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RTU-ECAT Operation Manual

Table of Contents

Chapter 1 Preface ........................................................................... 1-1

1.1

Explanation of Symbols in This Manual ....................................... 1-2

1.2

Revision History .......................................................................... 1-2

Chapter 2 Overview ........................................................................ 2-1

2.1

Characteristics ............................................................................ 2-2

2.2

Specifications ............................................................................. 2-2

2.3

Extension Modules Connectable to RTU-ECAT ............................. 2-3

Chapter 3 Profile and Parts ............................................................. 3-1

3.1

Profile and Dimension ................................................................. 3-2

3.2

Parts ........................................................................................... 3-2

3.3

EtherCAT Port ............................................................................. 3-3

3.4

RUN/STOP Switch ....................................................................... 3-3

3.5

Address Switches ........................................................................ 3-3

3.6

Extended IO Interface ................................................................ 3-4

Chapter 4 Installing and Wiring ...................................................... 4-1

4.1

Installing RTU-ECAT and DVP-S Extension Modules .................... 4-2

4.2

Installing RTU-ECAT and DVP-S Modules on DIN Rail ................. 4-2

4.3

Connecting to EtherCAT Port ....................................................... 4-3

4.4

Wiring ......................................................................................... 4-3

4.4.1 Power Input .............................................................................. 4-3
4.4.2 Ground .................................................................................... 4-5

Chapter 5 Configuring RTU-ECAT .................................................... 5-1

5.1

Terms ......................................................................................... 5-2

5.2

Introduction to the Software Interfaces ..................................... 5-3

5.2.1 Main Interface for RTU Configuration ........................................... 5-3
5.2.2 DC Interface ............................................................................. 5-3

Summary of Contents for RTU-ECAT

Page 1: ... reserve the right to change the information in this catalogue without prior notice EMEA Headquarters Delta Electronics Netherlands B V Sales Sales IA EMEA deltaww com Marketing Marketing IA EMEA deltaww com Technical Support iatechnicalsupport deltaww com Customer Support Customer Support deltaww com Service Service IA emea deltaww com TEL 31 0 40 800 3900 BENELUX Delta Electronics Netherlands B ...

Page 2: ... 3 2 Parts 3 2 3 3 EtherCAT Port 3 3 3 4 RUN STOP Switch 3 3 3 5 Address Switches 3 3 3 6 Extended IO Interface 3 4 Chapter 4 Installing and Wiring 4 1 4 1 Installing RTU ECAT and DVP S Extension Modules 4 2 4 2 Installing RTU ECAT and DVP S Modules on DIN Rail 4 2 4 3 Connecting to EtherCAT Port 4 3 4 4 Wiring 4 3 4 4 1 Power Input 4 3 4 4 2 Ground 4 5 Chapter 5 Configuring RTU ECAT 5 1 5 1 Terms...

Page 3: ... 1 Control Word Parameter 6 6 6 3 2 Status Indication 6 7 Chapter 7 Application Examples 7 1 7 1 Using Delta AX8 Series CPU with RTU ECAT 7 3 7 2 Using TwinCAT3 with RTU ECAT 7 13 7 2 1 Configuring the Network via TwinCAT3 7 13 7 2 2 Controlling RTU ECAT s Right side Modules via PLC 7 24 7 3 Using OMRON NJ301 with RTU ECAT 7 27 Chapter 8 Error Diagnosis and Trouble shooting 8 1 8 1 LED Indicator D...

Page 4: ...1 1 1 Chapter 1 Preface Table of Contents 1 1 Explanation of Symbols in This Manual 1 2 1 2 Revision History 1 2 ...

Page 5: ...e instructions so as to avoid injuries to personnel and damage to products 1 1 Explanation of Symbols in This Manual Precautions before operation Before operation please read relevant safety instructions carefully so as to prevent an injury to personnel and damage to products Danger indicates the highly potential hazards Severe personal injury or even death will result if you do not follow the ins...

Page 6: ...2 1 2 Chapter 2 Overview Table of Contents 2 1 Characteristics 2 2 2 2 Specifications 2 2 2 3 Extension Modules Connectable to RTU ECAT 2 3 ...

