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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
TPM 207-A220F User Manual
2
Revision History
Date Revision Description
2019/05/06 1.0 Document creation.
TPM 207-A220F User Manual
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© 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.
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Electrical safely
◼ To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating
the system.
◼ When adding or removing devices to or from the system, ensure that the power cables for the devices are
unplugged before the signal cables are connected. Disconnect all power cables from the existing system
before you add a device.
◼ Before connecting or removing signal cables from motherboard, ensure that all power cables are
unplugged.
◼ Seek professional assistance before using an adapter or extension card. These devices could interrupt the
grounding circuit.
◼ Make sure that your power supply is set to the voltage available in your area.
◼ If the power supply is broken, contact a qualified service technician or your retailer.
Operational safely
◼ Please carefully read all the manuals that came with the package, before installing the new device.
◼ Before use the product, ensure all cables are correctly connected and the power cables are not damaged. If
the power cables are detected damaged, contact the dealer immediately.
◼ To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and
circuitry.
◼ Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may
become wet.
◼ If you encounter technical problems with the product, contact a qualified service technician or the dealer.
TPM 207-A220F User Manual
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Contents
CONTENTS ........................................................................................................................................................................................ 5
1. ETHERCAT INTRODUCTION ........................................................................................................................................................... 7
1.1 INTRODUCTION ................................................................................................................................................................................... 7
1.2 SYSTEM CONFIGURATIONS ..................................................................................................................................................................... 8
1.3 DATA TRANSITION ................................................................................................................................................................................ 8
1.4 ETHERCAT TOOL: TWINCAT ......................................................................................................................................................... 9
2. PRODUCT OVERVIEW .................................................................................................................................................................. 10
2.1 NAMING RULE .................................................................................................................................................................................. 10
2.2 DIMENSION ...................................................................................................................................................................................... 10
2.3 SPECIFICATION .................................................................................................................................................................................. 11
2.4 CONNECTION .................................................................................................................................................................................... 12
2.4.1 Rotary Switch Description .................................................................................................................................... 13
2.4.2 LED Description ................................................................................................................................................... 14
2.4.3 EtherCAT Communication .................................................................................................................................... 16
2.4.4 Power Connector ................................................................................................................................................... 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
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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
TPM 207-A220F User Manual
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1. EtherCAT Introduction
1.1 Introduction
EtherCAT® is an ultra-high-speed serial communication system. This technology is widely applied in factory
and machinery automation industries. EtherCAT® is real-time down to the I/O level. The transmission rate of
EtherCAT® is 2 x 100 Mbit/s, which makes it the fastest ethernet. Each EtherCAT® slave device reads and
writes the data by the function of "on the fly". One can extract or insert bits or bytes without suspending the
system. Each EtherCAT® segment can connect up to 65,535 nodes. With 100BASE-TX, the distance between
two nodes is up to 100M with EtherCAT® . With 100BASE-FX (fiber optics), the distance between two nodes
is longer than 100M.
Precise synchronization is one of the features of EtherCAT® . The Distributed Clocks (DC) can adjust the
time of Master and Slaves to achieve the synchronization. The time of synchronization is less than 1μs.
EtherCAT® also leads to lower solution costs because of the low-cost slave controller with FPGA, small
volume with EtherCAT® instead of IPC, and so on. EtherCAT® is IEC, ISO, and SEMI standard protocol.
The slave controller can provide interoperability. The master stacks are suitable for various Real-time
Operating System (RTOS).
TPM 207-A220F User Manual
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1.2 System Configurations
1.3 Data Transition
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1.4 EtherCAT Tool: TwinCAT
TwinCAT® is the EtherCAT® tool which is developed by Beckhoff. The TwinCAT® (The Windows Control
and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software
system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or
robotics runtime systems.
All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and
EtherCAT® slaves can connect to achieve the control system. EZE-xxx model names will be displayed on
TwinCAT® for users to operate system conveniently. Carrier specific model name will not be listed.
Figure 0-1: illustration of the wiring topology of Motionnet master and slaves
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2. Product Overview
2.1 Naming Rule
2 0 7 - A 2 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
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2.3 Specification
EtherCAT
Serial interface Fast Ethernet, Full-Duplex
Distributed Clock 1ms
Cable type CAT5 UTP/STP Ethernet cable
Surge protection 10KV
Transmission speed 100 Mbps
Communication type DC
I/O isolation voltage 3750Vrms
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
TPM 207-A220F User Manual
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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
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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.
