DELTA R2-ECx004 EtherCAT Remote I O Module User Manual

Digitized Automation for a Changing World
Delta EtherCAT Remote I/O Module
R2-ECx004 User Manual

R2-ECx004 EtherCAT Remote I O Module

Preface
Thank you for purchasing this product. This user manual provides information about the R2-ECx004
EtherCAT remote control digital I/O expansion module.

This manual includes:

• Product inspection and model explanation
• Specifications and product interface
• Wiring and installation
• CiA 401 Device Profile
• Object Dictionary
• SDO abort codes

Product features of the EtherCAT remote control expansion module:
The R2-ECx004 distributed I/O module supports the EtherCAT (Ethernet Control Automation Technology) communication protocol, which makes this module a high- performance remote I/O bus system.
The digital input port(s) of this module supports reading the status of the NPN type and PNP type loads, and the digital output port(s) supports NPN type loads.
The module can read and control the remote digital signal status of the master and acquire the load status (within 1 ms) of multiple slave modules through the EtherCAT communication.
The EtherCAT series product line consists of modules of various functions and features, which meet different remote automation control requirements. This product is the optimal integration platform for multi-point I/O control. It is easy to assemble with better stability and scalability. This is the one and only choice for industrial upgrading.

How to use this user manual:
Use this user manual as a reference when installing, setting up, using, and maintaining the R2-ECx004 EtherCAT remote control digital I/O expansion module.

Delta technical services:
Please consult your DELTA equipment distributors or DELTA Customer Service Center if you encounter any problems.

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

Safety Precautions

1. Perform wiring in accordance with the descriptions of connection ports and ensure to properly ground the system.
2. When applying power to the module, do not disassemble the module, change the wiring, or touch the power supply to prevent electric shock.

Pay special attention to the following safety precautions at all times during installation, wiring, and operation of the product.
The symbols of “DANGER”, “WARNING”, and “STOP” indicate:

Danger. May cause severe or fatal injuries to personnel if the instructions are not followed.
Warning. May cause moderate injury to personnel, or lead to severe damage or even malfunction of the product if the instructions are not followed.
Absolutely prohibited activities. May cause serious damage or even malfunction of the product if the instructions are not followed.

Installation

|  It is recommended that you install this module in a suitable electrical control panel and make sure the ambient temperature is lower than 60°C (140°F).
 Do not place the product in an environment containing oil mist, salt mist, and dust.
 Do not use the product in an environment containing flammable and explosive gases.
The electric arc generated when you switch the relay On or Off might ignite the gases.
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Wiring

|  The wires used for wiring should be UL-compliant with the following specification.
Wire gauge: 26 – 18 AWG; temperature rating: > 105°C (221°F); material: copper.
 To prevent electric shock, make sure to cut off the power to the module and the common input / output points before removing the module or the connected wires.
 This product uses DC power only. Do not use AC power for the product.
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Operation

|  This product is for industrial automation and other related applications. For your safety, the instructions for installation and operation in this manual should be observed.
 Wipe clean with dry cloth to keep the product from humidity.
 Use the power adapters that comply with the power supply requirements of UL 61010-1, UL 61010-2-201, or UL 62368-1 for this product.
 The power for the module and the common input / output points should be two independent power supplies and within the rated voltage. If you are uncertain of the voltage in your area, contact local electrical technicians.
 Do not attempt to disassemble or repair the module yourself if a malfunction occurs. Contact Delta or the distributor for technical support.
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Product Inspection and Model Explanation

This chapter includes the product inspection and model explanation of the R2-ECx004 series products. Read this chapter first to get an overall understanding of the products before use.

1.1 Product inspection
Check the following after you receive the product.

1. Packaging: check if the shipping carton is intact.
2. Bubble wrap: the bubble wrap is used to protect the product from collision. Check if the stickers are securely attached to the bubble wrap.
3. R2-ECx004: check if the product appearance is intact.
4. Instruction sheet: check if an instruction sheet is included.

1.2 Model explanation

Specifications and Product Interface

This chapter introduces the specifications of the R2-ECx004 series products, including electrical specifications, product diagram, dimensional drawings, and definitions of the connection ports and indicators.