Page 7: ... RTU ECAT connects DVP S series right side modules with maximum 128 digital input points and 128 digital output points as well as maximum 8 special modules such as analog modules temperature modules pulse modules and etc Maximum 14 DVP S series digital modules and special modules in total can be connected to the right side of RTU ECAT Users can select that the output values of right side special m...

Page 8: ...bration shock resistance Standard IEC 61131 2 IEC 68 2 6 TEST Fc IEC 61131 2 IEC 68 2 27 TEST Ea Safety Conforms to IEC 61131 2 UL 61010 1 UL 61010 2 201 Barometric pressure altitude Operating 1080 795hPa 1000 2000m Storage 1080 660hPa 1000 3500m Weight 84g 2 3 Extension Modules Connectable to RTU ECAT RTU ECAT PO WER RU N AL AR M R UN STO P NO DE ADDR ESS x 10 x 10 1 0 5 4 3 2 1 0 9 8 7 6 5 4 3 2...

Page 9: ...1TN 32 bits N A DVP08ST11N N A 8 bits Special modules connectable to RTU ECAT Special module Model name Default IO mapping data Default IO mapping data EtherCAT master RTU ECAT RTU ECAT EtherCAT master Start CR Length words Start CR Length words DVP02DA S CR10 2 N A N A DVP04DA S CR6 4 N A N A DVP04DA S2 CR6 4 N A N A DVP04AD S N A N A CR12 4 DVP04AD S2 N A N A CR12 4 DVP06AD S N A N A CR12 6 DVP0...

Page 10: ... 2 5 2_ Note When special modules are connected to RTU ECAT the start one of CRs for data upload and download and the length of data to be uploaded and downloaded can be set up via the EtherCAT network configuration tool ...

Page 11: ...RTU ECAT Operation Manual 2 6 _2 MEMO ...

Page 12: ...3 1 3 Chapter 3 Profile and Parts Table of Contents 3 1 Profile and Dimension 3 2 3 2 Parts 3 2 3 3 EtherCAT Port 3 3 3 4 RUN STOP Switch 3 3 3 5 Address Switches 3 3 3 6 Extended IO Interface 3 4 ...

Page 13: ...10 x10 25 2 96 90 60 Unit mm 3 2 Parts 7 8 10 9 1 2 3 4 6 5 N R S E the rCA T IN OU T 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 RTU ECA T P OW ER RUN A L ARM RUN S TOP ODE ADD E S x1 0 x1 0 1 Model Name 6 24V DC power port 2 State indicators 7 Right side extension module port 3 Address switch 8 Nameplate 4 RUN STOP switch 9 DIN rail clip 5 EtherCAT port 10 Extension module fixing clip ...

Page 14: ... points 2 To read write the data in the extension module RUN STOP To stop reading writing the data in the extension module 3 5 Address Switches The switches are used for setting up the node address of RTU ECAT on EtherCAT network Switch setting Description 9 1 6 4 5 0 0 9 1 3 2 7 8 2 5 6 4 3 7 8 0 99 EtherCAT node address Example If you need to set the node address of RTU ECAT to 26 simply switch ...

Page 15: ...RTU ECAT Operation Manual 3 4 _3 3 6 Extended IO Interface The interface is used for connecting Delta DVP S series DI DO extension modules and special modules ...

Page 16: ...d Wiring Table of Contents 4 1 Installing RTU ECAT and DVP S Extension Modules 4 2 4 2 Installing RTU ECAT and DVP S Modules on DIN Rail 4 2 4 3 Connecting to EtherCAT Port 4 3 4 4 Wiring 4 3 4 4 1 Power Input 4 3 4 4 2 Ground 4 5 ...

Page 17: ...n is fine DVP 1 6S P DV P 0 2DA DVP 1 6S P DV P 0 2DA P OWE R R UN ALARM R UN S TOP NODE ADDRESS x 10 x 10 1 0 5 4 3 2 1 0 9 8 7 6 5 4 3 2 1 0 9 8 7 6 EtherCAT IN OUT RTU ECAT 4 2 Installing RTU ECAT and DVP S Modules on DIN Rail Use the 35mm standard DIN rail Open the DIN rail clips of RTU ECAT and extension modules Insert RTU ECAT and extension modules into the DIN rail Press the DIN rail clips ...

