RTELLIGENT RTEC1616 FieldBus Communication Slave lO Module User Manual

RTEC1616 FieldBus
Communication Slave lO Module
User Manual Shenzhen Rtelligent Mechanical Electrical Technology Co.,ltd

Chapter 1 Function Description

1.1 Product overview

RTEC1616 is a digital isolated input and output module, including 16-channel digital isolated input and 16-channel digital isolated output.
Characteristic

• Support CoE (CANopen over EtherCAT)
• Support DC synchronization and FreeRun mode
• Dual port RJ45 connector for EtherCAT communication
• Input port: 16 optically isolated digital signal inputs, 24V single-ended input, common anode connection;
• Output port: 16 optical isolation + Darlington output port, each output current is 500mA
• PWM output: 4 PWM outputs, duty cycle supports 0~100%

Electrical characteristics
The recommended usage conditions are as follows:：

| Minimum| Normal| Maximum
---|---|---|---
Supply voltage (V)| 15| 24| 30
Output port current (mA)| 90| 350| 500
Input interface current consumption (mA)| 5| 10| 30
PWM frequency| 0.5K| 1K| 5KHz
Temperature range| -40| —| 85

Chapter 2 Interface Description

1.2 Power interface X5

The power interface X5 includes 3PIN terminals, which are defined as follows:

It is recommended to use a switching power supply with a power above 24V/1A.

1.3 Digital input port
16 optically isolated digital input ports, the internal use of common anode connection, the internal circuit diagram is as follows:When the external input signal interface type is NPN, the wiring is as follows:

When the external signal interface type is relay, the wiring is as follows:

1.4 Output port
The 16 output ports are the Darlington output after optocoupler isolation. The internal common terminal is connected to 24V. The equivalent circuit of each output port is  shown in the figure below:

The output port of each channel can output a maximum of 500mA current, and a larger current output can be achieved by connecting multiple output ports in parallel. There  is a built-in absorption diode inside the module, which can drive inductive loads.

1.5 Connect EtherCAT
Please use CAT5E (or higher) network cable.
The Ethernet input interface IN is connected to the Ethernet output interface OUT of the previous drive on the controller or the bus. The Ethernet output interface OUT is  connected to the Ethernet input interface IN of the next drive on the bus. If the drive is the last node on the bus, you only need to connect the Ethernet input interface IN.
EtherCAT status indicator
The yellow light of RJ45 is used for Link status, indicating whether there is a network cable connection.
The green light of RJ45 is used for Activity state, indicating whether there is data communication.

RUN/ERRLED Indicator light：

• Fast flash: On for 50ms, off for 50ms (10Hz). So cycle.
• Slow flash: On for 200ms, off for 200ms (2.5Hz). So cycle.
• Single flash: on for 200ms, off for 1s. So cycle.
• Double flash: on for 200ms, off for 200ms, on for 200ms, off for 1s. So cycle.

EtherCAT site address
The EC series supports two methods to set the slave address: object dictionary 0x2150 to set the site alias and ESC to set the site alias, and select it through the object  dictionary 0x2151.
The default 0x2151 is 0, and the node address is allocated by the master station and saved in the EEPROM.
When users need to set a fixed address by themselves, they need to set 0x2151 to 1, and then write the required address value in 0x2150.

word address of ESC
1| Settings| Object dictionary 2150 Set value to node address value

1.6 Size

Chapter 3 Parameter Description and Setting

1.7 General parameters
1.7.1 0x1000 Device type

Bit 0~15: Device profile number 0x1398: IO Model
Bit 16~31: Additional information 0x0000: Stepper Drive
0x1001 Device name
Display the current product name.

17.3 0x1009 Hardware version

0x1009 Hardware version

0x100A Software version

Save parameters
Sub-index of object dictionary 0x1010: 01 Write 0x65766173 to save current parameters. The data structure is as follows:

Restore factory settings
Subindex of object dictionary 0x1011: 01 Write 0x64616F6C to restore the drive to the factory state.

1.8 POD and COE object dictionary
0x6000 TxPDO_INPUT

0x6000:01 displays the physical level of the current 16-channel IO input

0 — No input signal
1 — With input signal
This module uses a fixed TxPDO mapping mode,

0x7000 RxPDO_OUTPUT

0x7000:01, when the output port is a normal output port function, it is used to set the value of the output port.

0 — Disable output
1 — Enable output
0x7000:02 to 0x7000:04, when the output ports 11 to 14 are set as the PWM output function, this object is used to control the duty cycle of the PWM output. 0 means 0%,  10000 means 100%.
This module uses a fixed RxPDO mapping mode,

0x8000 OUTPORT_CFG

0x8000:01, OUTPORT_State_Reset, this object is used to set the default state of the IO expansion module when reset.
This object needs to be saved and re-powered to take effect

0 — Disable output
1 — Enable output
0x8000:02~0x8000:04，Output port function setting, output ports 11 to 14 of the expansion module can be used as PWM output.
This object needs to be saved and re-powered to take effect
0 — Normal output port, the value is controlled by 0x7000:01
1 — PWM function, the duty cycle is controlled by 0x7000:02~04, and the period is set by 0x8001.

0x8001 PWMOUT_CFG

This object is used to set the frequency of PWM output.
After the set PWM frequency is set, you need to save the parameters and re- power on to take effect.

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