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www.deltaww.com

Delta 

EtherCAT

 Gateway 

Slave Module 

R1-EC5614

 

MPG Module User Guide

Industrial Automation Headquarters

Delta Electronics, Inc. 

Taoyuan Technology Center

No.18, Xinglong Rd., Taoyuan District, 

Taoyuan City 33068, Taiwan

TEL: 886-3-362-6301 / FAX: 886-3-371-6301

Asia

Delta Electronics (Shanghai) Co., Ltd.

No.182 Minyu Rd., Pudong Shanghai, P.R.C.

Post code : 201209 

TEL: 86-21-6872-3988 / FAX: 86-21-6872-3996

Customer Service: 400-820-9595

Delta Electronics (Japan), Inc.

Tokyo Office 

Industrial Automation Sales Department 

2-1-14 Shibadaimon, Minato-ku

Tokyo, Japan 105-0012

TEL: 81-3-5733-1155 / FAX: 81-3-5733-1255

Delta Electronics (Korea), Inc.

Seoul Office

1511, 219, Gasan Digital 1-Ro., Geumcheon-gu, 

Seoul, 08501 South Korea

TEL: 82-2-515-5305 / FAX: 82-2-515-5302

Delta Energy Systems (Singapore) Pte Ltd.

4 Kaki Bukit Avenue 1, #05-04, Singapore 417939

TEL: 65-6747-5155 / FAX: 65-6744-9228

Delta Electronics (India) Pvt. Ltd.

Plot No.43, Sector 35, HSIIDC Gurgaon, 

PIN 122001, Haryana, India

TEL: 91-124-4874900 / FAX : 91-124-4874945

Delta Electronics (Thailand) PCL. 

909 Soi 9, Moo 4, Bangpoo Industrial Estate (E.P.Z), 

Pattana 1 Rd., T.Phraksa, A.Muang, 

Samutprakarn 10280, Thailand

TEL: 66-2709-2800 / FAX : 662-709-2827

Delta Electronics (Australia) Pty Ltd.

Unit 20-21/45 Normanby Rd., Notting Hill Vic 3168, Australia

TEL: 61-3-9543-3720

Americas

Delta Electronics (Americas) Ltd.

Raleigh Office

P.O. Box 12173, 5101 Davis Drive, 

Research Triangle Park, NC 27709, U.S.A.

TEL: 1-919-767-3813 / FAX: 1-919-767-3969

Delta Electronics Brazil 

São Paulo Sales Office  

Rua Itapeva, 26 - 3°, andar Edificio Itapeva, 

One - Bela Vista 01332-000 - São Paulo - SP - Brazil 

TEL: 55-12-3932-2300 / FAX: 55-12-3932-237  

Delta Electronics International Mexico S.A. de C.V.

Mexico Office

Gustavo Baz No. 309 Edificio E PB 103

Colonia La Loma, CP 54060

Tlalnepantla, Estado de México

TEL: 52-55-3603-9200 

*We reserve the right to change the information in this catalogue without prior notice.

EMEA

Headquarters: 

Delta Electronics (Netherlands) B.V. 

Sales: [email protected] 

Marketing: [email protected] 

Technical Support: [email protected] 

Customer Support: [email protected] 

Service: [email protected]
TEL: 31(0)40 800 3900

BENELUX:

 Delta Electronics (Netherlands) B.V.

De Witbogt 20, 5652 AG Eindhoven, The Netherlands 

Mail: [email protected]

TEL: 31(0)40 800 3900

DACH:

 Delta Electronics (Netherlands) B.V.

Coesterweg  45, D-59494  Soest, Germany

Mail: [email protected]

TEL: 49(0)2921 987 0 

France:

 Delta Electronics (France) S.A.

ZI du bois Challand 2, 15 rue des Pyrénées, 

Lisses, 91090 Evry Cedex, France 

Mail: [email protected]

TEL: 33(0)1 69 77 82 60 

Iberia:

 Delta Electronics Solutions (Spain) S.L.U

Ctra. De Villaverde a Vallecas, 265 1º Dcha Ed. 

Hormigueras – P.I. de Vallecas 28031 Madrid 

TEL: 34(0)91 223 74 20 
Carrer Llacuna 166, 08018 Barcelona, Spain

Mail: [email protected]

Italy:

 Delta Electronics (Italy) S.r.l.