Page 18: ... RTU ECAT is 24V DC Please notice the following points during use Connect the supply power to the two terminals 24V and 0V and the grounding terminal to the earth Be cautious that the RTU ECAT device may be damaged if the positive and negative polarities of the supply power are connected reversely Please be sure to use certified power supply with SELV output or certified power supply providing dou...

Page 19: ...stem circuit isolation device The electromagnetic contactor relay and other switch can be used as the isolation device to prevent the system from becoming unstable when the power supply is discontinuous Power indicator Emergency stop button The button cuts off the system power supply when an accidental situation takes place Delta power module DVP PS02 24VDC RTU ECAT device Ground Safety circuit ...

Page 20: ... of equipment use a single point ground RTU ECAT Another piece of equipment The single point ground is better If you cannot use a single point ground use a common point ground RTU ECAT Another piece of equipment The common point ground is permitted Do not connect equipment ground wires together as shown below RTU ECAT Another piece of equipment The equipment can not be grounded in this way ...

Page 21: ...RTU ECAT Operation Manual 4 6 _4 MEMO ...

Page 22: ...tents 5 1 Terms 5 2 5 2 Introduction to the Software Interfaces 5 3 5 2 1 Main Interface for RTU Configuration 5 3 5 2 2 DC Interface 5 3 5 2 3 Right side Configuration of RTU ECAT 5 4 5 2 4 Data Exchange Configuration Interface of Special Modules 5 5 ...

Page 23: ...s in STOP state When the content of the control word is 8001Hex RTU ECAT is in RUN state See section 6 3 for more details on the control word 2 Status Word Status includes Error register for error information LV state for voltage status Error module number for right side module number and Error list for extension module errors See section 6 3 for more details 3 Digital input points Bit The number ...

Page 24: ...inCAT3 software as an example 5 2 1 Main Interface for RTU Configuration Click on the RTU ECAT symbol on the left list of the TwinCAT3 window as below The main RTU configuration interface appears then 5 2 2 DC Interface On the RTU configuration interface open the DC interface with a click on DC tab Operation Mode RTU ECAT supports two operation modes SM Synchro Manager and DC Distributed Clock Eit...

Page 25: ...oosing DC as the operation mode do related settings on the following Advanced Settings interface 5 2 3 Right side Configuration of RTU ECAT Click on Slots tab on the configuration interface of RTU ECAT to go to the interface for configuring right side modules ...

Page 26: ...he symbol to have the modules configured to RTU ECAT Adding extension modules must start from the first Terminals row and no empty slot is allowed to exist between modules 5 2 4 Data Exchange Configuration Interface of Special Modules On the main RTU configuration interface click on Process Data tab The data exchange configuration interface of special modules appears then Take the special module D...

Page 27: ...figured can be added or deleted DVP06XA S2 Input mapping The CRs with the property of Read in DVP06XA S2 can be added or deleted DVP06XA S2 Output mapping The CRs with the property of Write in DVP06XA S2 can be added or deleted How to configure the input output mappings of special modules Here is an example of the input mapping configuration Select the row where DVP06XA S2 Input mapping is in the ...

Page 28: ...ule Selecting Insert in the place of an existing CR means to insert a CR row here Selecting Insert in the empty place means to add a CR row in the end Delete Delete one CR which has already been added Edit Edit current parameter information such as Name Index Sub Index Data Type and etc Move Up Move to the previous row Move Down Move to the next row ...

Page 29: ...RTU ECAT Operation Manual 5 8 5 MEMO ...

Page 30: ...Table of Contents 6 1 Parameters for Right side Special Modules 6 2 6 2 Parameters for Connection Status of Right Side Modules 6 5 6 3 Control Word and Status Indication Parameters 6 6 6 3 1 Control Word Parameter 6 6 6 3 2 Status Indication 6 7 ...

Page 31: ...elow DVP04DA S DVP04AD S DVP16SP11T and DVP06XA S are connected on the right of RTU ECAT in order and then the index for DVP04DA S is 16 2000 for DVP04AD S is 16 2020 and for DVP06XA S is 16 2060 Each subindex of a special module corresponds to one CR parameter of the special module When the special module is located as the first one on the right of RTU ECAT the index 16 2000 and subindex 16 1 cor...

