M-system EtherCAT R7I4DECT-1-YVF4 Manual de usuario

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 1 / 10

INSTRUCTION MANUAL

BEFORE USE ....

Thank you for choosing M-System. Before use, please check

contents of the package you received as outlined below.

If you have any problems or questions with the product,

please contact M-System’s Sales Ofﬁce or representatives.

■PACKAGE INCLUDES:

High-speed DC voltage output module ..............................(1)

Surface mounter slider .......................................................(2)

■MODEL NO.

Conﬁrm Model No. marking on the product to be exactly

what you ordered.

■INSTRUCTION MANUAL

This manual describes necessary points of caution when

you use this product, including installation, connection and

basic maintenance procedures.

■ESI FILES

ESI ﬁles are downloadable at M-System’s website (https://

www.m-system.co.jp/).

POINTS OF CAUTION

■CONFORMITY WITH EU DIRECTIVE

• The equipment must be mounted inside the instrument

panel of a metal enclosure.

• The actual installation environments such as panel con-

ﬁgurations, connected devices, connected wires, may af-

fect the protection level of this unit when it is integrated

in a panel system. The user may have to review the CE

requirements in regard to the whole system and employ

additional protective measures to ensure the CE conform-

ity.

■POWER INPUT RATING & OPERATIONAL RANGE

• Locate the power input rating marked on the product and

conﬁrm its operational range as indicated below:

24V DC rating: 24V ±10%, ≤ 70mA

■GENERAL PRECAUTIONS

• Before you remove the unit or mount it, turn off the power

supply and input signal for safety.

■ENVIRONMENT

• Indoor use.

• When heavy dust or metal particles are present in the

air, install the unit inside proper housing with sufﬁcient

ventilation.

• Do not install the unit where it is subjected to continuous

vibration. Do not subject the unit to physical impact.

• Environmental temperature must be within -10 to +55°C

(14 to 131°F) with relative humidity within 30 to 90% RH

in order to ensure adequate life span and operation.

■WIRING

• Do not install cables close to noise sources (relay drive

cable, high frequency line, etc.).

• Do not bind these cables together with those in which

noises are present. Do not install them in the same duct.

■AND ....

• The unit is designed to function as soon as power is sup-

plied, however, a warm up for 10 minutes is required for

satisfying complete performance described in the data

sheet.

EtherCAT I/O MODULE

(high-speed DC voltage output, 4 points, e-CON connector)

MODEL

R7I4DECT-1-YVF4

EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 2 / 10

COMPONENT IDENTIFICATION

■FRONT VIEW

Fixed Address Setting Rotary SW

Status Indicator LED

RJ-45 Modular jack for

EtherCAT communication

PC Configurator Jack

ECT OUTECT IN

CNFG.

X16

Dev. ID

PWR

RUN

ERR

L/A IN

L/A OUT

Y0 Y1 Y2 Y3

Power Supply

Terminals

Output Terminals

OUTPUT

■STATUS INDICATOR LED

ID FUNCTION COLOR STAT U S

Power Internal power Green Off Error

On Normal

RUN Device state Green

Off INIT

Blinking PRE-OPERATIONAL

Single Flash SAFE-OPERATIONAL

On OPERATIONAL

ERR Error Red

Off No error

Blinking Invalid Conﬁguration

Single Flash Local error

Double Flash Process data watchdog timeout/

EtherCAT watchdog timeout*1

On Application controller failure

L/A IN IN port status Green

Off No Link

Flickering Link and activity

On Link without activity

L/A OUT OUT port status Green

Off No Link

Flickering Link and activity

On Link without activity

*1. Watchdog timeout is disabled for input-only slaves like R7I4DECT-1-SVF8N according to the EtherCAT speciﬁcation.

Blinking 200ms-On, 200ms-Off

Single ﬂash 200ms-On, 1000ms-Off

Double ﬂash 200ms-On, 200ms-Off, 200ms-On, 1000ms-Off

Flickering 50ms-On, 50ms-Off

■FIXED ADDRESS SETTING ROTARY SW (ID selector)

Fixed address 1 to 255 can be set using the two rotary

switches each marked 0 to F in combination.

When ﬁxed address is not used, set the switches to 0.

