User Manual...TPM 207-A220F User Manual 7 1. EtherCAT Introduction 1.1 Introduction EtherCAT® is an ultra-high-speed serial communication system. This technology is widely applied

TPM 207-A220F User Manual

1

207-A220F

User Manual

Version: V1.0 2019 May. 06

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

Part No.: 81-18A220F-010


2

Revision History

Date Revision Description

2019/05/06 1.0 Document creation.


3

© Copyright 2019 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

◼ Windows 7/8/10, Visual Studio are registered trademarks of Microsoft.

◼ Beckhoff® , TwinCAT® , EtherCAT® , Safety over EtherCAT® , TwinSAFE® are registered trademarks of

and licensed by Beckhoff Automation GmbH.

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

and/or registered trademarks of their respective companies.


4

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.


5

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 ................................................................................................................................................... 16

2.4.5 Carrier Board ........................................................................................................................................................ 17

2.5 SIGNAL CIRCUIT ........................................................................................................................................................................ 18

3. TWINCAT 3 OPERATION .............................................................................................................................................................. 19

3.1 INSTALL THE ESI DEVICE DESCRIPTION ................................................................................................................................................... 19

3.2 CREATE THE ETHERCAT DEVICE ............................................................................................................................................................ 20

3.3 SCAN THE ETHERCAT DEVICE ............................................................................................................................................................... 29

APPENDIX A BASIC INFORMATION.................................................................................................................................................. 33

A.1 SYMBOLS AND ABBREVIATIONS ............................................................................................................................................................ 33

A.2 DATA TYPES ...................................................................................................................................................................................... 34

A.3 DATA TYPE ENUMERATION .................................................................................................................................................................. 35

A.4 UNIT NOTATION ................................................................................................................................................................................ 37

A.5 SPECIFICATION LIST ............................................................................................................................................................................ 38

A.6 ESM (ETHERCAT STATE MACHINE) ...................................................................................................................................................... 39

APPENDIX B PROCESS DATA OBJECTS (PDOS) .................................................................................................................................. 41

B.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER] .................................................................................................................................. 41

B.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE] .................................................................................................................................. 42

APPENDIX C SERVICE DATA OBJECTS (SDOS) ................................................................................................................................... 43


6

C.1 STATION ALIAS (4000H) ..................................................................................................................................................................... 53

C.1.1 Device Addressing ................................................................................................................................................ 54

C.2 DIGITAL OUTPUT SETTING (800NH) ...................................................................................................................................................... 57

C.2.1 Digital Output (DO) Setting Explanation (800nh) ............................................................................................... 58

C.3 PWM SETTING ................................................................................................................................................................................. 68

C.3.1 PWM_n Setting Explanation ................................................................................................................................ 69

C.4 ADC SETTING ................................................................................................................................................................................... 73

C.4.1 ADC_n Explanation ............................................................................................................................................. 74

C.5 RETAIN PARAMETERS SETTING .............................................................................................................................................................. 77

C.5.1 Load Default Parameters from Flash Memory ..................................................................................................... 79

C.5.2 Save Retain Parameters to Flash Memory ............................................................................................................ 80

C.7 ERROR REGISTER (1001H) .................................................................................................................................................................. 81

C.7.1 Emergency Messages ........................................................................................................................................... 82

C.7.2 Error Code ............................................................................................................................................................ 83


7

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).


8

1.2 System Configurations

1.3 Data Transition


9

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


10

2. Product Overview

2.1 Naming Rule

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

EtherCAT

series 8 IN 16 bits

2.2 Dimension

12

2 m

m

66mm

CN6CN5

CN7

CN1

CN2

P0 P1 R E

SW1

SW2

Figure 0-1: Dimension


11

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

AD Converter

Effective resolution 16 bits

Accuracy ±0.2% (FD)

±0.5% (FID)

Conversion time ~ 125μs

Input range Single End: ±10V

Differential: ±10V

General

Power input 24VDC±10%

Power consumption 3W typical

Working temperature 0 to 60°C


12

2.4 Connection

12

2 m

m

66mm

CN6CN5

CN7

CN1

CN2

P0 P1 R E

SW1

SW2

Label Function

CN1 I/O Signal Connector

CN2 I/O Signal Connector

CN5 EtherCAT Communication IN

CN6 EtherCAT Communication OUT

CN7 Power Connector

SW1 Address Switch1

SW2 Address Switch2


13

2.4.1 Rotary Switch Description

P0 P1 R E

SW1

SW2

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.


14

2.4.2 LED Description

P0 P1 R E

SW1

SW2

P0 P1 R E

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


15

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


16

2.4.3 EtherCAT Communication

Communication IN and OUT

CN6CN51 1

IN

OU

T

Ethernet LED Status

2.4.4 Power Connector

CN6CN5

CN7

CN1

CN2

P0 P1 R E

SW1

SW2

1

No. Description

1 TX+

2 TX-

3 RX+

4 -

5 -

6 RX-

7 -

8 -

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.