Page 32: ...s the 4th one on the right of RTU ECAT 16 2 The index and subindex that CR1 parameter corresponds to when the special module is located as the 4th one on the right of RTU ECAT 16 2080 16 1 The index and subindex that CR0 parameter corresponds to when the special module is located as the 5th one on the right of RTU ECAT 16 2 The index and subindex that CR1 parameter corresponds to when the special ...

Page 33: ...2 The index and subindex that CR1 parameter corresponds to when the special module is located as the 11th one on the right of RTU ECAT 16 2160 16 1 The index and subindex that CR0 parameter corresponds to when the special module is located as the 12th one on the right of RTU ECAT 16 2 The index and subindex that CR1 parameter corresponds to when the special module is located as the 12th one on the...

Page 34: ...O 16 2 The number of digital output points Word RO 16 3 The number of special modules Word RO 16 4 The model code of the 1st special module Word RO 16 5 The model code of the 2nd special module Word RO 16 6 The model code of the 3rd special module Word RO 16 7 The model code of the 4th special module Word RO 16 8 The model code of the 5th special module Word RO 16 9 The model code of the 6th speci...

Page 35: ...odules and digital output point values of digital modules keep the same as they are before disconnection when RTU EtherCAT is disconnected from the master 1 The output values of right side special modules change to zero and digital output points of digital modules change to OFF when RTU EtherCAT is disconnected from the master Bit 2 0 1 Reserved Bit 3 0 1 Reserved Bit 4 0 1 Reserved Bit 5 0 1 Rese...

Page 36: ...AY 1 8 OF BYTE RO Explanation of RTU ECAT status indication parameters Error register RTU ECAT error Status value Description How to correct 0x1000 4096 The special modules on the right of RTU ECAT are inconsistent with the configuration in the software 1 Ensure that the special modules configured in the software match the modules actually connected 2 Ensure that the connection between the right s...

Page 37: ... error in extension modules on the right of RTU ECAT occurs 1 Ensure the modules configured in the software match those actually connected 2 Ensure the power supply to the right side modules works normally 3 Check the error information of the right side modules and then get rid of it according to the instructions in the module manual 0x1005 4101 The special modules configured on the right of RTU E...

Page 38: ...ial module on the right of RTU ECAT is alarming Refer to Error list Extension module error information below Bit 4 0 The 5th special module on the right of RTU ECAT is normal 1 The 5th special module on the right of RTU ECAT is alarming Refer to Error list Extension module error information below Bit 5 0 The 6th special module on the right of RTU ECAT is normal 1 The 6th special module on the righ...

Page 39: ... value is the value in the error status CR of the special module For details refer to error status CRs in DVP PLC Application Manual Special Modules Error list 4 The error code in the 5th special module on the right of RTU ECAT the error code value is the value in the error status CR of the special module For details refer to error status CRs in DVP PLC Application Manual Special Modules Error lis...

Page 40: ... Contents 7 1 Using Delta AX8 Series CPU with RTU ECAT 7 3 7 2 Using TwinCAT3 with RTU ECAT 7 13 7 2 1 Configuring the Network via TwinCAT3 7 13 7 2 2 Controlling RTU ECAT s Right side Modules via PLC 7 24 7 3 Using OMRON NJ301 with RTU ECAT 7 27 ...

Page 41: ...uts X0 X7 are monitored via RTU ECAT 2 Channel 1 channel 4 of DVP04DA S are controlled to output the voltage of 5V via RTU ECAT 3 The analog data conversion values of Channel 1 channel 4 of DVP04AD S are read via RTU ECAT Voltage output Digital Analog Relations for DVP04DA S and DVP04AD S Volt age output Digital input 0 2000 4000 5V 10V Digital input Voltage output relation for DVP04DA S in mode 0...

Page 42: ...rCAT configuration software NJ301 OMRON NJ series CPU RTU ECAT module Delta EtherCAT remote IO module DVP04DA S Delta analog output module DVP04AD S Delta analog input module DVP16SP11T Delta digital IO module with 8 input points and 8 output points Note 1 Please ensure that DVP16SP11T DVP04DA S DVP04AD S and RTU ECAT modules work normally and the whole network wiring is proper 2 Refer to DVP PLC ...