Settable range: 0 to 255

Factory default: 0

Fixed Address Setting (x1)

Fixed Address Setting (x16)

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 3 / 10

■POWER SUPPLY

Cable connector: TFMC1,5 / 5-STF-3,5

(Phoenix Contact) (comes with the unit)

Applicable wire size: 0.2 − 1.5 mm2

Stripped length: 10 mm

Recommended solderless terminal

• AI0,25−10YE 0.25 mm2(Phoenix Contact)

• AI0,34−10TQ 0.34 mm2(Phoenix Contact)

• AI0,5−10WH 0.5 mm2(Phoenix Contact)

• AI0,75−10GY 0.75 mm2(Phoenix Contact)

• A1−10 1.0 mm2(Phoenix Contact)

• A1,5−10 1.5 mm2(Phoenix Contact)

No. ID FUNCTION

1 PWR+ Power Supply

2 PWR– Power Supply

3 FE Functional earth

4 NC ----

5 NC ----

Note: The number marked on the connector is irrelevant to the

pin number of the unit.

Perform wiring according to this instruction manual.

■INPUT TERMINAL ASSIGNMENTS

• e-CON connector

Recommended cable connector: 37104-( )-000FL (3M Company) (does not come with the unit)

(Specify wire size instead of ( ); refer to manufacturer’s speciﬁcations for details.)

Y0 Y1 Y2 Y3

· e-CON connector

Recommended cable connector:37104-( )-000FL (3M Company)

(The cable connector is not included in the package.

Specify wire size instead of ( ); refer to the specications of the product.)

PIN No. ID FUNCTION PIN No. ID FUNCTION

Y0 1 NC Unused Y2 1 NC Unused

2 COM0 Common 0 2 COM2 Common 2

3 VL0 Narrow span volt. 0 3 VL2 Narrow span volt. 2

4 VH0 Wide span volt. 0 4 VH2 Wide span volt. 2

Y1 1 NC Unused Y3 1 NC Unused

2 COM1 Common 1 2 COM3 Common 3

3 VL1 Narrow span volt. 1 3 VL3 Narrow span volt. 3

4 VH1 Wide span volt. 1 4 VH3 Wide span volt. 3

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 4 / 10

PC CONFIGURATOR

The following parameter items can be conﬁgured with the PC conﬁgurator software (model: R7CFG).

Refer to the users manual of the software for detailed operations.

■CHANNEL INDIVIDUAL SETTING

PARAMETER SETTING RANGE DEFAULT

Unused setting CH enable,

CH disable

CH enable

Output range -10 to +10V DC

-5 to +5V DC

-1 to +1V DC

0 to 10V DC

0 to 5V DC

1 to 5V DC

0 to 1V DC

-0.5 to +0.5V DC

-10 to +10V

Bias setting -320.00 to +320.00

(%)

0.00 (%)

Gain setting -3.2000 to +3.2000 1.0000

Zero scaling value -32,000 to +32,000 0

Full scaling value -32,000 to +32,000 10,000

Output reset value*1 -15.00 to +115.00 (%) -15.00 (%)

■CHANNEL BATCH SETTING

PARAMETER SETTING RANGE DEFAULT

Output at communi-

cation error

Output hold

Output clear

Output hold

MOUNTING INSTRUCTIONS

■DIN RAIL MOUNTING (PARALLEL)

• Mounting the unit

1) Hook the upper hook at the rear side of the base onto the

DIN rail.

2) Push the lower part of the unit in the direction of the ar-

row until the base is ﬁrmly ﬁxed to the DIN rail.

• Removing the unit

1) Push down the slider using a minus screwdriver.

2) Pull out the lower part of the unit.

3) Remove the upper part of the unit from the DIN rail.

■WALL MOUNTING

1) Insert the two DIN rail mounter sliders until they click

once, as shown below.

2) Mount the unit with M4 screws referring to the “MOUNT-

ING REQUIREMENTS unit: mm (inch)” on page 6.

(Torque: 1.4 N∙m)

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 5 / 10

TERMINAL CONNECTIONS

Connect the unit as in the diagram below.

■EXTERNAL DIMENSIONS unit: mm (inch)

41 [1.61]

165 [6.5]

172 [6.77]

186 [7.32]

DIN rail

(35mm wide)

50 [1.97]

3.5 [.14]

5 [.2]

(4 [.16])

2-4.3 [.17] dia,

4 [.16] deep

■CONNECTION DIAGRAM

Note: In order to improve EMC performance, bond the FE terminal to ground.

Caution: FE terminal is NOT a protective conductor terminal.

PWR-

PWR+

POWER SUPPLY (IN)

PWR-

PWR+

POWER SUPPLY (OUT)

3OUTPUT Y0

VH0

VL0

COM0

3OUTPUT Y3

VH3

VL3

COM3

・

RJ-45 Mpdular Jack

EtherCAT (IN)

EtherCAT (OUT)

USB Connector

CONFIGURATION

CONNECTOR

VHn

COMn

VLn

VHn

COMn

VLn

‑

■OUTPUT CONNECTION EXAMPLES

Wide span

voltage output Narrow span

voltage output

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 6 / 10

MOUNTING REQUIREMENTS unit: mm (inch)

175 (6.89)

2−M4

EtherCAT SPECIFICATIONS

■Modular Device Prole

R7I4DECT-1-YVF4 complies with the Modular Device Proﬁle (MDP) standard, ETG.5001.1 of the EtherCAT standard.