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


17

2.4.5 Carrier Board

CN1

CN6CN5

CN7

CN1

CN2

P0 P1 R E

SW1

SW2

CN6CN5

CN7

CN1

CN2

P0 P1 R E

SW1

SW2

CN2

CN1

Pin Label Function

1 AI0+ Analog Input+ #0

2 AI0- Analog Input– #0



5 AGND Analog Ground






CN2

Pin Label Function












18

2.5 Signal Circuit

Analog Input Signal Circuit (Single End Voltage or Current)

GND

An+

AGND

Internal Circuit

Sensor

Vo

Single End

Voltage OutputGND

+

-

GND

An+

AGND

Internal Circuit

Sensor

Vo+

Differential

Voltage OutputVo -

AGND

An-

Analog Input Signal Circuit (Differential Voltage)

GND

An+

AGND

Internal Circuit

Sensor

Vo

Single End

Voltage OutputGND

+

-

GND

An+

AGND

Internal Circuit

Sensor

Vo+

Differential

Voltage OutputVo -

AGND

An-


19

3. TwinCAT 3 Operation

3.1 Install the ESI Device Description

Step 1 Copy the ESI file “EZE_A220FD_Vxxxxxx.xml”.

Figure 3-1: ESI file

.

Note1 207-A220F series is a form factor of EZE-A220F combined with carrier board.

Both 207-A220F and EZE-A220F are applied the same esi file

Note2 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


20

3.2 Create the EtherCAT Device

Step 1 Provide a name to this project “207-A220_Test”.

Figure 3-2: New project

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

Figure 3-3: New project


21

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


22

Step 5 Select “EtherCAT Master”.

Figure 3-6: EtherCAT Master

Step 6 Click button “OK”.

Figure 3-7: EtherCAT Master


23

Step 7 Select your “Local LAN”.

Figure 3-8: Local LAN

Step 8 Click button “OK”.



24

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

Figure 3-10: Device 1 EtherCAT Master


25

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


26

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


27

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



28

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”.


29

3.3 Scan the EtherCAT Device

Step 1 Right-click on “Device 1”.

Figure 3-16: I/O list


30

Step 2 Select “Scan”.

Figure 3-17: Device 1 → Scan


31

Step 3 The name of the slave will be shown as “EZE-A220FD”.

Figure 3-18: Box 1 (EZE-A220FD)

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

Figure 3-19: EZE-A220FD missed


32

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

Figure 3-20: EZE- A220FD 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


33

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.

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


34

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

BOOL boolean True or False

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 –


35

A.3 Data Type Enumeration

Index Sub-

Inde

x

Name/Description Bite Size Range

/Value

Data

Type

Description

0800h DT0800EN2 2 0~3 BIT2 DAC Operational Mode

01h DacModeSingle 0

02h DacModePattern 1

03h DacModeRamp 2

04h DacModeNoice 3

0801h DT0801EN1 1 0~1 BIT1 DAC Sign/Unsign Operation

01h DacUnsign 0

02h DacSign 1

0802h DT0802EN01 1 0~1 BIT1 Active Status (Disable/Enable)

01h Disable 0

02h Enable 1

0803h DT0803EN01 1 0~1 BIT1 Execute Commad :Start/Stop

01h Stop 0

02h Start 1

0804h DT0804EN02 2 0~3 DAC Pattern Type In Pattern

Mode

01h PatternSine 0 BIT2

02h PatternRectangle 1

03h PatternTriangle 2

04h PatternCustom 3

0805h DT0805EN01 1 0~1 BIT1 Pattern Start Wave Type

01h NegativeHalf 0

02h PositiveHalf 1

0806h DT0806EN04 4 0~11 BIT4 Pattern Amplitude

01h DAC_VSS_00010_mV 0









36


0Ah DAC_VSS_05500_mV 9

0Bh DAC_VSS_11000_mV 10

0Ch DAC_VSS_22000_mV 11

0807h DT0807EN01 1 0~1 BIT1 ADC Read Mode

01h InTimeMode 0

02h AverageMode 1

0808h DT0808EN02 2 0~3 BIT2 ADC Input Mode

01h Differetial 0

02h Positive_GND 1

03h Negative_GND 2

04h GND_GND 3

0809h DT0809EN02 2 0~3 BIT2 ADC Gain Select

01h X1 0 1 times

02h X2 1 2 times

03h X4 2 4 times

04h X8 3 8 times

080Ah DT080AEN01 1 0~1 BIT1 ADC Input Type

01h VoltageType 0

02h CurrentType 1


37

A.4 Unit Notation

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

Notation Description

Inc. Increment is the minimax unit of the resolution

Unit

Device Type Work Type Input Range Resolution Unit

EZE-A102FD Voltage (-10V , +10V ) 65535 20V/65535=0.00030518V

EZE-A102FID Current (0mA,20mA)

(0V,5V), R≈250Ω

32768 5V/32768=0.00015259V

EZE-A102FHD Voltage (-1.25V,+1.25V) 65535 2.5V/65535=0.000038147V


38

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: 17 [byte]

TxPDO: 1 [byte]

Diagnosis Object Not supported

Command Object Not supported

Firmware update Firmware download to update via FoE


39

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 both 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 uses 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.