Page 43: ...ted by selecting the icon in the red box and then typing a project name and storage location as below Click OK button to complete the setting Afterward select AX 8xxEP0 Series Delta Electronics Inc in the Device field and then click OK in the pop out window ...

Page 44: ...Chapter 7 Application Examples 7 5 7_ 3 The created new project is shown as below Double click on Device in the red box above and then click on Scan Network in the red box in the following window ...

Page 45: ... appears where AX 8 series controller will be searched automatically After the AX 8 controller shows up select the controller and click OK button After the operations above are done the connected CPU will automatically show up in the Device interface as below ...

Page 46: ... on EtherCAT Master in the red box below to open the EtherCAT Master interface Click Browse button in the EtherCAT Master configuration area then select the ECAT port from the pop out Select Network Adapter window as below and afterwards click OK button ...

Page 47: ...after the above action is done and then choose Scan For Devices from the context menu Then the following Scan Devices window appears with the scanned slave as follows After the software scan is complete select the scanned RTU ECAT and then click on Copy to project to add ...

Page 48: ...U ECAT to the EtherCAT configuration as shown below 6 Right click on the RTU ECAT after it is added and select Add Device from the context menu to add extension modules The following Add Device window appears for users to select extension modules ...

Page 49: ...Manual 7 10 _7 Find out and select DVP16SP11R T in the red box above and then click Add Device button to add DVP16SP11T R to RTU ECAT In the same way add DVP04DA S and DVP04AD S respectively to the RTU ECAT configuration ...

Page 50: ... RTU ECAT and select Edit IO Mapping from the context menu to review the IO mapping information of RTU ECAT Variables can be combined in the red boxes above When module channels are not combined to variables the I and Q devices in the Addresss column are valid The values of module channels can be read through ...

Page 51: ...nel 1 channel 4 of DVP04DA S output 5V voltage write 2000 to QW1 QW4 in the program and then read the value converted from the analog data of channel 1 channel 4 of DVP04AD S in IW1 IW4 If you need to modify the mode of channel 1 channel 4 of DVP04DA S click Startup Parameters in the configuration interface of RTU ECAT to open the Startup configuration interface and then click button as follows Cl...

Page 52: ...ad the EtherCAT configuration data to the AX8 series CPU Then the mode of channel 1 channel 4 of DVP04DA S is automatically switched to mode 1 Refer to DVP PLC Application Manual Special Modules for details on CR1 in DVP04DA S 7 2 Using TwinCAT3 with RTU ECAT 7 2 1 Configuring the Network via TwinCAT3 Configuring RTU ECAT 1 Start the TwinCAT3 software and create a TwinCAT project as below ...

Page 53: ... Manual 7 14 _7 2 Click on the I O item on the left list of the software interface select Devices and then click on Scan of TWINCAT menu With a click on Scan the following dialog appears where you click on the OK button ...

Page 54: ... adapters information is listed as below Select the right adapter and click on the OK button 4 Click on the Y button in the following dialog to scan the slave modules on the network 5 After the scan is over the following dialog appears Click on the Y button then ...

Page 55: ...tion Manual 7 16 _7 6 Then the names of all node devices which have been scanned appear on the software interface as follows 7 With a double click on the RTU ECAT symbol the interface for configuring RTU ECAT appears ...

Page 56: ...7_ 8 Click on Slots tab and then set the right side module configuration of RTU ECAT as below 9 Click on the top Terminals row of the left list Then the DVP S series right side extension modules which can be added appear on the right list ...

Page 57: ...eration Manual 7 18 _7 10 Select DVP16SP11R T from the right list and click on to add DVP16SP11R T to the configuration list of RTU ECAT 11 Following the steps above add DVP04DA and DVP04AD under DVP16SP as below ...

Page 58: ...les 7 19 7_ 12 After the configuration is completed click the Process Data tab to enter the data exchange configuration interface Add or delete a special module CR which need be read or written to in the PDO Content box as below ...