2.1 Electrical specifications

output
Isolation type| Optical coupling| Optical coupling| Optical coupling| Optical coupling
Signal type| Sink / Source| Sink| Sink / Source| Sink
Number of I/O points| 16-CH| 16-CH| 32-CH| 32-CH
I/O maximum operating power| 24 VDC @ 5.1 mA| 200 mA per CH| 24 VDC @ 5.1 mA| 200 mA per CH
I/O rated input power| 24 VDC| 24 VDC| 24 VDC| 24 VDC
Operating frequency| ≤ 1 kHz| ≤ 1 kHz| ≤ 1 kHz| ≤ 1 kHz
Operation time (OFF > ON)| 300 µs| 85 µs| 300 µs| 85 µs
Release time (ON > OFF)| 300 µs| 110 µs| 300 µs| 110 µs
Outer dimensions| 52.5 x 74.8 x 88.0 mm (W x H x D)
Weight| 0.25 kg (0.55 lbs)
Permissible atmospheric pressure| Operation: 1,013 to 795 hPa
(approx. 0 m to 2,000 m / 0 ft. to 6,560 ft. above sea level)
Storage: 1,013 to 660 hPa
(approx. 0 m to 3,500 m / 0 ft. to 11,400 ft. above sea level)
Operating environment| Operating temperature: -20°C to +60°C (-4°F to +140°F)
Storage temperature: -40°C to +70°C (-40°F to +158°F)
Mounting type| DIN rail mounting
Vibration resistance / Shock resistance| Conforms to EN 60068-2-6 / EN 60068-2-27/29
Electromagnetic compatibility / Noise immunity| ESD (IEC 61131-2, IEC 61000-4-2)
EFT (IEC 61131-2, IEC 61000-4-4)
RS (IEC 61131-2, IEC 61000-4-3)
IP rating| IP20
Approvals| ****

2.2 Product diagram and dimensions
The R2-ECx004 series products are digital input and digital output modules. The input modules support DC sink / source output devices. The output modules use NPN transistor circuits, supporting connection to 24 VDC loads.

2.2.1 Product diagram

2.2.2 Outer dimensions

2.3 Description and illustration of product interface
The following describes the product interface of the R2-ECx004 series models.

2.4 Description of connection ports and indicators
2.4.1 R2-ECx004 IO Port 0

 Definitions of Port 0 for R2-EC0004 and R2-EC1004 models are as follows.

Note: S/S is the common input point for connecting the NPN type or PNP type load. When an NPN type load is connected, S/S functions as Vcc. When a PNP type load is connected, S/S functions as GND.

Follow the instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points to ensure proper operation.
• Use 26 – 18 AWG wires for wiring.
• Definitions of Port 0 for R2-EC2004 models are as follows.

Note: C0 is the common output point for connecting the NPN type load. When an NPN type load is connected, C0 functions as GND.

Follow the instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points to ensure proper operation.
• Use 26 – 18 AWG wires for wiring.

2.4.2 R2-ECx004 IO Port 1

• Definitions of Port 1 for R2-EC0004 and R2-EC2004 models are as follows.

Note: C0 is the common output point for connecting the NPN type load. When an NPN type load is connected, C0 functions as GND.

Follow the instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points for proper operation.
• Use 26 – 18 AWG wires for wiring.
• Definitions of Port 1 for R2-EC1004 models are as follows.

Note: S/S is the common input point for connecting to the NPN type or PNP type load. When an NPN type load is connected, S/S functions as Vcc. When a PNP type load is connected, S/S functions as GND.

Follow the instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points for proper operation.
• Use 26 – 18 AWG wires for wiring.

2.4.3 R2-ECx004 power port
Definitions of the power port for the R2-ECx004 series models are as follows.

Follow the instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points for proper operation.
• Use 26 – 18 AWG wires for wiring.

2.4.4 EtherCAT communication ports and indicators
Definitions of the communication ports and LED indicators for the R2-ECx004 series models are as follows.