SAFEOP Safe-Operational The transmission (from slave to

master) with PDO as well as the

transmission and reception over SDO

(Mailbox) are possible.

In SAFEOP 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.


40

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


41

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 TxPDO List [Slave transmits data to Master]

Index Sub-

Index

Name/Description Units Range Data

Type

Acc

-ess

PDO ESM EEPRO

M

6000h 8-Channels Digital Output Status

DO(Digital Output)

CH0-CH1 -> Bit0-Bit7

BIT 0 ~ 255 BITA

RR8

(U8)

ro TxPDO OP No

6010h 8-Channels 16Bits Analog Inputs

01h AI_0 / Channel-0 Input Unit -32768~ 32767 I16 ro TxPDO OP No






07h AI_6 / Channel-6 Input Unit --32768~ 32767 I16 ro TxPDO OP No



42

B.2 RxPDO List [Master transmits data to Slave]

Index Sub-

Index

Name/Description Units Range Data Type Acc

-ess

PDO ESM EEPRO

M

7000h A220FD Supports 8-Channels Digital Outputs, when the work mode is selected to Normal IO.

D0 (Digital Output)

CH0-CH7 -> Bit0-Bit7

0 - 255 BITARR8

(U8)

rw RxPDO OP No


43

Appendix C Service Data Objects (SDOs)

Index Sub-

Index


-ess

Description

4000h Station Alias

01h Station Alias Select 0~2 rw

02h Station Alias High Byte 0~255 U8 rw

03h Station Switch 0~255 U8 ro

04h Station Alias 0x0000 -

0xFFFF

U16 ro

8000h DO_0 Settings

01h WorkMode 0 ~ 6 DT080BEN0

3

rw Operation Mode

02h OutputType 0 ~ 1 DT080CEN0

1

rw Output type of DO

03h AI_ChannelSelect 0 ~ 1 DT080DEN0

3

rw AI Channel Selection

04h Pad_1 Space

05h OneShotPulseWidth ms 0 ~ 255 UNSIGNED

8

rw One shot pulse width= n*DC

time

n=(0~255)

06h AI_EqualValue -32768 ~ 32767 INTEGER16 rw AI equal comparator register

07h AI_UpperLimitValue -32768 ~ 32767 INTEGER16 rw AI upper limit comparator

register

08h AI_LowerLimitValue -32768 ~ 32767 INTEGER16 rw AI lower limit comparator

register

09h AI_EqualBandWidth 0 ~ 255 DT0805EN0

1

rw Offset of bandwidth for the AI

Equal Comparator

0Ah Pad_8 Space

8001h DO_1 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


44


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

8002h DO_2 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

8003h DO_3 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


45


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

8004h DO_4 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

8005h DO_5 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


46


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

8006h DO_6 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

8007h DO_7 Settings


3

rw Operation Mode


1



3


04h Pad_1 Space


47


8


time

n=(0~255)



register


register


1


Equal Comparator

0Ah Pad_8 Space

800Ah PWM_0_Setting

01h Frequency Hz 1~60,000,000 UNSIGNED

32

rw Frequency for PWM output

02h DutyCycle 0.01% 0~10000 UNSIGNED

16

rw Duty cycle of PWM

03h OutputLevel 0~1 DT080EEN0

1

rw The voltage level of output

pulse

0:Low Level 1:High Level

04h Start 0~1 DT0803EN0

1

rw Trigger to start the PWM

output

0:Stop 1:Start

800Bh PWM_1_Setting


32



16



1


pulse



1


output

0:Stop 1:Start

800Ch PWM_2_Setting


32



16



48


1


pulse



1


output

0:Stop 1:Start

800Dh PWM_3_Setting


32



16



1


pulse



1


output

0:Stop 1:Start

8030h ADC_0 Setting s

01h ChEnable 0 ~ 1 DT0802EN0

1

rw Enable Channel

02h ChOpMode 0 ~ 1 DT0807EN0

1

rw Operational Mode

03h ChInputMode 0 ~ 1 DT0808EN0

2

rw Input Mode

04h ChGain 0 ~ 3 DT0809EN0

2

ro Gain Select

05h ChWorkType 0 ~ 1 DT080AEN0

1

ro Input Work Type Select

06h ChEmgOutRangeDetec

t-ion

0 ~ 1 DT0802EN0

1

rw Emergency object will be send

by slave when the Input value

is out of range.

