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SDO Abort Codes R2-ECx004 User Manual

6-2

6.1 SDO abort codes

The following lists the abort codes for SDO communication error.

Code

Description

0x05 03 00 00

Toggle bit not changed.

0x05 04 00 00

SDO protocol timeout.

0x05 04 00 01

SDO command specifier invalid or unknown.

0x05 04 00 05

Out of memory.

0x06 01 00 00

Unsupported access to an object.

0x06 02 00 00

The object is not found in the object dictionary.

0x06 03 00 02

Attempt to write a read-only object.

0x06 04 00 41

The object cannot be mapped to the PDO.

0x06 04 00 42

The number and length of the objects to be mapped would exceed 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.

Summary of Contents for R2-EC 004 Series

Page 1: ...4 SP Brazil TEL 55 12 3932 2300 FAX 55 12 3932 237 Mexico Delta Electronics International Mexico S A de C V Gustavo Baz No 309 Edificio E PB 103 Colonia La Loma CP 54060 Tlalnepantla Estado de México TEL 52 55 3603 9200 EMEA EMEA Headquarters Delta Electronics Netherlands B V Sales Sales IA EMEA deltaww com Marketing Marketing IA EMEA deltaww com Technical Support iatechnicalsupport deltaww com Cu...

Page 2: ...ads 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 ...

Page 3: ...t 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 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 c...

Page 4: ...rts and indicators 2 6 2 4 1 R2 ECx004 IO Port 0 2 6 2 4 2 R2 ECx004 IO Port 1 2 8 2 4 3 R2 ECx004 power port 2 10 2 4 4 EtherCAT communication port and indicators 2 11 2 4 5 R2 ECx004 IO indicators 2 12 2 4 6 R2 ECx004 module status indicators 2 15 Wiring and Installation 3 1 Input port wiring example 3 2 3 2 Output port wiring example 3 4 3 3 System structure example 3 5 3 4 Installation 3 6 3 4...

Page 5: ...2h 1C33h 5 11 5 5 Manufacturer Specific Objects 5 12 5 5 1 Read DO Actual Value 2000h 5 12 5 5 2 Allow DO State Change 2001h 5 13 5 5 3 DI Filter Range 2002h 5 14 5 5 4 Input Event Enable 2010h 5 14 5 5 5 Clear Input Event 2011h 5 15 5 5 6 Input Event Value 2012h 5 15 5 5 7 Timestamp Initial Time Setting 2020h 5 16 5 5 8 Timestamp Enable 2021h 5 16 5 5 9 Clear Timestamp Value 2022h 5 16 5 5 10 DI ...

Page 6: ...SDO Abort Codes 6 1 SDO abort codes 6 2 6 ...

Page 7: ... This page is intentionally left blank ...

Page 8: ...ion 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 000 1 1 Product inspection 1 2 1 2 Model explanation 1 2 ...

Page 9: ...lision 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 1 E C 3 4 R 2 x0 2 04 5 No Item Description 1 Product type R Remote I O series 2 Product category 2 Board type distributed I O system 3 Bus type EC EtherCAT 4 Module type 00 Mixed I O module 1...

Page 10: ...ctrical specifications 2 2 2 2 Product diagram and dimensions 2 3 2 2 1 Product diagram 2 3 2 2 2 Outer dimensions 2 4 2 3 Description and illustration of product interface 2 5 2 4 Description of connection ports and indicators 2 6 2 4 1 R2 ECx004 IO Port 0 2 6 2 4 2 R2 ECx004 IO Port 1 2 8 2 4 3 R2 ECx004 power port 2 10 2 4 4 EtherCAT communication port and indicators 2 11 2 4 5 R2 ECx004 IO ind...

Page 11: ...ncy 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 Operati...

Page 12: ...d 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 Figure 2 2 1 1 Front view of R2 ECx004 ...

Page 13: ...Specifications and Product Interface R2 ECx004 User Manual 2 4 2 2 2 2 Outer dimensions 94 72 3 73 74 8 2 94 52 5 2 07 88 3 46 Unit mm inch ...