The LED indicators for the communication ports (RJ-45) are green, which indicate the EtherCAT communication connection status.

Flashing

Follow the instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points for proper operation.
• Use 26 – 18 AWG wires for wiring.

2.4.5 R2-ECx004 IO indicators

• Definitions of the LED indicators for Port 0 and Port 1 of the R2-EC0004 series models are as follows.

The LED indicators show the status of the GPIO signals. When the input / output signal is on, the corresponding indicator shows green (solid on).

IN
Port 0| OUT
Port 1
---|---
Indicator No.| Corresponding IO port| Indicator No.| Corresponding IO port
0| 0| 0| 0
1| 1| 1| 1
2| 2| 2| 2
3| 3| 3| 3
4| 4| 4| 4
5| 5| 5| 5
6| 6| 6| 6
7| 7| 7| 7
8| 8| 8| 8
9| 9| 9| 9
10| 10| 10| 10
11| 11| 11| 11
12| 12| 12| 12
13| 13| 13| 13
14| 14| 14| 14
15| 15| 15| 15

Note: the LED indicator turns on when the controller activates the inputs / outputs. If the actual signal is not on, check for the wiring.

◼ Definitions of the LED indicators for Port 0 and Port 1 of the R2-EC1004 series models are as follows.

The LED indicators show the status of the GPIO signals. When the input / output signal is on, the corresponding indicator shows green (solid on).

IN
Port 0| IN
Port 1
---|---
Indicator No.| Corresponding IO port| Indicator No.| Corresponding IO port
0| 0| 0| 0
1| 1| 1| 1
2| 2| 2| 2
3| 3| 3| 3
4| 4| 4| 4
5| 5| 5| 5
6| 6| 6| 6
7| 7| 7| 7
8| 8| 8| 8
9| 9| 9| 9
10| 10| 10| 10
11| 11| 11| 11
12| 12| 12| 12
13| 13| 13| 13
14| 14| 14| 14
15| 15| 15| 15

Note: the LED indicator turns on when the controller activates the inputs / outputs. If the actual signal is not on, check for the wiring.

◼ Definitions of the LED indicators for Port 0 and Port 1 of the R2-EC2004 series models are as follows.

The LED indicators show the status of the GPIO signals. When the input / output signal is on, the corresponding indicator shows green (solid on).

OUT
Port 0| OUT
Port 1
---|---
Indicator No.| Corresponding IO port| Indicator No.| Corresponding IO port
0| 0| 0| 0
1| 1| 1| 1
2| 2| 2| 2
3| 3| 3| 3
4| 4| 4| 4
5| 5| 5| 5
6| 6| 6| 6
7| 7| 7| 7
8| 8| 8| 8
9| 9| 9| 9
10| 10| 10| 10
11| 11| 11| 11
12| 12| 12| 12
13| 13| 13| 13
14| 14| 14| 14
15| 15| 15| 15

Note: the LED indicator turns on when the controller activates the inputs / outputs. If the actual signal is not on, check for the wiring.

2.4.6 R2-ECx004 module status indicators
Definitions of the LED indicators for the module status of the R2-ECx004 series models are as follows.

The module status indicators include module power indicator (PWR), module communication status indicator (RUN), and module error indicator (ERR).

The flashing frequency is shown as follows.

Single flashing| Pre-operational state.
The flashing frequency is shown as follows.

ON| Operation state (normal operation)
ERR (red light)| Double flashing| Disconnection or connection is in error.
The flashing frequency is shown as follows.

| OFF| No error occurs.

Wiring and Installation

This chapter introduces the wiring examples of input and output ports, system structure example, and installation for the R2-ECx004 products.

3.1 Input port wiring example
 Connect NPN (SINK) type load to R2-ECx004 input ports

The IO power (IO_24V / IOGND) and module power (24VPWR / PWR_GND) should be two independent power circuits.
The following figure illustrates a single input point (X15). The structure is the same for the other 15 input points (X01 – X14). The rated voltage is 24 VDC for the input port and module power port. Do not use a power supply exceeding 28.8 VDC or an AC power supply to avoid damaging the module circuit.