07h Pad_1

08h ChAverageNum 0 ~ 63 U8 rw Number of Values for Average

09h ChZeroOffset -1024 ~ 1024 I16 rw Zero Offset for Compensation



1

rw Enable Channel

02h ChOpMode 0 ~ 1 DT0807EN0 rw Operational Mode


49

1


2

rw Input Mode


2

ro Gain Select


1



t-ion

0 ~ 1 DT0802EN0

1



is out of range.

07h Pad_1





1

rw Enable Channel


1

rw Operational Mode


2

rw Input Mode


2

ro Gain Select


1



t-ion

0 ~ 1 DT0802EN0

1



is out of range.

07h Pad_1





1

rw Enable Channel


1

rw Operational Mode


2

rw Input Mode

04h ChGain 0 ~ 3 DT0809EN0 ro Gain Select


50

2


1



t-ion

0 ~ 1 DT0802EN0

1



is out of range.

07h Pad_1





1

rw Enable Channel


1

rw Operational Mode


2

rw Input Mode


2

ro Gain Select


1



t-ion

0 ~ 1 DT0802EN0

1



is out of range.

07h Pad_1





1

rw Enable Channel


1

rw Operational Mode


2

rw Input Mode


2

ro Gain Select


1


06h ChEmgOutRangeDetec 0 ~ 1 DT0802EN0 rw Emergency object will be send


51

t-ion 1 by slave when the Input value

is out of range.

07h Pad_1





1

rw Enable Channel


1

rw Operational Mode


2

rw Input Mode


2

ro Gain Select


1



t-ion

0 ~ 1 DT0802EN0

1



is out of range.

07h Pad_1





1

rw Enable Channel


1

rw Operational Mode


2

rw Input Mode


2

ro Gain Select


1



t-ion

0 ~ 1 DT0802EN0

1



is out of range.

07h Pad_1



52


803Ah Retain parameters

01h CmdWord U16 rw Command Control Word For

Calibration

02 StatusWord U16 ro Status Word For Calibration

8040h Calibration

01h CmdWord U32 rw Command Control Word For

Calibration

02 StatusWord U16 ro Status Word For Calibration


53

C.1 Station Alias (4000h)

Index Sub-

Index


-ess

Description

4000h 01h Station Alias Select 0~2 U8 rw

Value Name Description

0 A121D_ST_ALIAS_FROM_EEPROM Reading the value of 0004h (Configured Station

Alias) in the SII EEPROM from 0012h (Configured

Station Alias) of ESC register.

1 A121D_ST_ALIAS_FROM_SWITCH Reading the value of dip switch from Configured

Station Alias

2 A121D_ST_ALIAS_FROM_SWITCH_ALSTATUS Reading the value of dip switch from AL Status Code

(Explicit Device ID)

For the detail description, Please see chapter 5.2 .

4000h 02h Station Alias High Byte 0~255 U8 rw

This value is the high byte of station alias.

4000h 03h Station Switch 0~255 U8 ro

This value is to show the value of the station switch setting.

4000h 04h Station Alias Value 0~65535 U16 ro

This value is to show the value of the station alias.


54

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.


55

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.


56

(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.

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.

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.

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


57

C.2 Digital Output Setting (800nh)

Index Sub-

Index

Name/Description Units Range Data Type Acc-

ess

Description

800nh

(n=0~7)

DO_n Settings (n=Bit0~Bit7)


3

rw Operation Mode


1



3


04h Pad_1 Space

05h OneShotPulseWidth ms 0 ~ 255 UNSIGNED8 rw One shot pulse width= k*DC time

k=(0~255)


07h AI_UpperLimitValu

e

-32768 ~ 32767 INTEGER16 rw AI upper limit comparator register

08h AI_LowerLimitValu

e

-32768 ~ 32767 INTEGER16 rw AI lower limit comparator register

09h AI_EqualBandWidt

h

0 ~ 255 UNSIGNED8 rw Offset of bandwidth for the AI

Equal Comparator

0Ah Pad_8 Space


58

C.2.1 Digital Output (DO) Setting Explanation (800nh)

The following table descripts the setting of digital output channel 0 to 7.

Index Sub-

Index


-ess

Description

800nh

(n=0~7)

01h WorkMode 0~6 DT080BEN0

3

rw Operation Mode

n= Bit number

Value Name Description Note

0 Normal IO Bit n IO as normal IO use , control by PDO (0x7000h) bit

field

1 PWM Output Bit n IO as PWM control output

2 AiEqual Bit n is active when the value of assigned AI input is equal

to the AI_EqualValue (0x7000:06h).