Page 14: ... 1 EtherCAT input port connection status indicator included 2 Module power port 3 EtherCAT output port connection status indicator included 4 Module power indicator PWR 5 Module communication indicator RUN 6 Module error indicator ERR 7 GPIO Port 0 Input port R2 EC0004 R2 EC1004 Output port R2 EC2004 8 GPIO Port 0 status indicators 9 GPIO Port 1 Input port R2 EC1004 Output port R2 EC0004 R2 EC2004...

Page 15: ...h input of Port 0 5 6th input of Port 0 6 7th input of Port 0 7 8th input of Port 0 8 9th input of Port 0 9 10th input of Port 0 10 11th input of Port 0 11 12th input of Port 0 12 13th input of Port 0 13 14th input of Port 0 14 15th input of Port 0 15 16th input of Port 0 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 function...

Page 16: ...t 0 7 8th output of Port 0 C0 Common output point C0 Common output point 8 9th output of Port 0 9 10th output of Port 0 10 11th output of Port 0 11 12th output of Port 0 12 13th output of Port 0 13 14th output of Port 0 14 15th output of Port 0 15 16th output of Port 0 Note C0 is the common output point for connecting the NPN type load When an NPN type load is connected C0 functions as GND WARNING...

Page 17: ...t 1 6 7th output of Port 1 7 8th output of Port 1 C0 Common output point C0 Common output point 8 9th output of Port 1 9 10th output of Port 1 10 11th output of Port 1 11 12th output of Port 1 12 13th output of Port 1 13 14th output of Port 1 14 15th output of Port 1 15 16th output of Port 1 Note C0 is the common output point for connecting the NPN type load When an NPN type load is connected C0 f...

Page 18: ...h input of Port 1 7 8th input of Port 1 8 9th input of Port 1 9 10th input of Port 1 10 11th input of Port 1 11 12th input of Port 1 12 13th input of Port 1 13 14th input of Port 1 14 15th input of Port 1 15 16th input of Port 1 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 connecte...

Page 19: ... GND FG FG Pin Description Note 24V Module external power of 24 VDC Range of error 15 to 20 GND Ground for module external power FG Functional ground WARNING 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 ...

Page 20: ...ndicate the EtherCAT communication connection status Indicator status Description Note OFF EtherCAT connection is not established Off ON EtherCAT connection is established but no data transmission Solid on Blinking EtherCAT connection is established and data is in transmission Flashing WARNING Follow the instructions for power supply and wiring to prevent any danger Use two independent 24 VDC powe...

Page 21: ...1 13 15 IN OUT 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 Not...

Page 22: ...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 indica...

Page 23: ...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 indi...

Page 24: ...status Description PWR green light ON The external power of 24 VDC is supplied OFF No voltage input or voltage error RUN green light OFF Init state initialization Continuous flashing Safe operational state The flashing frequency is shown as follows 200 ms 200 ms ON OFF Single flashing Pre operational state The flashing frequency is shown as follows 200 ms 1000 ms 200 ms ON OFF ON Operation state n...

Page 25: ...Specifications and Product Interface R2 ECx004 User Manual 2 16 2 This page is intentionally left blank ...

Page 26: ...utput ports system structure example and installation for the R2 ECx004 products 3 1 Input port wiring example 3 2 3 2 Output port wiring example 3 4 3 3 System structure example 3 5 3 4 Installation 3 6 3 4 1 Installation in the electrical control panel 3 6 3 4 2 Wiring requirements 3 8 ...

Page 27: ...nput 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 24V GND IOGND Internal circuit S S X00 Relay IO_24V N O Controller X15 LPF low pass filter SINK N C Module power supply 24 VDC 24V 0V IO power supply 24 VDC 0V 24V IOGND 24VPWR PWR_GND RVP RVP reverse voltage protection LPF WARNING Follow these instructions for po...

Page 28: ...t 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 24V GND Internal circuit S S X00 Relay IOGND N O Controller X15 LPF low pass filter SOURCE N C Module power supply 24 VDC 24V 0V IO power supply 24 VDC 24V 0V 24VPWR PWR_GND RVP RVP reverse voltage protection LPF WARNING Follow these instructions for power supply and wiri...