Follow these instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points to ensure proper operation.
• Use 26 – 18 AWG wires for wiring.
• Connect PNP (SOURCE) type load to R2-ECx004 input ports

The IO power (IO_24V / IOGND) and module power (24VPWR / PWR_GND) should be two independent power circuits.
The following figure illustrates a single input point (X15). The structure is the same for the other 15 input points (X01 – X14). The rated voltage is 24 VDC for the input port and module power port. Do not use a power supply exceeding 28.8 VDC or an AC power supply to avoid damaging the module circuit.

Follow these instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points to ensure proper operation.
• Use 26 – 18 AWG wires for wiring.

3.2 Output port wiring example
 Connect NPN (SINK) type load to R2-ECx004 output ports

The IO power (IO_24V / IOGND) and module power (24VPWR / PWR_GND) should be two independent power circuits.
The following figure illustrates a single output point (Y00). The structure is the same for the other 15 output points (Y01 – Y15). Connect the GND of the output port to IOGND to avoid output status error. If an inductive load is connected, ensure to connect a flyback diode to both sides of the inductive load in parallel to protect the output circuit.

Follow these instructions for power supply and wiring to prevent any danger.

• Use two independent 24 VDC power supplies for the module and the common input / output points to ensure proper operation.
• Use 26 – 18 AWG wires for wiring.

3.3 System structure example
The controller connects to the EtherCAT device (R2-ECx004) through Ethernet (RJ-45) to communicate with the slave modules (such as ASD-A2-E), accessing and controlling the status of the slaves.

3.4 Installation
3.4.1 Installation in the electrical control panel
Follow these precautions when installation. If you do not follow the precautions specified in the manual, the protection provided by the control module may be reduced.

Mounting space
Install the R2-ECx004 series module in an enclosed electrical control panel and allow a clearance of 50 mm (2”) between the module and the walls for ventilation, as shown in the following figure.

Environment requirements in the electrical control panel

• Ambient temperature: -20 to +60°C (-4 to +140°F)
• Ambient humidity: 5 to 95%
• Avoid installing the product near high-temperature or inflammable devices.
• Allow sufficient ventilation space.
• Install a fan or air conditioning if the ambient temperature is higher than 60°C.
• This product is for indoor use only.
• When installing the module in the electrical control panel, allow a clearance of 1 to 2 m (3.3 to 6.6 ft) under the bottom of the module for easy installation and operation.
• Keep the product away from high voltage and power devices when installation.
• The circuit in the electrical control panel must be cut off before you install the control module. Do not install the module when the power is on.

Measures for increasing immunity to interference

• No high voltage devices in the electrical control panel.
• Isolate the power cable from the control module with the distance of at least 200 mm (7.87”).
• Ground the electrical control panel.

DIN rail installation

1. Pull out the DIN-rail clips and mount the module to the DIN rail in the electrical control panel.
2. Push the DIN-rail clips back and the module is secured in the electrical control panel.
3. The installation is complete.

3.4.2 Wiring requirements

1. The recommended wire gauge for wiring with the housing connector or terminal block is 26 to 18 AWG.
2. The recommended length for exposed wire is 8 mm to 9 mm (0.31” to 0.35”).
3. Pay attention to the following when wiring with wire ferrules.
   ◼ Use a correct crimping tool (such as Dinkle DNT13-0101).
   ◼ The recommended length for L1 is 8 mm to 10 mm (0.31” to 0.39”).
   ◼ The recommended diameter (D1) is 0.75 mm to 1.4 mm (0.03” to 0.06”).

CiA 401 Device Profile

This chapter introduces the operation method and related objects for the digital output module according to the CiA 401 profile which R2-ECx004 conforms to.

4.1 DO operation method
You can control the digital output status at present with DO Setting Value (6200h) and Allow DO State Change (2001h), limit the output channels with DO Filter Mask (6208h), and determine the output status at present when a connection error occurs with DO Error Mode Enable (6206h) and DO Error Mode Setting Value (6207h). The following is the control flowchart.