TPM 207-A220F User Manual
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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
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Pattern 2: Blinking
200ms200ms
Figure 2-3: Blinking pattern
Pattern 3: Single flash
200ms
Figure 2-4: Single flash pattern
Pattern 4: Double flash
200ms200ms
200ms1000ms
Figure 2-5: Double flash pattern
Run Indicator
Run Indicator indicates the ESM (EtherCAT® State Machine) status. LED lights in green.
LED Status Meaning
OFF ESM: In INIT state
Blinking ESM: In Pre-operational state
Single Flash ESM: In Safe-operational state
ON ESM: Operation state
Error Indicator
Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.
LED Status Meaning
OFF No occurrence of alarms defined in the AL status code
Blinking Communication setup error
Single flash Synchronous event error
Double flash Application watchdog timeout
Flickering Initialization error
ON PDI error
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2.4.3 EtherCAT Communication
Communication IN and OUT
CN6CN51 1
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
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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
3 AI1+ Analog Input+ #1
4 AI1- Analog Input– #1
5 AGND Analog Ground
6 AI2+ Analog Input+ #2
7 AI2- Analog Input– #2
8 AI3+ Analog Input+ #3
9 AI3- Analog Input– #3
10 AGND Analog Ground
CN2
Pin Label Function
1 AI4+ Analog Input+ #4
2 AI4- Analog Input– #4
3 AI5+ Analog Input+ #5
4 AI5- Analog Input– #5
5 AGND Analog Ground
6 AI6+ Analog Input+ #6
7 AI6- Analog Input– #6
8 AI7+ Analog Input+ #7
9 AI7- Analog Input– #7
10 AGND Analog Ground
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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-
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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
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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
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Step 3 To create one EtherCAT Master, right-click on “Devices”.
Figure 3-4: I/O list
Step 4 Select “Add New Item”.
Figure 3-5: Device → Add new item
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Step 5 Select “EtherCAT Master”.
Figure 3-6: EtherCAT Master
Step 6 Click button “OK”.
Figure 3-7: EtherCAT Master
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Step 7 Select your “Local LAN”.
Figure 3-8: Local LAN
Step 8 Click button “OK”.
Figure 3-9: Local LAN
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Step 9 The “Device 1” will show in the list.
Figure 3-10: Device 1 EtherCAT Master
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Step 10 Double click “Device 1”, and select “Adapter”.
Step 11 The detailed information of the Device will show at “Description”, “Device Name”,
“MAC Address”, and “IP Address”.
Figure 3-11: Device 1 → Adapter
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Step 11-1 If the detailed information of the Device isn’t shown, please select “Compatible Devices”.
Figure 3-12: Device 1 EtherCAT Master missed
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Step 11-2 Select your “Local LAN”, and click button “Install”.
Figure 3-13: Local LAN
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Step 11-3 Click “Search”, select your “Local LAN”, and click button “OK”.
Figure 3-14: Search Local LAN
Figure 3-15: Local LAN
Step 11-4 After finishing the above steps, the detailed information of the Device will show at
“Description”, “Device Name”, “MAC Address”, and “IP Address”.
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3.3 Scan the EtherCAT Device
Step 1 Right-click on “Device 1”.
Figure 3-16: I/O list
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Step 2 Select “Scan”.
Figure 3-17: Device 1 → Scan
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Step 3 The name of the slave will be shown as “EZE-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
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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
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Appendix A Basic Information
A.1 Symbols and Abbreviations
Abbreviation Term Description
AL AL-layer EtheCAT Application Layer Service
CiA CAN in Automation A non-profit organization established in 1992 as a joint venture between
companies to provide CAN technical information, product information, and
marketing information.
CAN Controller Area Network Communications protocol for the physical layer and data link layer established
for automotive LANs. It was established as an international standard as ISO
11898.
CANopen CANopen An upper-layer protocol based on the international CAN standard (EN
50325-4). It consists of profile specifications for the application layer,
communications, applications, devices, and interfaces.
CoE CANopen over EtherCAT A network that uses Ethernet for the physical layer, EtherCAT for the data link
layer, and CANopen for the application layer in a seven-layer OSI reference
model.
DC Distributed Clocks A clock distribution mechanism that is used to synchronize
the EtherCAT slaves with the EtherCAT master.
EEPROM Electrically Erasable
Programmable Read Only
Memory
A ROM that can be electrically overwritten.