Page 29: ...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 Controller Relay IOGND GND Y00 IO_24V FBD FBD flyback diode Y15 Internal circuit SINK External power supply WARNING Follow these instructions for power supply and wiring to prevent ...

Page 30: ... 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 Fan Solenoid Valves Sensor Electrical Switch ...

Page 31: ... Cabinet 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 electri...

Page 32: ...rol 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 DIN 2 Push the DIN rail clips back and the module is secured in the electrical control panel ...

Page 33: ...sing 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 L1 D1 Φ ...

Page 34: ...e 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 4 2 4 1 1 Related objects 4 3 ...

Page 35: ...h DO Error Mode Enable 6206h and DO Error Mode Setting Value 6207h The following is the control flowchart 1600h Receive RPDO1 DO Setting Value 6200h Receive PDO Mapping 20h RPDO1 CAN Reception Not available when communication error occurs The setting value of OD 6207h is transferred when OD 6206h is set to 0h 6206h DO Error Mode Enable 0h 1h 6207h DO Error Mode Setting Value 0 1 0 1 Active DO 0 1 ...

Page 36: ...7 State Change RW NO USINT 2 Allow Port 1 DO CH8 15 State Change RW NO USINT 6200h 0 DO Setting Value RO NO USINT 1 Port 1 DO CH0 7 Setting Value RW YES USINT 2 Port 1 DO CH8 15 Setting Value RW YES USINT 6206h 0 DO Error Mode Enable RO NO USINT 1 Port 1 DO CH0 7 Error Mode Enable RW NO USINT 2 Port 1 DO CH8 15 Error Mode Enable RW NO USINT 6207h 0 DO Error Mode Setting Value RO NO USINT 1 Port 1 ...

Page 37: ...tate Change RW NO USINT 4 Allow Port 1 DO CH8 15 State Change RW NO USINT 6200h 0 DO Setting Value RO NO USINT 1 Port 0 DO CH0 7 Setting Value RW YES USINT 2 Port 0 DO CH8 15 Setting Value RW YES USINT 3 Port 1 DO CH0 7 Setting Value RW YES USINT 4 Port 1 DO CH8 15 Setting Value RW YES USINT 6206h 0 DO Error Mode Enable RO NO USINT 1 Port 0 DO CH0 7 Error Mode Enable RW NO USINT 2 Port 0 DO CH8 15...

Page 38: ...ex Sub index Name Access PDO mapping Unit Data type 6208h 0 DO Filter Mask RO NO USINT 1 Port 0 DO CH0 7 Filter Mask RW NO USINT 2 Port 0 DO CH8 15 Filter Mask RW NO USINT 3 Port 1 DO CH0 7 Filter Mask RW NO USINT 4 Port 1 DO CH8 15 Filter Mask RW NO USINT ...

Page 39: ...CiA 401 Device Profile R2 ECx004 User Manual 4 6 4 This page is intentionally left blank ...

Page 40: ...ts 5 10 5 4 1 Sync Manager Communication Type 1C00h 5 10 5 4 2 Sync Manager PDO Assignment 1C12h 1C13h 5 10 5 4 3 Sync Manager Synchronization 1C32h 1C33h 5 11 5 5 Manufacturer Specific Objects 5 12 5 5 1 Read DO Actual Value 2000h 5 12 5 5 2 Allow DO State Change 2001h 5 13 5 5 3 DI Filter Range 2002h 5 14 5 5 4 Input Event Enable 2010h 5 14 5 5 5 Clear Input Event 2011h 5 15 5 5 6 Input Event Va...

Page 41: ...nary R2 ECx004 User Manual 5 2 5 5 6 1 Read Input 8 bit 6000h 5 20 5 6 2 DO Setting Value 6200h 5 21 5 6 3 DO Error Mode Enable 6206h 5 22 5 6 4 DO Error Mode Setting Value 6207h 5 23 5 6 5 DO Filter Mask 6208h 5 24 ...

Page 42: ...C13h 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...

Page 43: ...iption 0 15 General information 0x0191 the Device Profile Number is 401 16 31 Additional information When Bit 16 1 the digital input function 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...