4.1.1 Related objects
The following lists the names and setting properties of the objects related to R2-EC0004.

Object Dictionary

This chapter introduces the objects, including the descriptions and applications, supported by R2-ECx004.

5.1 Object list

5.4.1
Sync Manager PDO Assignment (1C12h, 1C13h)| 5.4.2
Sync Manager Synchronization (1C32h, 1C33h)| 5.4.3
Manufacturer Specific Objects| Read DO Actual Value (2000h)| 5.5.1
Allow DO State Change (2001h)| 5.5.2
DI Filter Range (2002h)| 5.5.3
Input Event Enable (2010h)| 5.5.4
Clear Input Event (2011h)| 5.5.5
Input Event Value (2012h)| 5.5.6
Timestamp Initial Time Setting (2020h)| 5.5.7
Timestamp Enable (2021h)| 5.5.8
Clear Timestamp Value (2022h)| 5.5.9
DI Timestamp Counter and Pass Time FIFO (2030h – 204Fh)| 5.5.10
DO Timestamp Counter and Pass Time FIFO (2050h – 206Fh)| 5.5.11
DI Input Bounce Counter and Pass Time FIFO (2070h – 208Fh)| 5.5.12
Device Control| Read Input (8-bit) (6000h)| 5.6.1
DO Setting Value (6200h)| 5.6.2
DO Error Mode Enable (6206h)| 5.6.3
DO Error Mode Setting Value (6207h)| 5.6.4
DO Filter Mask (6208h)| 5.6.5

5.2 General Objects
5.2.1 Device Type (1000h)

This object describes the type and function of each device.
R2-EC0004

R2-EC1004

R2-EC2004

Data description:

is implemented; when Bit 17 = 1, the digital output function is implemented.
0x0003: digital input + digital output (R2-EC0004) 0x0001: digital input (R2-EC1004)
0x0002: digital output (R2-EC2004)

5.2.2 Error Register (1001h)
This object is the error register of R2-ECx004 for recording error messages.

Data description:

5.2.3 Manufacturer Device Name (1008h)
This object acquires the device name of R2-ECx004.

R2-EC0004

R2-EC1004

R2-EC2004

5.2.4 Manufacturer Software Version (100Ah)
This object acquires the software version of R2-ECx004.

5.2.5 Identity Object (1018h)
This object acquires the general information of R2-ECx004.

R2-EC0004

R2-EC1004

R2-EC2004

5.3 PDO Mapping Objects
In EtherCAT communication, you can set the PDO mapping objects to update data periodically.
OD 1601h and 1A01h are optional objects.

5.3.1 Receive PDO Mapping (1600h)
This object receives data periodically.

R2-EC0004

R2-EC1004

R2-EC2004

5.3.2 Receive PDO Mapping 2 (1601h)
This object is optional and receives data periodically.

R2-EC0004

R2-EC2004

5.3.3 Transmit PDO Mapping (1A00h)
This object transmits data periodically.

R2-EC0004

R2-EC1004

R2-EC2004

5.3.4 Transmit PDO Mapping 2 (1A01h)
This object is optional and transmits data periodically.

R2-EC0004

5.4 Sync Manager Communication Objects
5.4.1 Sync Manager Communication Type (1C00h)

In EtherCAT communication, this object sets the communication type of the sync managers.

(Master to slave)
2| Communication type sync manager 1| USINT| RO| NO| 2: mailbox send (Slave to master)
3| Communication type sync manager 2| USINT| RO| NO| 3: process data output
(Master to slave)
4| Communication type sync manager 3| USINT| RO| NO| 4: process data input
(Slave to master)

5.4.2 Sync Manager PDO Assignment (1C12h, 1C13h)
In EtherCAT communication, this object assigns the sync manager PDOs.
OD 1C12h Sub-index 2 and OD 1C13h Sub-index 2 are optional objects.

5.4.3 Sync Manager Synchronization (1C32h, 1C33h)
In EtherCAT communication, this object synchronizes the input and output parameters of the sync managers.

5.5 Manufacturer Specific Objects
5.5.1 Read DO Actual Value (2000h)

This object reads the actual output values of R2-EC0004 and R2-EC2004 (8 output channels as a set).