Be sure that the master supports the MDP standard.

■Fixed address

R7I4DECT supports Explicit Device Identiﬁcation by allowing setting of ﬁxed address using the ﬁxed address setting rotary

switches (ID selector).

The ﬁxed address can be set to be 1 to 255.

When ﬁxed address is not used, set the ID selector to 0.

When the power is turned on with the ID selector set to other than 0, the designated address is written in the resistor 0x0012

of ESC (EtherCAT Slave Controller) when R7I4DECT starts up.

■Initialization

At the start up, objects of the process data mapping (RxPDO, TxPDO) corresponding to the I/O data of the device, and the

other objects are created in the object dictionary.

After initialization, the master unit is available to require to the slave unit (R7I4DECT-1-YVF4) to switch the status from

INIT to PREOP.

If the initialization is not completed due to any error with the module, switching requirement is rejected with AL status code

at switching from INIT to PREOP.

■Data Conguration

Data are conﬁgured in accordance with the EtherCAT Modular Device Proﬁle (MDP) speciﬁcations as shown below.

Table 1: Data Conguration

OBJECT ADDRESS CONTENT

Input Area Objects 0x6000, 0x6001 Input data, Output status data

Output Area Objects 0x7000 Output data

PDO Mapping Objects (TxPDO) 0x1A00 Input data list

PDO Assign (IN) 0x1C13 Input data transmission order

PDO Assign (OUT) 0x1C12 Output data transmission order

Sync Manager Type 0x1C00 Sync manager type

Sync Manager Parameter Objects 0x1C32, 0x1C33 Sync mode

Device Type 0x1000 Device type

Error Register 0x1001 Error register

Manufacturer Device Name 0x1008 Device name

Manufacturer Hardware Version 0x1009 Hardware version

Manufacturer Software Version 0x100A Software version

Identity Objects 0x1018 Vendor information

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 7 / 10

■EtherCAT State

EtherCAT deﬁnes four states of slave: INIT, PREOP, SAFEOP, and OP.

TxPDO (input conﬁguration data) is updated only in the SAFEOP or OP state, and RxPDO (output conﬁguration data) is

updated only in the OP state.

The RUN LED turns on only in the OP state and input and output data are updated, while only input data is updated in the

PREOP state.

■EtherCAT Diagnostics

• AL Status Code

When the slave (R7I4DECT) fails to receive a request from the master or when there is a problem with the slave during nor-

mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.

The error codes that R7I4DECT uses are as shown below. (See Table 2.)

Table 2: Error Codes of AL Status Code

CODE ERROR

0x0000 No error

0x0011 Invalid requested state change

0x0012 Unknown requested state

0x0013 BOOT state not supported

0x0016 Invalid MailBox conﬁguration (PREOP)

0x0017 Invalid SyncManager conﬁguration

0x001B SyncManager Watchdog Timeout

0x001D Invalid Output Conﬁguration

0x001E Invalid Input Conﬁguration

0x001F Invalid Watchdog Conﬁguration

0x0029 FreeRun needs 3 Buffer mode

• SDO Abort Code

When the master attempts to access the object dictionary via SDO, if the slave (R7I4DECT) fails to receive SDO messages for

any reason, R7I4DECT sends an error code (SDO Abort Code) to the master and denies its access.

The following error codes are used.

Table 3: Error Codes of SDO Abort Code

CODE ERROR

0x05030000 Toggle bit not changed

0x05040001 Client/Server command speciﬁer not valid or unknown

0x05040005 Out of memory

0x06010000 Unsupported access to an object

0x06010002 Attempt to a read-only object

0x06020000 The object does not exist in the object directory

0x06070010 Data type does not match, length of service parameter does not match

0x06090011 Sub-index does not exist

0x08000020 Data cannot be transferred or stored to the application

0x08000022 Data cannot be transferred or stored to the application because of the present device state

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 8 / 10

OBJECT DICTIONARY (DATA DESCRIPTION)

■Input Area Objects (Input Data Area: 0x6000, 0x6001)

Input data is allocated to object 0x6000.

Input status data is allocated to object 0x6001. (Refer to “I/O DATA DESCRIPTION” on page 10)

Sub-Indexes correspond to channel numbers.