Page 44: ...0004 R2 EC1004 Index Sub index Name Data type Access PDO mapping Value 1008h 0 Manufacturer Device Name STRING RO NO R2 EC1004 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 1008h 0 Manufacturer Device Name STRING RO NO R2 EC2004 5 2 4 Manufacturer Software Version 100Ah This object acquires the software version of R2 ECx004 Index Sub index Name Data type Access PDO mapping Valu...

Page 45: ... Serial number UDINT RO NO 0x00000000 R2 EC1004 Index Sub index Name Data 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 0x00001004 3 Revision number UDINT RO NO 0x00100000 4 Serial number UDINT RO NO 0x00000000 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 1018h 0 Number of entries USINT RO NO...

Page 46: ...NO 0x62000208 3 Mapping entry 3 UDINT RW NO 0x20110108 4 Mapping entry 4 UDINT RW NO 0x20110208 R2 EC1004 Index Sub index Name Data type Access PDO mapping Value 1600h 0 Number of objects in this PDO USINT RO NO 4 1 Mapping entry 1 UDINT RW NO 0x20110108 2 Mapping entry 2 UDINT RW NO 0x20110208 3 Mapping entry 3 UDINT RW NO 0x20110308 4 Mapping entry 4 UDINT RW NO 0x20110408 R2 EC2004 Index Sub in...

Page 47: ...0 Number of objects in this PDO USINT RO NO 3 1 Mapping entry 1 UDINT RW NO 0x24000008 2 Mapping entry 2 UDINT RW NO 0x24010008 3 Mapping entry 3 UDINT RW NO 0x24020040 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 1601h 0 Number of objects in this PDO USINT RO NO 3 1 Mapping entry 1 UDINT RW NO 0x24000008 2 Mapping entry 2 UDINT RW NO 0x24010008 3 Mapping entry 3 UDINT RW NO 0...

Page 48: ...g entry 1 UDINT RW NO 0x60000108 2 Mapping entry 2 UDINT RW NO 0x60000208 3 Mapping entry 3 UDINT RW NO 0x60000308 4 Mapping entry 4 UDINT RW NO 0x60000408 5 Mapping entry 5 UDINT RW NO 0x20120108 6 Mapping entry 6 UDINT RW NO 0x20120208 7 Mapping entry 7 UDINT RW NO 0x20120308 8 Mapping entry 8 UDINT RW NO 0x20120408 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 1A00h 0 Number...

Page 49: ...SINT 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 Index Sub index Name Data type Access PDO mapping Value 1C12h 0 Number of assigned Rx...

Page 50: ...me UDINT RO NO 0 8 Get Cycle Time UDINT RW NO 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 Time Too Small UDINT RO NO 0 13 31 Reserved 32 Sync Error BOOL RO NO FALSE 1C33h 0 Number of SM Input Parameter USINT RO NO 32 1 Synchronization Type UINT RW NO 0x0022 2 Cycle Time UDINT RW NO 0 4 Synchronization Type Supported UINT RO NO 0x000...

Page 51: ...ead DO Actual Value USINT RO NO 2 1 Read Port 1 DO CH0 7 Actual Value USINT RO NO 0 to 255 2 Read Port 1 DO CH8 15 Actual Value USINT RO NO 0 to 255 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 2000h 0 Read DO Actual Value USINT RO NO 4 1 Read Port 0 DO CH0 7 Actual Value USINT RO NO 0 to 255 2 Read Port 0 DO CH8 15 Actual Value USINT RO NO 0 to 255 3 Read Port 1 DO CH0 7 Actu...

Page 52: ...s not allowed and 1 indicates state change is allowed R2 EC0004 Index Sub index Name Data type Access PDO mapping Value 2001h 0 Allow DO State Change USINT RO NO 2 1 Allow Port 1 DO CH0 7 State Change USINT RW NO 0 to 255 2 Allow Port 1 DO CH8 15 State Change USINT RW NO 0 to 255 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 2001h 0 Allow DO State Change USINT RO NO 4 1 Allow P...

Page 53: ... exceeds the set filter time the DI event is recorded in Input Event Value 2012h Index Sub index Name Data type Access PDO mapping Value 2002h 0 DI Filter Range USINT RW NO 0 to 4 Data description Value Meaning 0 If the DI filter time is not set the hardware filter time of 100 µs is 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 ...