R2-EC0004

R2-EC2004

5.5.2 Allow DO State Change (2001h)
This object sets whether the states of the output channels of R2-EC0004 and R2-EC2004 can be changed (8 channels as a set). Take OD 2001h Sub-index 1 for example. To disallow CH0 – 5 from changing the states and allow CH6 – 7 to change the states, set the value of Sub-index 1 to the binary value of 11000000 (192 in decimal). (0 indicates state change is not allowed and 1 indicates state change is allowed)

R2-EC0004

R2-EC2004

5.5.3 DI Filter Range (2002h)

This object sets the filter time of the digital inputs (DIs) of R2-EC0004 and R2-EC1004. The signals are filtered by the software filter function of the module with the minimum filter time of 100 µs. When the DI filter time is set to 1 ms, the actual filter time can be up to 1100 µs (1 ms + 100 µs). This filter time setting is available only when the DI event recording function (2010h) is enabled. When the DI signal is detected (i.e. the time duration of signal change exceeds the set filter time), the DI event is recorded in Input Event Value (2012h).

Data description:

applied. (Default)
1| DI filter time is 1 ms.
2| DI filter time is 2 ms.
3| DI filter time is 3 ms.
4| DI filter time is 4 ms.

5.5.4 Input Event Enable (2010h)
This object enables the DI event recording function of R2-EC0004 and R2-EC1004.

Data description:

5.5.5 Clear Input Event (2011h)
This object clears the DI event records of R2-EC0004 and R2-EC1004.

Data description:

immediately.

5.5.6 Input Event Value (2012h)
This object shows the DI event records of R2-EC0004 and R2-EC1004.

R2-EC0004

R2-EC1004

Data description: the following takes Sub-index 1 of OD 2012h for example.

5.5.7 Timestamp Initial Time Setting (2020h)
This is a user-defined object. By Delta’s default setting, it sets the initial time of the R2-ECx004 timestamp. You can set the initial time of the timestamp with Sub-index 1 and Sub-index 2. For example, setting Sub-index 1 to 0x20200107 and Sub-index 2 to 0x00093030 means the initial time is 9:30:30, January 7th, 2020. After the initial time is set, R2-ECx004 provides the pass time as a reference of how long the event takes.

Default: 0
2| Hour:Min:Sec| UDINT| RW| NO| 0x0 to 0xFFFFFFFF
Default: 0

5.5.8 Timestamp Enable (2021h)
This object sets whether to enable the timestamp recording function of R2-ECx004. The values of OD 2030h to OD 208Fh are valid only when this function is enabled.

Data description:

5.5.9 Clear Timestamp Value (2022h)
This object clears the timestamp records of R2-ECx004.

Data description:

cleared.

5.5.10 DI Timestamp Counter and Pass Time FIFO (2030h to 204Fh)
These objects record the count of DI changes of R2-EC0004 and R2-EC1004 after the timestamp function is enabled and record the pass time based on the initial time (2020h).
The available DI points of R2-EC0004 are DI 0 to DI 15 of Port 0; 16 points in total.
The available DI points of R2-EC1004 are DI 0 to DI 15 of Port 0 and DI 0 to DI 15 of Port 1; 32 points in total.
The correspondence between the DI point and OD index is as follows: DI 0 of Port 0 is 2030h, DI 1 of Port 0 is 2031h, and then DI 0 of Port 1 is 2040h and DI 1 of Port 1 is 2041h, and soon. Sub-index 1 records the count of DI changes after the timestamp function is enabled. Each time the DI switches from On to Off or from Off to On, the count increments by 1. Sub-indexes 2 to 9 record the pass time with 4 layers of FIFO. When the 4 FIFO layers are full, new data is written to overwrite the old data starting from FIFO 0. The pass time is in units of 100 µs. For example, when the pass time of FIFO 0 is 100000, it means that 10 seconds (100000*100 µs = 1000 ms = 10 s) has passed since the initial time.