3 AiGtUpperLimit Bit n is active when the value of assigned AI input is great

than the AI_UpperLimitValue (0x7000:07h).

4 AiLtLowerLimit Bit n is active when the value of assigned AI input is great

than the AI_LowerLimitValue (0x7000:08h).

5 AiInLimitRange Bit n is active when the value of assigned AI input is in

the range of the AI_UpperLimitValue (0x7000:07h) and

the AI_LowerLimitValue (0x7000:08h).

6 AiOutLimitRange Bit n is active when the value of assigned AI input is out

the range of the AI_UpperLimitValue (0x7000:07h) and

the AI_LowerLimitValue (0x7000:08h).

800nh

(n=0~7)

02h OutputType 0~1 DT080CEN0

1


This parameter is used to set the output type of DO.

The circuit of DO output is darlington transistor output.


0 Level Level Output. 0:inactive(impedance) 1:active(Low Level)

1 OneShot One shot pulse output, the minimum pulse width is 1ms and the

maximum is 255ms.

800nh

(n=0~7)

03h AI_ChannelSelect 0~7 DT080DEN0

3



59

The channel number of AI input for comparism.


0 CH0 AI input Channel 0








800nh

(n=0~7)

05h OneShotPulseWidth ms 1~255 UNSIGNED

8

rw Pulse width of one shot.

PulseWidth= OneShotPulseWidth*1ms

800nh

(n=0~7)

06h AI_EqualValue Inc. -32768~-32768 INTEGER16 rw The comparative value of AI

input .

The AI_EqualValue is the comparative value of assigned AI input. If the value WorkMode is 2, this value is used

to as the comparative value for the AI input. When input value is in the range of E1 and E2, the DO will be

active.

AI input

AI_Equal

T:time

AI_EqualBandWidth

DO Output

E1

E2

800nh

(n=0~7)

07h AI_UpperLimitValue Inc. -32768~-32768 INTEGER16 rw The upper limit value for AI input

comparison.

800nh

(n=0~7)

08h AI_LowerLimitValue Inc. -32768~-32768 INTEGER16 rw The lower limit value for AI input

comparison.


60

AI input

T:time

WorkMode=3

DO Output

UpperLimit

LowerLimit

WorkMode=4

DO Output

WorkMode=5

DO Output

WorkMode=6

DO Output

800nh

(n=0~7)

09h AI_EqualBandWidth Inc. 0~255 UNSIGNED

8


Equal Comparator

Please refer to the explanation of 80n0h-06


61

C.2.1.1 DO_n Setting Process

Select Work Mode ?SDO:800n-01h= ? (n=0..7)

( 0:Normal IO, 1: PWM output, 2:AiEqual,

3:AiGtUpperLimit, 4:AiLtLowerLimit,

5:AiInLimitRange, 6:AiOutLimitRange)

Is

WorkMode=0

Start DO_n Operational Process

(n=0..7)

End DO_n Operational Process

(n=0..7)

Is

WorkMode=1

Is

WorkMode=2

Call DO_n Normal IO Operational

Process

NO

Yes

NO

Call DO_n PWM Operational ProcessYes

Call DO_n AiEqual Operational

ProcessYes

Is

WorkMode=3

NO

Call DO_n AiGtUpperLimit

Operational ProcessYes

Is

WorkMode=4

NO

Call DO_n AiLtLowerLimit


Is

WorkMode=5

NO

Call DO_n AiInLimitRange


Is

WorkMode=6

NO

Call DO_n AiOutLimitRange


NO


62

C.2.1.2 Normal IO Operational Process

Set DO_n Output

PDO:7000-nh= ?

(0:Inactive ,1:Active)

Start DO_n Normal IO Operational Process

(n=0..7)

End DO_n Normal IO Operational Process (n=0..7)

Is

PDO:6001-nh= PDO:7000-nh

Yes

Get DO_n Output StatusPDO:6001-nh= ?

(0:Inactive ,1:Active)

No

Is

Output LEDn Light

Yes

To check whether LED is error

or not.No


63

C.2.1.3 AI (Analog Input)_Equal Operational Process

Select AI input channel SDO:800n-03h=AiChannel

(n=[0-7]; AiChannel=[0-7])

Start DO_n AiEqual Output Process

(n=0..7)

End DO_n AiEqual Operational Process (n=0..7)

Set AiEqualValue

SDO:800n-03h=AiEqualValue

(n=[0-7];AiEqualValue =[-32768~32767])

Yes

Set AiEqualBandWidth value

SDO:800n-09h=AiEqualBandWidth

(n=[0-7];AiEqualBandWidth =[0~255])

Is

OneShot

Set OutputType to OneShot

SDO:800n-02h=1

(n=[0-7]; OutputType =[0:Level,1:OneShot])

Yes

Set OutputType to Level

SDO:800n-02h=0


Set OneShotPulseWidth

SDO:800n-05h=OneShotPulseWidth

(n=[0-7]; OutputType =[1-255ms])

No

DO_n will be triggered when the the value of assigned Ai

channel is equal to the value of (AiEqualValue±

AiEqualBandWidth ) .