Page 54: ...me Data type Access PDO mapping Value 2012h 0 Input Event Value USINT RO NO 4 1 Read Port 0 CH0 7 Input Event Value USINT RO YES 0 to 255 2 Read Port 0 CH8 15 Input Event Value USINT RO YES 0 to 255 3 Read Port 1 CH0 7 Input Event Value USINT RO YES 0 to 255 4 Read Port 1 CH8 15 Input Event Value USINT RO YES 0 to 255 Data description the following takes Sub index 1 of OD 2012h for example Bit Mea...

Page 55: ...r Month Day UDINT RW NO 0x0 to 0xFFFFFFFF 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 Index Sub index Name Data type Access PDO mapping Value 2021h 0 Timestamp Enable USINT RW NO 0 to 1 Dat...

Page 56: ...es 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 Index Sub index Name Data type Access PDO mapping Value 2030h 0 Port 0 DI 0...

Page 57: ...es 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 Index Sub index Name Data type Access PDO mapping Value 2050h 0 Port 1 DO ...

Page 58: ...rements 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 Index Sub index Name Data type Access PDO ...

Page 59: ...0h 0 Read Input 8 bit USINT RO NO 2 1 Read Port 0 Input CH0 7 8 bit USINT RO YES 0 to 255 2 Read Port 0 Input CH8 15 8 bit USINT RO YES 0 to 255 R2 EC1004 Index Sub index Name Data type Access PDO mapping Value 6000h 0 Read Input 8 bit USINT RO NO 4 1 Read Port 0 Input CH0 7 8 bit USINT RO YES 0 to 255 2 Read Port 0 Input CH8 15 8 bit USINT RO YES 0 to 255 3 Read Port 1 Input CH0 7 8 bit USINT RO ...

Page 60: ...rt 1 DO CH0 7 Setting Value USINT RW YES 0 to 255 Default 0 2 Port 1 DO CH8 15 Setting Value USINT RW YES 0 to 255 Default 0 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 6200h 0 DO Setting Value USINT RO NO 4 1 Port 0 DO CH0 7 Setting Value USINT RW YES 0 to 255 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 ...

Page 61: ...DO Error Mode Setting Value 6207h when an error occurs R2 EC0004 Index Sub index Name Data type Access PDO mapping Value 6206h 0 DO Error Mode Enable USINT RO NO 2 1 Port 1 DO CH0 7 Error Mode Enable USINT RW NO 0 to 255 Default 255 2 Port 1 DO CH8 15 Error Mode Enable USINT RW NO 0 to 255 Default 255 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 6206h 0 DO Error Mode Enable US...

Page 62: ...e Setting Value USINT RW NO 0 to 255 Default 0 2 Port 1 DO CH8 15 Error Mode Setting Value USINT RW NO 0 to 255 Default 0 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 6207h 0 DO Error Mode Setting Value USINT RO NO 4 1 Port 0 DO CH0 7 Error Mode Setting Value USINT RW NO 0 to 255 Default 0 2 Port 0 DO CH8 15 Error Mode Setting Value USINT RW NO 0 to 255 Default 0 3 Port 1 DO C...

Page 63: ...set is the value set in OD 6200h R2 EC0004 Index Sub index Name Data type Access PDO mapping Value 6208h 0 DO Filter Mask USINT RO NO 2 1 Port 1 DO CH0 7 Filter Mask USINT RW NO 0 to 255 Default 255 2 Port 1 DO CH8 15 Filter Mask USINT RW NO 0 to 255 Default 255 R2 EC2004 Index Sub index Name Data type Access PDO mapping Value 6208h 0 DO Filter Mask USINT RO NO 4 1 Port 0 DO CH0 7 Filter Mask USIN...

Page 64: ...6 1 SDO Abort Codes This chapter introduces the SDO abort codes for R2 ECx004 000 6 1 SDO abort codes 6 2 ...

Page 65: ...cess 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 writt...

Page 66: ...1 Revision History Release date Version Chapter Revision contents November 2022 V1 0 First edition ...

Page 67: ...Revision History R2 ECx004 User Manual 2 This page is intentionally left blank ...

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