M-system EtherCAT R7I4DECT-1-PA8A Manuel utilisateur

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-F Rev.1 P. 1 / 11

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 totalized pulse input 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 (http://

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%, approx. 50mA

■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 totalized pulse input, 8 points, e-CON connector)

MODEL

R7I4DECT-1-PA8A

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

R7I4DECT-1-PA8A

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-F Rev.1 P. 2 / 11

COMPONENT IDENTIFICATION

■FRONT VIEW

Fixed Address Setting Rotary SW

Reset Input Connector

Status Indicator LEDs

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

PI7PI6PI5PI4

PI0PI1 PI2PI3

INPUT

Pulse Input Terminals

RST

PI0 PI1 PI2 PI3 PI4 PI5 PI6 PI7 RST

Pulse Input

Status Indicator

LEDs

Reset Input

Status Indicator

LED

Terminals for

power supply &

sensor excitation

■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

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

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-PA8A

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-F Rev.1 P. 3 / 11

■POWER SUPPLY AND SENSOR EXCITATION

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 SNSR.EXC+ Sensor excitation

5 SNSR.EXC– Sensor excitation

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

pin number of the unit.

Perform wiring according to this instruction manual.

■PULSE 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 spec-

iﬁcations for details.)

PI0 PI1 PI2 PI3 PI4 PI5 PI6 PI7

PIN No. ID FUNCTION PIN No. ID FUNCTION

PI0 1 +24V 24V DC PI4 1 +24V 24V DC

2 NC Unused 2 NC Unused

3 GND 0V 3 GND 0V

4 PI0 Pulse Input 0 4 PI4 Pulse Input 4

PI1 1 +24V 24V DC PI5 1 +24V 24V DC

2 NC Unused 2 NC Unused

3 GND 0V 3 GND 0V

4 PI1 Pulse Input 1 4 PI5 Pulse Input 5

PI2 1 +24V 24V DC PI6 1 +24V 24V DC

2 NC Unused 2 NC Unused

3 GND 0V 3 GND 0V

4 PI2 Pulse Input 2 4 PI6 Pulse Input 6

PI3 1 +24V 24V DC PI7 1 +24V 24V DC

2 NC Unused 2 NC Unused

3 GND 0V 3 GND 0V

4 PI3 Pulse Input 3 4 PI7 Pulse Input 7

■RESET INPUT TERMINAL ASSIGNMENTS

RST

PIN No. ID FUNCTION

RST

1 +24V 24V DC

2 NC Unused

3 GND 0V

4 RST Reset Input

R7I4DECT-1-PA8A

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-F Rev.1 P. 4 / 11

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 channels Invalid (checked),

Valid (unchecked)

Valid

Maximum accumulated pulse count 1 to 4294967295 4294967295

Overﬂow reset value 0 or 1 0

Preset pulse count 0 to max. accumulated pulse count 0

■CHANNEL BATCH SETTING

PARAMETER SETTING RANGE DEFAULT

Edge direction for counting pulses Falling edge (DI-ON),

Rising edge (DI-OFF)

Falling edge (DI-ON)

Edge direction for resetting pulse

count by reset terminal

Falling edge (DI-ON),

Rising edge (DI-OFF)

Falling edge (DI-ON)

Enabling or disabling pulse count

reset by reset terminal

Enable or Disable Disable

Enabling or disabling pulse count

reset / preset by master

Enable or Disable Disable

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-PA8A

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-F Rev.1 P. 5 / 11

TERMINAL CONNECTIONS

Connect the unit as in the diagram below.

■EXTERNAL DIMENSIONS unit: mm (inch)

41 (1.61)

165 (6.50)

172 (6.77)

186 (7.32)

DIN rail

(

35mm

wide)

50 (1.97)

3.5

(.14)

(.20)

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.

SNSR.EXC+

SNSR.EXC–

PWR–

PWR+

POWER SUPPLY (IN)

SENCOR EXCITATION (IN)

SNSR.EXC+

SNSR.EXC–

PWR–

PWR+

POWER SUPPLY (OUT)

ENCOR EXCITATION (OUT)

PI0

GND

+24V

PULSE INPUT PI0

PI7

+24V 1

PULSE INPUT PI7

GND

RST

+24V 1

RESET INPUT

RJ-45 Modular Jack

RJ-45 Modular Jack EtherCAT (IN)

EtherCAT (OUT)

USB Connector

CONFIGURATION CONNECTOR

Detecting

Circuit

Detecting

Circuit

Detecting

Circuit

R7I4DECT-1-PA8A

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-F Rev.1 P. 6 / 11

MOUNTING REQUIREMENTS unit: mm (inch)

175 (6.89)

2−M4

EtherCAT SPECIFICATIONS

■Modular Device Prole

R7I4DECT-1-PA8A 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.

■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 Input data

Output Area Objects 0x7000 Output data

PDO Mapping Objects (TxPDO) 0x1A00 Input data list

PDO Mapping Objects (RxPDO) 0x1600 Output 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-PA8A

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-F Rev.1 P. 7 / 11

■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.

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-PA8A

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-F Rev.1 P. 8 / 11

OBJECT DICTIONARY (DATA DESCRIPTION)

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

Input data is allocated to object 0x6000.

Sub-Indexes correspond to channel numbers.

■Output Area Objects (Output Data Area: 0x7000)

Reset/Preset Command is allocated to object 0x7000.

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

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

Totalized pulse input,

8 points

0x6000 0 UINT8 8 RO 8 Number of items

1 UINT32 32 RO 0x0000000 to 0xFFFFFFFF First point input data

2 UINT32 32 RO 0x0000000 to 0xFFFFFFFF Second point input data

: : : : : :

8 UINT32 32 RO 0x0000000 to 0xFFFFFFFF 8th point input data

Reset / Preset

Command

0x7000 0 UINT8 8 RO 3 Number of items

1 UINT16 16 RW 0x0000 to 0xFFFF Reset request

2 UINT16 16 RW 0x0000 to 0xFFFF Preset request

3 UINT32 32 RW 0x0000000 to 0xFFFFFFFF Preset value

■PDO Mapping Objects (Data List: 0x1600, 0x1A00)

• Objects 0x1600, 0x1A00

Output data list (RxPDO) and Input data list (TxPDO) are allocated to 0x1600 and 0x1A00, respectively.

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

For input data, each object with the address starting with 0x6000 is referred to.

For output data, each object with the address starting with 0x7000 is referred to.

Table 5: Object Conguration For Output Data List And Input Data List

INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT

0x1600

(RxPDO)

0 UINT8 8 RO 3 Number of items

1 UINT32 32 RO 0xaaaabbcc aaaa: Index for referenced object

bb: Sub-Index for referenced object

cc: Number of bits for referenced object

2 UINT32 32 RO

3 UINT32 32 RO

0x1A00

(TxPDO)

0 UINT8 8 RO 8 Number of items

1 UINT32 32 RO 0xaaaabbcc aaaa: Index for referenced object

bb: Sub-Index for referenced object

cc: Number of bits for referenced object

2 UINT32 32 RO

: : : :

8 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 RO 2 Number of items

1 UINT16 16 RO 0x1600 Output data

0x1C13 0 UINT8 8 RO 3 Number of items

1 UINT16 16 RO 0x1A00 Input data

R7I4DECT-1-PA8A

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-F Rev.1 P. 9 / 11

■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-PA8A 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-PA8A

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-F Rev.1 P. 10 / 11

■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 0x52370083 Product code

3 UINT32 32 RO n Revision number

4 UINT32 32 RO 0 to n Serial number

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