64

C.2.1.4 AI (Analog Input)_GtUpperLimit Operational Process


(n=[0-7]; AiChannel=[0-7])

Start DO_n AiGtUpperLimit Operational Process

(n=0..7)

End DO_n AiGtUpperLimit Operational

Process (n=0..7)

Set AiUpperLimt Value

SDO:800n-07h=AiUpperLimt

(n=[0-7];AiUpperLimt =[-32768~32767])

Yes

Is

OneShot


SDO:800n-02h=1


Yes


SDO:800n-02h=0





No

DO_n will triggered when the the value of assigned Ai channel is greater than the

value of AiUpperLimt .


65

C.2.1.5 AI (Analog Input)_LtLowerLimit Operational Process


(n=[0-7]; AiChannel=[0-7])

Start DO_n AiGtLowerLimit Operational Process

(n=0..7)

End DO_n AiGtLowerLimit Operational

Process (n=0..7)

Set AiLowerLimt Value

SDO:800n-08h=AiLowerLimt

(n=[0-7];AiLowerLimt =[-32768~32767])

Yes

Is

OneShot


SDO:800n-02h=1


Yes


SDO:800n-02h=0





No

DO_n will be triggered when the the value of assigned Ai channel is less than

the value of AiLowerLimt .


66

C.2.1.6 AI (Analog Input)_InLimitRange Operational Process


(n=[0-7]; AiChannel=[0-7])

Start DO_n AiInLimitRange Output Process

(n=0..7)

End DO_n AiInLimitRange Operational

Process (n=0..7)



(n=[0-7];AiUpperLimt =[-32768~32767])

Yes



(n=[0-7];AiLowerLimt =[-32768~32767])

Is

OneShot


SDO:800n-02h=1


Yes


SDO:800n-02h=0





No

DO_n will be triggered when the the value of assigned Ai channel is in range which is between

AiUpperLimt and AiLowerLimt .


67

C.2.1.7 AI (Analog Input)_OutLimitRange Operational Process


(n=[0-7]; AiChannel=[0-7])

Start DO_n AiOutLimitRange Output Process

(n=0..7)

End DO_n AiOutLimitRange Operational

Process (n=0..7)



(n=[0-7];AiUpperLimt =[-32768~32767])

Yes



(n=[0-7];AiLowerLimt =[-32768~32767])

Is

OneShot


SDO:800n-02h=1


Yes


SDO:800n-02h=0





No

DO_n will be triggered when the the value of assigned Ai channel is out range of

AiUpperLimt and AiLowerLimt .


68

C.3 PWM Setting

The digital output channel 0 to 3 on the 207-A220F supports the PWM output.

Index Sub-

Index


-ess

Description

800nh

(n=A~D)

PWM_k_Setting (k=0~3)


32



16



1

rw The voltage level of output pulse



1

rw Trigger to start the PWM output

0:Stop 1:Start


69

C.3.1 PWM_n Setting Explanation

Index Sub-

Index


-ess

Description

800nh

(n=A~D)


32


F: Frequency

Do Output

T:time

Δt Δt Δt Δt Δt Δt

F=1/Δt

800nh

(n=A~D)


16

rw Set desired duty cycle of

PWM signal:

Δt Δt

DutyCycle=(Δt1/Δt)*10000 (Unit:0.01％)

Δt1

800nh

(n=A~D)


1


pulse


Do Output

T:time

Do Output

T:time

Output Level: High

Output Level: Low


70

800nh

(n=A~D)


1


0:Stop 1:Start


71

C.3.1.1 PWM_n Setting Process

Set PWM_n Output Frequency SDO:800n-01h=Frequency

(n=[A,B,C,D]; Frequency=1~60,000,000)

Start PWM_n Output Operational Process

(n=0.3)


Set PWM_n DutyCycle PDO:800n:02 h= DutyCycle

(n=[A,B,C,D]; DutyCycle=1-10000)

Is

n<4

Yes

Set PWM_n Output Level PDO:800n:03h= ?

(n=[A,B,C,D]; (0:Low Level ,1:High Level)

Start PWM_n Output PDO:800n:04h= 1

(n=[A,B,C,D]; 0:Stop ,1:Start)

Is

Frequency change

Set new PWM_n Output Frequency SDO:800n-01h=Frequency

(n=[A,B,C,D]; Frequency=1~60,000,000)

Is

DutyCycle change

Set new PWM_n DutyCycle PDO:800n-02 h= DutyCycle


Is

DutyCycle change

Set PWM_n Output Level PDO:800n-03h= ?