ESC EtherCAT Slave Controller A hardware chip that processes EtherCAT communications
(such as loopbacks) and manages the distributed clock.
ESM EtherCAT State Machine A state machine in which the state of EtherCAT (the data link
layer) changes according to transition conditions.
ETG EtherCAT Technology Group An international organization established in 2003 to provide
support for developing EtherCAT technologies and to promote
the spread of EtherCAT technologies.
EtherCAT Ethernet for Control
Automation Technology
An open network developed by Beckhoff Automation.
FMMU Fieldbus Memory
Management Unit
A unit that manages fieldbus memory.
INIT INIT The Init state in the EtherCAT state machine.
OD Object Dictionary A group of objects and structure supported by an EtherCAT
TPM 207-A220F User Manual
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SERVOPACK.
PDI Physical Device Internal
Interface
A set of elements that allows access to DL-Service from the AL
PDO Process Data Object Objects that are sent and received in cyclic communications.
PDO mapping
Definitions
Process Data Object Mapping Definitions of the applications objects that are sent with
PDOs.
SDO Service Data Object Objects that are sent and received in mailbox communications.
PREOP PRE-OPERATIONAL The Pre-operational state in the EtherCAT state machine.
RXPDO Receive Process Data Object The process data received by the ESC.
TXPDO Transmit Process Data Object The process data sent by the ESC.
SM Sync. Manager The ESC unit that coordinates data exchange between the master and slaves.
ro Read only COE Object just can be read only
rw Read & write COE Object just can be read and written .
SAVE Save to flash memory There is flash memory on K121 which can be used to save retain variables .
STLD Step Loss Detection Function is used to detect the loss of stepper motor when it is running.
FoE File transfer over EtherCAT File can transfer over EtherCAT like Ethernet operation.
A.2 Data Types
The following table lists the data types and ranges that are used in this manual
Symbol Data Type Range
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 –
TPM 207-A220F User Manual
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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
02h DAC_VSS_00020_mV 1
03h DAC_VSS_00040_mV 2
04h DAC_VSS_00090_mV 3
05h DAC_VSS_00170_mV 4
06h DAC_VSS_00340_mV 5
07h DAC_VSS_00690_mV 6
08h DAC_VSS_01380_mV 7
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09h DAC_VSS_02750_mV 8
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
TPM 207-A220F User Manual
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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
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A.5 Specification List
Item Specification
Physical layer 100 BASE-TX (IEEE802.3)
Baud rate 100 Mbps , Full Duplex
Topology Line
Connection cable Twist pair CAT5e
Cable length Between nodes: up to 100 m
Number of slaves
connected
Up to 65535
EtherCAT Indicators RUN/ERROR/LINK(IN/OUT)
RUN: Green LED , ERROR: RED LED, LINK(IN/OUT): Green LED
Station Alias (ID) Range: 0 to 65535, SII Save Value
Explicit Device ID Supported
Device profile MDP, ETG5001.1
SyncManager 4
FMMU 3
Synchronous Mode DC (SYNC0 event synchronization)
Free Run (No slave application synchronization)
Cycle Time Minimum DC time : 1ms
Communication object SDO (Service Data Object)
PDO (Process Data Object)
SDO message Supported: SDO Request, SDO Response, SDO information
Not supported: Emergency Message ,Complete Access
Maximum number of
PDO assigns
RxPDO: 4 [table]
TxPDO: 4 [table]
Maximum PDO data
length
RxPDO: 17 [byte]
TxPDO: 1 [byte]
Diagnosis Object Not supported
Command Object Not supported
Firmware update Firmware download to update via FoE
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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.
