1

ControlWord.ERST=0

ControlWord.CMDID=1

Start

Clear ControlWord.STA=0

SOD:4005-01h=0x0000

ControlWord.STA=0

Clear ControlWord.STA=0

SOD:4005-01h=0x0000

?

New Command

ControlWord.STA=0

No

Yes


58

C.3 Analog Outputs (6411h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


01h AO_0


0.30518m

v /unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

02h AO_1


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

03h AO_2


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

04h AO_3


0.30518m

v/unit

0.1526mv

/unit

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I16 rw 0 OP No

05h AO_4


0.30518m

v/unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

06h AO_5


0.30518m

v/unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

07h AO_6


0.30518m

v/unit

--32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

08h AO_7


0.30518m

v/unit

-32768~ 32767

(-10.00 V..+10.00V)

I16 rw 0 OP No

09h AO_8


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP No


59

C.4 Analog Output Error Mode (6443h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


01h AO_0 , Channel-0 - 0~1 U8 rw 1 OP Yes

02h AO_1, Channel-1 - 0~1 U8 rw 1 OP Yes








0Ah AO_9, Channel-9 - 0~1 U8 rw 1 OP Yes

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


01-0Ah AO_n, Channel-n (n=0-9) 0~1 U8 rw 1 Yes

This object defines, whether an output is set to a pre-defined error value (see object 6444h) in case of an internal device failure.

value description

0h Actual value rest

1h Reverts to error value integer(6444h)

others Reserved


60

C.5 Analog Output Error Value (6444h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


01h AO_0


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

02h AO_1


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

03h AO_2


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

04h AO_3


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

05h AO_4


0.30518mv

/unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

06h AO_5


0.30518mv

/unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

07h AO_6


0.30518mv

/unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

08h AO_7


0.30518mv

/unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

09h AO_8


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I32 rw 0 OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I32 rw 0 OP No


61

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM


On Condition that the corresponding Error Mode(6443h) is active, device failure shall set outputs to the value configured by this object.

01-04h AO_n

16Bits Channel-n Output

(n=01h-04h)

0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

Device Type Unit

EZE-A102F 1 Unit=20V/65536=0.30518mv

EZE-A102FH 1 Unit=10V/65536=0.1526mv

EZE-A103F 1 Unit=20V/65536=0.30518mv

EZE-A104F 1 Unit=20V/65536=0.30518mv

05-08h AO_m

16Bits Channel-m Output

(m=01h-04h)

0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

Device Type Unit

EZE-A102F Not used

EZE-A102FH Not used

EZE-A103F Not used

EZE-A104F 1 Unit=20V/65536=0.30518mv

09-0Ah AO_k

12Bits Channel-k Output

(k=08-09h)

5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I16 rw 0 OP Yes

Device Type Unit

EZE-A102F Not used

EZE-A102FH Not used

EZE-A103F 1 Unit=22V/4096=5.3711mv

EZE-A104F Not used


62

C.4 Analog Output Offset Integer (6446h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM

6446h Analog Output Offset Integer

01h AO_0


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

02h AO_1


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

03h AO_2


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

04h AO_3


0.30518mv

/unit

0.1526mv/un

it

-32768~ 32767

(-10.00 V..+10.00V) /

(-5.00 V..+5.00V)

I32 rw 0 OP Yes

05h AO_4 , Channel-4 0.30518mv /

unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

06h AO_5, Channel-5 0.30518mv /

unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

07h AO_6 , Channel-6 0.30518mv /

unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

08h AO_7 , Channel-7 0.30518mv /

1 unit

-32768~ 32767

(-10.00 V..+10.00V)

I32 rw 0 OP Yes

09h AO_8


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I32 rw 0 OP No

0Ah AO_9


5.3711mv

/unit

-2048~ 2047

(-11.00 V..+11.00V)

I32 rw 0 OP No


63

C.5 Analog Output Scaling Integer (6447h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM

6447h Analog Output Scaling Integer






06h AO_5, Channel-5 I32 rw 1 OP Yes




0Ah AO_9 , Channel-9 I32 rw 1 OP Yes


64

C.6 Analog Output SI Unit (6450h)

Index Sub-

Index


Type

Acc

-ess

Default

value

ESM EEP-

ROM

6450h Analog Output SI unit

01h AO_0 , Channel-0 - 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFC993226 OP No