(n=[A,B,C,D]; 0:Low Level ,1:High Level)

Is

PWM output Stop

No

No

No

Stop PWM_n Output PDO:800n-04h= 0


No

PWM Pulse Output

Yes

Select Work Mode ?SDO:800n-01h=1

( 0:Normal IO, 1: PWM output, 2:AiEqual, 3:AiGtUpperLimit, 4:AiLtLowerLimit,

5:AiInLimitRange, 6:AiOutLimitRange)


72

C.3.1.2 PWM Output Operational Process

Set PWM_n Output Frequency SDO:800n-01h=Frequency

(n=[A,B,C,D]; Frequency=1~60,000,000)

Start PWM_n Output Operational Process

(n=0.3)


Set PWM_n DutyCycle PDO:800n-02 h= DutyCycle


Is

n<4

Yes


(n=[A,B,C,D]; (0:Low Level ,1:High Level)

Start PWM_n Output PDO:800n-04h= 1


Is

Frequency change

Set new PWM_n Output Frequency SDO:800n-01h=Frequency

(n=[A,B,C,D]; Frequency=1~60,000,000)

Is

DutyCycle change

Set new PWM_n DutyCycle PDO:800n-02 h= DutyCycle


Is

DutyCycle change


(n=[A,B,C,D]; 0:Low Level ,1:High Level)

Is

PWM output Stop

No

No

No

Stop PWM_n Output PDO:800n-04h= 0


No

PWM Pulse Output

Yes


73

C.4 ADC Setting

Index Sub-

Index


-ess

Description

803nh

(n=0~7)

ADC_n Setting s

01h ChEnable 0 ~ 1 DT0802EN01 rw Enable Channel


03h ChInputMode 0 ~ 1 DT0808EN02 rw Input Mode

04h ChGain 0 ~ 3 DT0809EN02 rw Gain Select


1

rw Input Work Type Select

06h ChEmgOutRangeDetection 0 ~ 1 DT0802EN0

1

rw Emergency object will be send by

slave when the Input value is out of

range.

07h Pad_1




74

C.4.1 ADC_n Explanation

Index Sub-

Index


-ess

Description

ADC_n Setting s

803nh

(n=0~7

)

01h ChEnable 0 ~ 1 DT0802EN01 rw Enable Channel

Enable DAC channel


0 Disable Stop DAC channel to read value

1 Enable Start DAC channel to read value

803nh

(n=0~7

)


Enable DAC channel


0 InTimeMode Gets the ADC value in time when SM/DC is reached.

1 AverageMode Gets the average of ADC values in time when SM/DC is

reached. The number of average ADC values is set by

ChAverageNum(07h).

803nh

(n=0~7

)

03h ChInputMode 0 ~ 1 DT0808EN02 rw Input Mode

A121D supports four input modes for each channel to select.


0 Differetial Differetial input. (-10V ~ 10V), Input Pins :AIn+/Ain-

1 Positive_GND Positive Single End , (0V ~ 10V), Input Pins :AIn+/AGND

803nh

(n=0~7

)

04h ChGain 0 ~ 3 DT0809EN02 ro Gain Select

A121D supports four different gain for each ADC channel to select.



75

0 X1 1 times for input , input voltage: -10V ~+10V

1 X2 2 times for input , input voltage: -5V ~+5V

2 X4 4 times for input , input voltage: -2.5V ~+2.5V

3 X8 8 times for input, input voltage: -1.25V ~+1.25V

803nh

(n=0~7

)


1


A121D supports can adjust the dip switch to change the input type .


0 VoltageType Switch OFF : Input type is voltage . (+10V~-10V, )

1 CurrentType Switch ON : Input type is current . (0mA ~ 20mA)

803nh

(n=0~7

)

07h ChEmgOutRangeDetection 0 ~ 1 DT0802EN01 rw Emergency object will be send by

slave when the Input value is out of

range

Enable / Disable Emergency object to detect whether the input value is out of range or not.


0 Disable Stop to detect

1 Enable Detective

803nh

(n=0~7

)


Numbers of the ADC values for average.

803nh

(n=0~7

)


Zero Offset Compensation for ADC channel.


76

C.4.1.2 ADC Read Operational Process

Select Operational Mode ?SDO:803n-02h= ? (n=0..7)

( 0: In Time Mode , 1: Average Mode)

Select Input Mode ?SDO:803n-03h= ? (n=0..7)

(0:Diff, 1:POS-GND)

Is Operational Mode=0

(0:InTime 1:Avarage)

Enable ADCSDO:803n-01h= 1 (n=0..7)

0:Disable 1:Enable

Set the number values for AverageSDO:803n-07h= SetValue (n=0..7)

(SetValue =1~64 )

Read ADC Value

PDO:6010:0(n+1)h=ReadValue (n=0..7)

(ReadValue = -32768 ~ 32767)

Yes

No

End to operation ?