Via Meda 2–22060 Novedrate(CO) 

Piazza Grazioli 18 00186 Roma Italy

Mail: [email protected]

TEL: 39 039 8900365

Russia:

 Delta Energy System LLC 

Vereyskaya Plaza II, office 112 Vereyskaya str.

 

17 121357 Moscow Russia 

Mail: [email protected]

TEL: 7 495 644 3240

Turkey:

 Delta Greentech Elektronik San. Ltd. Sti. (Turkey) 

Şerifali Mah. Hendem Cad. Kule Sok. No:16-A

 

34775 Ümraniye – İstanbul

Mail: [email protected]

TEL: 90 216 499 9910

GCC:

 Delta Energy Systems AG (Dubai BR)

P.O. Box 185668, Gate 7, 3rd Floor, Hamarain Centre 

Dubai, United Arab Emirates 

Mail: [email protected]

TEL: 971(0)4 2690148

Egypt + North Africa: 

Delta Electronics

Unit 318, 3rd Floor, Trivium Business Complex, North 90 street, 

New Cairo, Cairo, Egypt 

Mail: [email protected]

DELTA_IA-IPC_R1-EC5614_UM_EN_20200917

Summary of Contents for R1-EC5614

Page 1: ...onia La Loma CP 54060 Tlalnepantla Estado de M xico TEL 52 55 3603 9200 We reserve the right to change the information in this catalogue without prior notice EMEA Headquarters Delta Electronics Nether...

Page 2: ...master which can instantly acquire the data within 1 ms of the load status for multiple sets of slave modules The EtherCAT series products have a number of modules with different functions and feature...

Page 3: ...ii This page is intentionally left blank...

Page 4: ...l specifications 2 2 2 2 Product diagram and dimensions 2 3 2 2 1 Product diagram 2 3 2 2 2 Dimensions 2 4 2 3 Product interface description 2 5 2 4 Port description 2 6 2 4 1 I O signals for single a...

Page 5: ...PDO mapping 1600h 5 5 5 3 2 Transmit PDO mapping 1A00h 5 5 5 4 Sync manager communication objects 5 6 5 4 1 Sync manager communication type 1C00h 5 6 5 4 2 Sync manager PDO assignment 1C12h and 1C13h...

Page 6: ...and Model Explanation This chapter includes the product inspection model explanation and instructions for the R1 EC5614 expansion module 000 1 1 Product inspection 1 2 1 2 Model explanation 1 2 1 3 Pr...

Page 7: ...14 check the product for damage and all accessories are included 4 Product installation instructions make sure there is an instruction sheet 1 2 Model explanation R 1 EC 5 6 1 4 1 2 3 4 5 6 No Item De...

Page 8: ...s product diagram dimensional specifications and definitions of the ports and indicators 000 2 1 Electrical specifications 2 2 2 2 Product diagram and dimensions 2 3 2 2 1 Product diagram 2 3 2 2 2 Di...

Page 9: ...500 s 3276800 s Active level On Off 8 VDC Active level Off On 16 5 VDC E Bus current consumption 180 mA Electrical isolation 500 Vrms E Bus signal voltage Weight 55 g 0 12 lb Operating environment Op...

Page 10: ...R1 EC5614 User Guide Specifications and Product Interface 2 3 2 2 2 Product diagram and dimensions 2 2 1 Product diagram Front view of module panel...

Page 11: ...Specifications and Product Interface R1 EC5614 User Guide 2 4 2 2 2 2 Dimensions R1 EC5614 module 100 mm x 73 mm x 17 5 mm...

Page 12: ...interface description Interface and configuration for the R1 EC5614 model 561 4 RN 2 1 3 4 5 6 No Description 1 I O points for single axis 2 I O signal LED indicators for single axis 3 Model number 4...

Page 13: ...contact Y Y axis signal 24 VDC common anode single ended contact Z Z axis signal 24 VDC common anode single ended contact U U axis signal 24 VDC common anode single ended contact 1 Pulse magnification...

Page 14: ...phase B input 24 VDC common anode single ended contact JX X axis jog signal 24 VDC common anode single ended contact JX X axis jog signal 24 VDC common anode single ended contact JY Y axis jog signal...