Table 4: Sub-Index Conguration By Module Type

MODULE TYPE INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT

Analog output,

4 points

0x7000 0 UINT8 8 RO 4 Number of items

1 UINT16 16 RW TRUE/FALSE First point output data

2 UINT16 16 RW TRUE/FALSE Second point output data

3 UINT16 16 RW TRUE/FALSE Third point output data

4 UINT16 16 RW TRUE/FALSE 4th point input data

■PDO Mapping Objects (Data List: 0x1600)

• Objects 0x1600

Output data list (RxPDO) is allocated to 0x1600.

In the data of RxPDO (0x1600), object index, sub-index, and the number of bit of each object, which is referred to, are stored.

Object with the address starting with 0x7000 is referred to.

Table 5: Object Conguration For Output Data List

INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1A00

(TxPDO)

0 UINT8 8 RO 16 Number of items

1 UINT32 32 RO

0xaaaabbcc

aaaa: Index for output channel

bb: Sub-Index for output channel

cc: Number of bits for output channel

2 UINT32 32 RO

: : : :

16 UINT32 32 RO

2 UINT32 32 RO

■PDO Assign Objects (Data Transmission Order, Output: 0x1C12, Input: 0x1C13)

An allocation list for RxPDO and an allocation list for TxPDO are allocated to 0x1C12 and 0x1C13, respectively.

The indexes stored in 0x1C12 and 0x1C13 are placed in the order they are actually transmitted via PDO.

Table 6: Object Conguration For PDO Allocation Lists

INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1C12 0 UINT8 8 RW 0 - 1 Number of items

1 UINT16 16 RW 0x1600 Output data

0x1C13 0 UINT8 8 RW 0 - 1 Number of items

1 UINT16 16 RW – Unused

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 9 / 10

■Sync Manager Type (0x1C00)

Sync Manager Type is allocated to object 0x1C00 based on the EtherCAT speciﬁcation.

Table 7: Object Conguration For Sync Manager Type

INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1C00 0 UINT8 8 RO 4 Number of items

1 UINT8 8 RO 1 Mailbox Write

2 UINT8 8 RO 2 Mailbox Read

3 UINT8 8 RO 3 Process Output Data

4 UINT8 8 RO 4 Process Input Data

■Sync Manager Parameter Objects (0x1C32, 0x1C33)

In R7I4DECT, objects 0x1C32 and 0x1C33 do not exist, as the value of Sync Manager Parameter is ﬁxed.

R7I4DECT supports Free Run mode only as the Sync mode.

Note that Distributed Clock (DC) mode is not supported.

■Device Type (0x1000)

The device type of this unit is allocated to object 0x1000. The device type is 5001.

Table 8: Object Conguration For Device Type

INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1000 UINT32 32 RO 5001 Device type

■Error Register (0x1001)

R7I4DECT does not use Object 0x1001.

■Manufacturer Device Name (0x1008)

The device name is allocated to object 0x1008 in String form.

Table 9: Object Conguration For Device Name

INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1008 STRING 32 RO R7I4DECT-1-YVF4 Model number

■Manufacturer Hardware Version (0x1009)

The hardware device version of this unit is allocated to object 0x1009 in String form.

The format of version is “n.nn.”

Table 10: Object Conguration For Hardware Version

INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1009 STRING 32 RO n.nn Hardware version

■Manufacturer Software Version (0x100A)

The software version of this unit is allocated to object 0x100A in String form.

The format of version is “n.nn.”

Table 11: Object Conguration For Software Version

INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x100A STRING 32 RO n.nn Software version

R7I4DECT-1-YVF4

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7779-K P. 10 / 10

■Identity Object (Vendor information: 0x1018)

Vendor information is allocated to object 0x1018.

While the vendor ID and product code are ﬁxed, the revision number is incremented by one at each major version up of the

software.

A unique serial number is allocated to each product.

A serial number consists of 8 digits, starting with two alpha-numeral characters followed by six numeral characters.

The serial number is expressed as 32-bit data divided into 6-bit, 6-bit, and 20-bit groups, with the ﬁrst two characters con-

verted into 6-bit values.

6 BITS 6 BITS 20 BITS

1st digit 2nd digit 3rd to 8th digits (000000 to 999999)

CHARACTER VALUE

0 0

1 1

: :

9 9

A 10

B 11

: :

Z 35

Table 12: Object Conguration For Vendor Information

INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1018 0 UINT8 8 RO 4 Number of items

1 UINT32 32 RO 0x0000060C Vendor ID

2 UINT32 32 RO 0x52370084 Product code

3 UINT32 32 RO n Revision number

4 UINT32 32 RO 0 to n Serial number

I/O DATA DESCRIPTION

■ANALOG OUTPUT MODULE

・Output Area Objects

Data is represented in 16-bit binary.

Negative value is represented in 2’s complements.

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