No

Disable ADCSDO:803n-01h= 0 (n=0..7)

( 0:Disable 1:Enable)

Yes

Start ADC_n Operational Process

(n=0..7)

End ADC_n Operational Process

(n=0..7)

Is WorkType=0

( 0: Voltage type, 1: Current type)

Set Input Mode=POS-GND

SDO:803n-03h= 1 (n=0..7)

(0:Diff, 1:POS-GND)

Yes

No


77

C.5 Retain Parameters Setting

Index Sub-

Index


-ess

Description

Calibration

803Ah 01h CmdWord U16 rw Command Control Word For

Retain Parameters Setting

CMDID SETVALUE

0111215

Field Bits Type Description

SETVALUE [0:11] rw When CMDID=0001B

SETVALUE=0XA5A ==> Password for Loading Default

Parameters

When CMDID=0010B

SETVALUE=0x5A5 ==> Password for Save all parameters to

Flash Memory

CMDID [12:15] rw Command ID

0000B => RETAIN_CTL_CMD_NULL

0001B => RETAIN_CTL_CMD_LOAD_DEFAULT

0010B => RETAIN_CTL_CMD_SAVE_ALL

803Ah 02h StatusWord U16 rw Status for Retain Parameters

Setting

BUSY RSD_2 CMDID RSD_1 ErrCode

0478111215

ERR

6 314

Field Bits Type Description

ErrCode [0:3] ro Error Code:

0000B => RETAIN_NoError

0001B => RETAIN_InvalidCommand


78

0010B => RETAIN_FailToLoadDefault

0011B => RETAIN_IncorrectPointerToA121DRetain

0100B =>RETAIN_FailToSaveRetainVariabls

0101B =>RETAIN_IncorrectPassword

RSD_1 [4:6] Reserved

ERR [7] ro 0: No Error 1: Error happened

CMDID [8:11] ro Command ID: Command has been executing

It is same to CmdWord.CMDID.

RSD_2 [12:14] Reserved

BUSY [15] ro 0: Not In Busy ,1: In Busy


79

C.5.1 Load Default Parameters from Flash Memory

Write CmdWord

SOD:803Ah-01=0x1A5A

Start

Read StatusWord

StatusWord=SOD:803Ah-02

?

StatusWord.BUSY=1

Yes

No

End

?

StatusWord.ERR=1

No

Check Error Code

StatusWord.ErrorCode

Yes

CmdWord.CMDID=0001B

CmdWord.SETVALUE=0xA5A


80

C.5.2 Save Retain Parameters to Flash Memory

Write CmdWord

SOD:803Ah-01=0x25A5

Start

Read StatusWord

StatusWord=SOD:803Ah-02

?

StatusWord.BUSY=1

Yes

No

End

?

StatusWord.ERR=1

No

Check Error Code

StatusWord.ErrorCode

Yes

CmdWord.CMDID=0010B

CmdWord.SETVALUE=0x5A5


81

C.7 Error Register (1001h)

Index Sub-

Index

Name/Description Units Range Data

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 0x84 when the error code is happened by the analog inputs device.

5. The value of error register is 0x88 when the error code is happened by the analog outputs device.


82

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.


83

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

FF00h Reserved

FF01h ERR_AdcReadAds8515BusTimeOut

FF02h ERR_AdcIncorrectChannelNo

FF03h ERR_AdcIncorrectPvrId

FF04h ERR_AdcDmpWriteTimeout

FF05h ERR_AdcDmpNoSpiMasterExist

FF06h ERR_AdcHwZeroOffsetNotInTolerantRange

FF07h ERR_AdcInputVoltOutOfRange

FF08h ERR_RetainAdcFailPointNum

FF09h ERR_RetainAdcFailPointIndex

FF0Ah ERR_AdcFailToGetAdcPerfectValue

FF0Bh ERR_AdcIncorrectWorkType

FF0Ch ERR_RetainIncorrectInputMode

FF0Dh ERR_CalibIncorrectTeachPoint

FF0Eh ERR_CalibIncorrectInputMode

FF0Fh ERR_AdcIncorrectInputMode

FF10h ERR_RetainAdcFailGetChZeroOffset

FF11h ERR_CalibIncorrectTeachPointIndex

FF12h ERR_RetainFailToLoadDefault


84

FF13h ERR_RetainFailToSetToDefault

FF14h ERR_DacIncorrectChannelNo

FF15h ERR_DacIncorrectPointIndex

FF16h ERR_FailToCalculateDacScaleRatio

FF17h ERR_IncorrectRetainChecksum

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