Default: 0
2| FIFO 0 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
3| FIFO 0 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
4| FIFO 1 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
5| FIFO 1 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
6| FIFO 2 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
7| FIFO 2 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
8| FIFO 3 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
9| FIFO 3 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0

5.5.11 DO Timestamp Counter and Pass Time FIFO (2050h to 206Fh)

These objects record the count of DO changes of R2-EC0004 and R2-EC2004 after the timestamp function is enabled and record the pass time based on the initial time (2020h).
The available DO points of R2-EC0004 are DO 0 to DO 15 of Port 0; 16 points in total.
The available DO points of R2-EC2004 are DO 0 to DO 15 of Port 0 and DO 0 to DO 15 of Port 1; 32 points in total.

The correspondence between the DO point and OD index is as follows: DO 0 of Port 0 is 2050h, DO 1 of Port 0 is 2051h, and then DO 0 of Port 1 is 2060h and DO 1 of Port 1 is 2061h, and so on.

Sub-index 1 records the count of DO changes after the timestamp function is enabled. Each time the DO switches from On to Off or from Off to On, the count increments by 1. Sub-indexes 2 to 9 record the pass time with 4 layers of FIFO. When the 4 FIFO layers are full, new data is written to overwrite the old data starting from FIFO 0. The pass time is in units of 100 µs. For example, when the pass time of FIFO 0 is 100000, it means that 10 seconds (100000*100 µs = 10000 ms = 10 s) has passed since the initial time.

Default: 0
2| FIFO 0 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
3| FIFO 0 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
4| FIFO 1 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
5| FIFO 1 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
6| FIFO 2 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
7| FIFO 2 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
8| FIFO 3 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
9| FIFO 3 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0

5.5.12 DI Input Bounce Counter and Pass Time FIFO (2070h to 208Fh)
These objects record the count of signal bounce of R2-EC0004 and R2-EC1004 after the timestamp function is enabled and record the pass time based on the initial time (2020h).
The available DI points of R2-EC0004 are DI 0 to DI 15 of Port 0; 16 points in total.
The available DI points of R2-EC1004 are DI 0 to DI 15 of Port 0 and DI 0 to DI 15 of Port 1; 32 points in total.
The correspondence between the DI point and OD index is as follows: DI 0 of Port 0 is 2070h, DI 1 of Port 0 is 2071h, and then DI 0 of Port 1 is 2080h and DI 1 of Port 1 is 2081h, and so on.
Sub-index 1 records the count of signal bounce after the timestamp function is enabled. Each time the DI signal changes but with the time duration shorter than the set filter time (2002h), the bounce count increments by 1. Sub- indexes 2 to 9 record the pass time with 4 layers of FIFO.
When the 4 FIFO layers are full, new data is written to overwrite the old data starting from FIFO 0. The pass time is in units of 100 µs. For example, when the pass time of FIFO 0 is 100000, it means that signal bounce occurs 10 seconds (100000*100 µs = 10000 ms = 10 s) after the initial time.

9
1| Bounce Counter| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
2| FIFO 0 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
3| FIFO 0 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
4| FIFO 1 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
5| FIFO 1 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
6| FIFO 2 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
7| FIFO 2 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
8| FIFO 3 Pass Time L Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0
9| FIFO 3 Pass Time H Word| UDINT| RO| NO| 0x0 to 0xFFFFFFFF
Default: 0

5.6 Device Control
5.6.1 Read Input (8-bit) (6000h)
This object reads the status of the DI channels of R2-EC0004 and R2-EC1004 (8 input channels as a set).

R2-EC0004

R2-EC1004

5.6.2 DO Setting Value (6200h)
This object sets the values of the DO channels of R2-EC0004 and R2-EC2004 (8 output channels as a set).