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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
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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
02h AI_1 / Channel-1 Input Unit -32768~ 32767 I16 ro TxPDO OP No
03h AI_2 / Channel-2 Input Unit -32768~ 32767 I16 ro TxPDO OP No
04h AI_3 / Channel-3 Input Unit -32768~ 32767 I16 ro TxPDO OP No
05h AI_4 / Channel-4 Input Unit -32768~ 32767 I16 ro TxPDO OP No
06h AI_5 / Channel-5 Input Unit -32768~ 32767 I16 ro TxPDO OP No
07h AI_6 / Channel-6 Input Unit --32768~ 32767 I16 ro TxPDO OP No
08h AI_7 / Channel-7 Input Unit -32768~ 32767 I16 ro TxPDO OP No
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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
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Appendix C Service Data Objects (SDOs)
Index Sub-
Index
Name/Description Units Range Data Type Acc
-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
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
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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
8002h DO_2 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
8003h DO_3 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
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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
8004h DO_4 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
8005h DO_5 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
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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
8006h DO_6 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
8007h DO_7 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
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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
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
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
800Ch PWM_2_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
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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
800Dh PWM_3_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
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
8031h ADC_1 Setting s
01h ChEnable 0 ~ 1 DT0802EN0
1
rw Enable Channel
02h ChOpMode 0 ~ 1 DT0807EN0 rw Operational Mode
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1
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
8032h ADC_2 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
8033h ADC_3 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 ro Gain Select
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2
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
8034h ADC_4 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
8035h ADC_5 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 0 ~ 1 DT0802EN0 rw Emergency object will be send
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t-ion 1 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
8036h ADC_6 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
8037h ADC_7 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
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09h ChZeroOffset -1024 ~ 1024 I16 rw Zero Offset for Compensation
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
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53
C.1 Station Alias (4000h)
Index Sub-
Index
Name/Description Units Range Data Type Acc
-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.
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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.
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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
0012hConfigured Station
Alias
Slave CPU
0004hConfigured Station
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.
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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
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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)
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 UNSIGNED8 rw One shot pulse width= k*DC time
k=(0~255)
06h AI_EqualValue -32768 ~ 32767 INTEGER16 rw AI equal comparator register
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
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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
Name/Description Units Range Data Type Acc
-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
rw Output type of DO
This parameter is used to set the output type of DO.
The circuit of DO output is darlington transistor output.
Value Name Description Note
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
rw AI Channel Selection
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59
The channel number of AI input for comparism.
Value Name Description Note
0 CH0 AI input Channel 0
1 CH1 AI input Channel 1
2 CH2 AI input Channel 2
3 CH3 AI input Channel 3
4 CH4 AI input Channel 4
5 CH5 AI input Channel 5
6 CH6 AI input Channel 6
7 CH7 AI input Channel 7
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.
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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
rw Offset of bandwidth for the AI
Equal Comparator
Please refer to the explanation of 80n0h-06
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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
Operational ProcessYes
Is
WorkMode=5
NO
Call DO_n AiInLimitRange
Operational ProcessYes
Is
WorkMode=6
NO
Call DO_n AiOutLimitRange
Operational ProcessYes
NO
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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
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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
(n=[0-7]; OutputType =[0:Level,1:OneShot])
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 ) .
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C.2.1.4 AI (Analog Input)_GtUpperLimit Operational Process
Select AI input channel SDO:800n-03h=AiChannel
(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
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
(n=[0-7]; OutputType =[0:Level,1:OneShot])
Set OneShotPulseWidth
SDO:800n-05h=OneShotPulseWidth
(n=[0-7]; OutputType =[1-255ms])
No
DO_n will triggered when the the value of assigned Ai channel is greater than the
value of AiUpperLimt .
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C.2.1.5 AI (Analog Input)_LtLowerLimit Operational Process
Select AI input channel SDO:800n-03h=AiChannel
(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
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
(n=[0-7]; OutputType =[0:Level,1:OneShot])
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 less than
the value of AiLowerLimt .
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C.2.1.6 AI (Analog Input)_InLimitRange Operational Process
Select AI input channel SDO:800n-03h=AiChannel
(n=[0-7]; AiChannel=[0-7])
Start DO_n AiInLimitRange Output Process
(n=0..7)
End DO_n AiInLimitRange Operational
Process (n=0..7)
Set AiUpperLimt Value
SDO:800n-07h=AiUpperLimt
(n=[0-7];AiUpperLimt =[-32768~32767])
Yes
Set AiLowerLimt Value
SDO:800n-08h=AiLowerLimt
(n=[0-7];AiLowerLimt =[-32768~32767])
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
(n=[0-7]; OutputType =[0:Level,1:OneShot])
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 in range which is between
AiUpperLimt and AiLowerLimt .
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C.2.1.7 AI (Analog Input)_OutLimitRange Operational Process
Select AI input channel SDO:800n-03h=AiChannel
(n=[0-7]; AiChannel=[0-7])
Start DO_n AiOutLimitRange Output Process
(n=0..7)
End DO_n AiOutLimitRange Operational
Process (n=0..7)
Set AiUpperLimt Value
SDO:800n-07h=AiUpperLimt
(n=[0-7];AiUpperLimt =[-32768~32767])
Yes
Set AiLowerLimt Value
SDO:800n-08h=AiLowerLimt
(n=[0-7];AiLowerLimt =[-32768~32767])
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
(n=[0-7]; OutputType =[0:Level,1:OneShot])
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 out range of
AiUpperLimt and AiLowerLimt .