Page 15: ...escription Indicator mark Description 1 X axis indicator 9 PA encoder input 2 Y axis indicator 10 PB encoder input 3 Z axis indicator 11 JX 4 U axis indicator 12 JX 5 Pulse magnification X1 13 JY 6 Pu...

Page 16: ...3 1 Wiring This chapter provides wiring instructions for the R1 EC5614 module including the wiring example of the MPG signal input port 3 1 Input port wiring example 3 2...

Page 17: ...and the MPG device should share the same power supply and ground wire The function signals of the MPG device should be directly input to the MPG module If the MPG device is expanded to 6 axes only 2 s...

Page 18: ...ram for axis selection The other 15 points such as axis selection magnification enable encoder and Jog have the same input structure The MPG device and the MPG module should use the same power circuit...

Page 19: ...Wiring R1 EC5614 User Guide 3 4 3 This page is intentionally left blank...

Page 20: ...is chapter introduces the CiA404 protocol followed by R1 EC5614 including operation mode related objects and supported application functions 4 1 MPG module operation mode 4 2 4 1 1 Related objects 4 2...

Page 21: ...Ah MPG value clear 200Ch 4 1 1 Related objects Index Sub Name Access PDO Mapping Units Type 2000h 0 Set MPG mode RW No USINT 200Ah 0 MPG value R Yes DINT 200Bh 0 MPG input status R Yes UINT 200Ch 0 MP...

Page 22: ...0Ah 5 3 5 2 5 Identity object 1018h 5 4 5 3 PDO mapping objects 5 5 5 3 1 Receive PDO mapping 1600h 5 5 5 3 2 Transmit PDO mapping 1A00h 5 5 5 4 Sync manager communication objects 5 6 5 4 1 Sync manag...

Page 23: ...h 5 2 4 Identity object 1018h 5 2 5 PDO mapping objects Receive PDO mapping 1600h 5 3 1 Transmit PDO mapping 1A00h 5 3 2 Sync manager communication objects Sync manager communication type 1C00h 5 4 1...

Page 24: ...gister for the device The value of this object is stored in the emergency message Currently all bits are not defined Index Sub Name Type Access PDO Mapping Value 1001h 0 Error register USINT RO No 0x0...

Page 25: ...cquires the general information about the device Index Sub Name Type Access PDO Mapping Value 1018h 0 Number of entries USINT RO No 4 1 Vendor ID UDINT RO No 0x000001DD 2 Product code UDINT RO No 0x00...

Page 26: ...o 0 4 Mapping entry 4 UDINT RW No 0 5 Mapping entry 5 UDINT RW No 0 6 Mapping entry 6 UDINT RW No 0 7 Mapping entry 7 UDINT RW No 0 8 Mapping entry 8 UDINT RW No 0 5 3 2 Transmit PDO mapping 1A00h Ind...

Page 27: ...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 da...

Page 28: ...o 0x0001 9 Delay time UDINT RO No 0 10 Sync0 cycle time UDINT RW No 0 11 SM event missed UDINT RO No 0 12 Cycle exceeded counter UDINT RO No 0 32 Sync error BOOL RO No FALSE 1C33h 0 Number of SM input...

Page 29: ...0 Set MPG mode USINT RW No 0 or 1 Bit definition Data Definition 0 Four input axes with three sets of Jog input default 1 Six input axes with two sets of Jog input 5 5 2 MPG value 200Ah This object d...

Page 30: ...s UINT RO Yes 0 to FFFF Bit definition Data Definition Bit 0 Axis X Bit 1 Axis Y Bit 2 Axis Z Bit 3 Axis U Bit 4 Axis W Bit 5 Axis C Bit 6 X1 Bit 7 X10 Bit 8 X100 Bit 9 Enable Bit 10 JX Bit 11 JX Bit...

Page 31: ...Object Dictionary R1 EC5614 User Guide 5 10 5 This page is intentionally left blank...

Page 32: ...6 1 SDO Error Message Abort Code This chapter introduces the SDO Error Message Abort Code of R1 EC5614 000 6 1 SDO Error Message Abort Code 6 2...

Page 33: ...error in 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 param...

Page 34: ...1 Revision History Release date Version Chapter Revision contents September 2020 V1 0 First edition...

Page 35: ...Revision History R1 EC5614 User Guide 2 This page is intentionally left blank...

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