R2-EC0004

Default: 0
2| Port 1 DO
CH8 – 15 Setting Value| USINT| RW| YES| 0 to 255
Default: 0

R2-EC2004

Default: 0
2| Port 0 DO
CH8 – 15 Setting Value| USINT| RW| YES| 0 to 255
Default: 0
3| Port 1 DO
CH0 – 7 Setting Value| USINT| RW| YES| 0 to 255
Default: 0
4| Port 1 DO
CH8 – 15 Setting Value| USINT| RW| YES| 0 to 255
Default: 0

5.6.3 DO Error Mode Enable (6206h)

This object sets whether to enable the DO error mode for R2-EC0004 and R2-EC2004 (8 output channels as a set). For example, when the value of the sub-index is 00000000, the DO error mode is not enabled, and the value of the output channel set remains the same when an error occurs. When the value of the sub-index is 11111111, the DO error mode is enabled, and the value of the output channel set is the value set in DO Error Mode Setting Value (6207h) when an error occurs.

R2-EC0004

Default: 255
2| Port 1 DO CH8 – 15
Error Mode Enable| USINT| RW| NO| 0 to 255
Default: 255

R2-EC2004

Default: 255
2| Port 0 DO CH8 – 15
Error Mode Enable| USINT| RW| NO| 0 to 255
Default: 255
3| Port 1 DO CH0 – 7
Error Mode Enable| USINT| RW| NO| 0 to 255
Default: 255
4| Port 1 DO CH8 – 15
Error Mode Enable| USINT| RW| NO| 0 to 255
Default: 255

5.6.4 DO Error Mode Setting Value (6207h)
This object sets the DO Error Mode Setting Value for R2-EC0004 and R2-EC2004 (8 output channels as a set).

R2-EC0004

Default: 0
2| Port 1 DO CH8 – 15
Error Mode Setting Value| USINT| RW| NO| 0 to 255
Default: 0

R2-EC2004

Default: 0
2| Port 0 DO CH8 – 15
Error Mode Setting Value| USINT| RW| NO| 0 to 255
Default: 0
3| Port 1 DO CH0 – 7
Error Mode Setting Value| USINT| RW| NO| 0 to 255
Default: 0
4| Port 1 DO CH8 – 15
Error Mode Setting Value| USINT| RW| NO| 0 to 255
Default: 0

5.6.5 DO Filter Mask (6208h)
This object sets the DO Filter Mask for R2-EC0004 and R2-EC2004 (8 output channels as a set). For example, when the value of the sub-index is 00000000, it means the Filter Mask of the output channel set is disabled, and the value of the output channel set remains the same. When the value of the sub-index is 11111111, the value of the output channel set is the value set in OD 6200h.

R2-EC0004

Default: 255
2| Port 1 DO
CH8 – 15 Filter Mask| USINT| RW| NO| 0 to 255
Default: 255

R2-EC2004

Default: 255
2| Port 0 DO
CH8 – 15 Filter Mask| USINT| RW| NO| 0 to 255
Default: 255
3| Port 1 DO
CH0 – 7 Filter Mask| USINT| RW| NO| 0 to 255
Default: 255
4| Port 1 DO
CH8 – 15 Filter Mask| USINT| RW| NO| 0 to 255
Default: 255

SDO Abort Codes

This chapter introduces the SDO abort codes for R2-ECx004.

6.1 SDO abort codes
The following lists the abort codes for SDO communication error.

the PDO length.
0x06 04 00 43| General parameter incompatibility.
0x06 04 00 47| General internal incompatibility in the device.
0x06 06 00 00| Access failed due to a hardware error.
0x06 07 00 10| Data type or length of service parameter does not match.
0x06 07 00 12| Data type does not match, length of service parameter too long.
0x06 07 00 13| Data type does not match, length of service parameter too short.
0x06 09 00 11| Sub-index does not exist.
0x06 09 00 30| Value range of parameter exceeded (for write access).
0x06 09 00 31| Value range error: written parameter value too big.
0x06 09 00 32| Value range error: written parameter value too small.
0x06 09 00 36| Maximum value is smaller than minimum value.
0x08 00 00 00| General error.
0x08 00 00 20| Data cannot be transferred or stored in the application.
0x08 00 00 21| Data cannot be transferred or stored in the application due to local control.
0x08 00 00 22| Data cannot be transferred or stored in the application due to current device status.
0x08 00 00 23| Object dictionary dynamic generation fails or no object dictionary is present.

Revision History

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