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C.3 PWM Setting
The digital output channel 0 to 3 on the 207-A220F supports the PWM output.
Index Sub-
Index
Name/Description Units Range Data Type Acc
-ess
Description
800nh
(n=A~D)
PWM_k_Setting (k=0~3)
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
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C.3.1 PWM_n Setting Explanation
Index Sub-
Index
Name/Description Units Range Data Type Acc
-ess
Description
800nh
(n=A~D)
01h Frequency Hz 1~60,000,000 UNSIGNED
32
rw Frequency for PWM output
F: Frequency
Do Output
T:time
Δt Δt Δt Δt Δt Δt
F=1/Δt
800nh
(n=A~D)
02h DutyCycle 0.01% 0~10000 UNSIGNED
16
rw Set desired duty cycle of
PWM signal:
Δt Δt
DutyCycle=(Δt1/Δt)*10000 (Unit:0.01%)
Δt1
800nh
(n=A~D)
03h OutputLevel 0~1 DT080EEN0
1
rw The voltage level of output
pulse
0:Low Level 1:High Level
Do Output
T:time
Do Output
T:time
Output Level: High
Output Level: Low
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800nh
(n=A~D)
04h Start 0~1 DT0803EN0
1
rw Output type of DO
0:Stop 1:Start
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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)
End DO_n Normal IO Operational Process (n=0..7)
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
(n=[A,B,C,D]; DutyCycle=1-10000)
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
(n=[A,B,C,D]; 0:Stop ,1:Start)
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)
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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)
End DO_n Normal IO Operational Process (n=0..7)
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
(n=[A,B,C,D]; DutyCycle=1-10000)
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
(n=[A,B,C,D]; 0:Stop ,1:Start)
No
PWM Pulse Output
Yes
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C.4 ADC Setting
Index Sub-
Index
Name/Description Units Range Data Type Acc
-ess
Description
803nh
(n=0~7)
ADC_n Setting s
01h ChEnable 0 ~ 1 DT0802EN01 rw Enable Channel
02h ChOpMode 0 ~ 1 DT0807EN01 rw Operational Mode
03h ChInputMode 0 ~ 1 DT0808EN02 rw Input Mode
04h ChGain 0 ~ 3 DT0809EN02 rw Gain Select
05h ChWorkType 0 ~ 1 DT080AEN0
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
08h ChAverageNum 0 ~ 31 U8 rw Number of Values for Average
09h ChZeroOffset -1024 ~ 1024 I16 rw Zero Offset for Compensation
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C.4.1 ADC_n Explanation
Index Sub-
Index
Name/Description Units Range Data Type Acc
-ess
Description
ADC_n Setting s
803nh
(n=0~7
)
01h ChEnable 0 ~ 1 DT0802EN01 rw Enable Channel
Enable DAC channel
Value Name Description Note
0 Disable Stop DAC channel to read value
1 Enable Start DAC channel to read value
803nh
(n=0~7
)
02h ChOpMode 0 ~ 1 DT0807EN01 rw Operational Mode
Enable DAC channel
Value Name Description Note
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.
Value Name Description Note
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.
Value Name Description Note
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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
)
05h ChWorkType 0 ~ 1 DT080AEN0
1
ro Input Work Type Select
A121D supports can adjust the dip switch to change the input type .
Value Name Description Note
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.
Value Name Description Note
0 Disable Stop to detect
1 Enable Detective
803nh
(n=0~7
)
08h ChAverageNum 1 ~ 32 U8 rw Number of Values for Average
Numbers of the ADC values for average.
803nh
(n=0~7
)
09h ChZeroOffset -1024 ~ 1024 I16 rw Zero Offset for Compensation
Zero Offset Compensation for ADC channel.
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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
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C.5 Retain Parameters Setting
Index Sub-
Index
Name/Description Units Range Data Type Acc
-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
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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
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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
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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
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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.
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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.
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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
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FF13h ERR_RetainFailToSetToDefault
FF14h ERR_DacIncorrectChannelNo
FF15h ERR_DacIncorrectPointIndex
FF16h ERR_FailToCalculateDacScaleRatio
FF17h ERR_IncorrectRetainChecksum