02h AO_1 , Channel-1 - 0x00000000 ~

0xFFFFFFFF


03h AO_2 , Channel-2 - 0x00000000 ~

0xFFFFFFFF


04h AO_3 , Channel-3 - 0x00000000 ~

0xFFFFFFFF


05h AO_4 , Channel-4 - 0x00000000 ~

0xFFFFFFFF


06h AO_5, Channel-5 - 0x00000000 ~

0xFFFFFFFF


07h AO_6 , Channel-6 - 0x00000000 ~

0xFFFFFFFF


08h AO_7 , Channel-7 - 0x00000000 ~

0xFFFFFFFF


09h AO_8 , Channel-8 - 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFD861926 OP No

0Ah AO_9 , Channel-9 - 0x00000000 ~

0xFFFFFFFF

I32 ro 0xFD861926 OP No


65

C.7 Error Register (1001h)

Index Sub-

Index


Type

Acc-

ess

PDO Mode Backup

1001h 00h Error Register - 0x00~0xFF U8 ro NO ALL NO

Display the type of an alarm which is occurred by the K121 driver. When an alarm does not occur, it will be 0x00.

Bit Description

0 1: The type of error code is for digital inputs device.

1 1: The type of error code is for digital outputs device.

2 1: The type of error coder is for analog inputs device.

3 1: The type of error coder is for analog outputs device.

4 Reserved

5 Reserved

6 Reserved

7 1: Error Code is Defined by Manufacture.

0: Error Code is Defined by IEC61800-7-201 standard.

Example:

1. The value of error register is 0x00 when the error code is between 0x0000 to 0xFF00 for IEC61800-7-201 standard.

2. The value of error register is 0x81 when the error code is happened by the digital inputs device.

3. The value of error register is 0x82when the error code is happened by the digital outputs device.

4. The value of error register is 0x81 when the error code is happened by the analog inputs device.

5. The value of error register is 0x81 when the error code is happened by the analog outputs device.


66

C.7.1 Emergency Messages

Emergency messages are triggered by alarms within the slave device. They are sent via the mailbox interface to

the master. An emergency message consists of eight bytes of data as shown in the following table.

Byte 0 1 2 3 4 5 6

DescriptionEmergency Error Code

(above 0xFF00)

Error Register(Object 0x1001)

Device IDSub Error Code

(0x0000~0xFFFF)

8

Reserved

Emergency Error Code

The error codes at 0x0000 to 0xFF00 are defined in IEC61800-7-201 and at 0xFF00 to 0xFFFF are defined by

the manufacturer.

Error Register

The same value as the one in SDO 1001h (Error Register) is returned. This register is used to display the type

of an alarm which is occurred by the AO device. When an alarm does not occur, it will be 0x00.

Device ID

This byte is used to display which device to occur the error code. In the AO device, there are 4,6,8 DAC

channels in different device type. Device ID can show that the error message is happened from which one.

Sub Error Code

There are three types of manufacture’s error messages. For these error codes, we can call them as the sub error

code of DAC channels.


67

C.7.2 Error Code

The error codes at 0x0000 to 0xFF00 are defined in IEC61800-7-201, for Cia401 Device.

Standard Error Code.

Emergency Error Code Meaning

2310h Current at outputs to high (overload)

2320h Short circuit at outputs

2330h Load dump at outputs

3110h Input voltage too high

3120h Input voltage too low

3210h Internal voltage too high

3220h Internal voltage too low

3310h Output voltage too high

3320h Output voltage too low

Manufacture Error code

Emergency Error Code Meaning

FF01h ERR_DEVICE_IS_NOT_ACTICVE

FF02h ERR_DAC_CHANNEL_IS_NOT_EXIST

FF03h ERR_DAC_CHANNEL_IS_NOT_ACTIVE

FF04h ERR_DAC8734_HARDWARE_RESOURCE_I

S_NOT_EXIST

FF05h ERR_DAC_XMC4800_HARDWARE_RESOU

RCE_IS_NOT_EXIST

FF06h ERR_DAC_INPUT_OVER_VOLTAGE

FF07h ERR_DAC_INPUT_LOWER_VOLTAGE

FF08h ERR_FAIL_TO_DAC_OUTPUT

FF09h ERR_FAIL_TO_RESET_DAC

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