Page 59: ...R which has been added Edit Edit the selected parameter Move Up Move to the previous row Move Down Move to the next row 13 After the above setting is over click on the Activate Configuration option on TwinCAT menu to make the current configuration effective With a click on Activate Configuration the following reminder dialog appears where you click OK button ...

Page 60: ...d be modified e g the mode of channel 1 channel 4 is to be changed to mode 1 click Startup tab in the configuration interface of RTU ECAT and then press New button as shown in the red box below After pressing above New button click to unfold configurable CRs of DVP04DA S in the following window ...

Page 61: ... CR1 output mode setting in the red box above Then set the value for CR1 in the following new window Click OK to close current window After the setting is over the CR1 parameter of DVP04DA S which has been added can be seen in the Startup tab page ...

Page 62: ...er 7 Application Examples 7 23 7_ Click TwinCAT menu Activate Configuration option to make current configuration effective Refer to DVP PLC Application Manual Special Modules for details on CR1 in DVP04DA S ...

Page 63: ...shed by following the steps above create the PLC program to control the modules on the right of RTU ECAT 1 Select PLC on the left list of the TwinCAT software right click on PLC and select Add New Item to add a PLC project 2 Select Standard PLC Project from the new PLC project list enter a name for the project and then click on the Add button ...

Page 64: ... Click on Build Solution of BUILD menu to compile current project after global variables are created 5 After the compiling is over unfold the mapping list of RTU ECAT s right side module with a click on it as below 6 With a click on Digital input CH1 above the following window shows up where you click on the Linked to button ...

Page 65: ...RTU ECAT Operation Manual 7 26 _7 With a click on Linked to the following interface pops out where you select desirable varaibles and then click on the OK button ...

Page 66: ... SP_OUT RTU ECAT Control the output of output points of DVP16SP11T DA_OUT1 Control the output of channel1 of DVP04DA DA_OUT2 Control the output of channel2 of DVP04DA DA_OUT3 Control the output of channel3 of DVP04DA DA_OUT4 Control the output of channel4 of DVP04DA 7 After the variables and channels are connected the values of channels of RTU ECAT s right side modules can be read through the vari...

Page 67: ...n Manual 7 28 _7 2 Double click EtherCAT under Configurations and Setup in the red box below to open the EtherCAT configuration interface 3 Right click on Master and then select Display ESI Library from the context menu ...

Page 68: ...Examples 7 29 7_ Click this folder in the red box in the ESI Library window to open the folder where ESI file is to be stored Copy the ESI file of RTU ECAT to this folder to complete the installation of RTU ECAT device file ...

Page 69: ... Inc from the Toolbox pulldown list and then choose EtherCAT PLC as well as double click on RTU ECAT to add RTU ECAT to the EtherCAT network 5 Double click on Node1 RTU ECAT E001 to open the configuration interface after RTU ECAT is added to the EtherCAT network ...

Page 70: ... node configuration as below by selecting the top slot and then finding out and double clicking on DVP16SP11R T from the Toolbox area on the right side of the software 7 Add DVP04DA S and DVP04AD S to the second and third slots respectively in the method of step 6 ...

Page 71: ...on I O Map in the red box below and then type variables for mapping of module channels in the Variable column of the IO Map interface 9 Click menu Controller Communications Setup to set up the connection type between the NJ CPU and computer as follows ...

Page 72: ...Chapter 7 Application Examples 7 33 7_ 10 After the communication setup is complete click OK button in the window above and then select Online from the Controller menu in the window below ...

Page 73: ...o the controller After the download is done the channels of the right side modules of RTU ECAT can be read and written to via the variables set in the I O Map interface Setting the value of SP_OUT to 255 Y0 Y7 outputs of DVP16SP11T all change into ON Setting the values of DA_OUT1 DA_OUT4 to 2000 channel 1 channel 4 of DVP04DA S can be controlled to output 5V voltage ...

Page 74: ...8 1 8 Chapter 8 Error Diagnosis and Trouble shooting Table of Contents 8 1 LED Indicator Diagnosis 8 2 8 2 Status Indication Diagnosis 8 3 ...

Page 75: ... of RTU ECAT are consistent with those configured in the software 2 Check out the error information of the modules on the right of RTU ECAT and then deal with the errors by following related module manual instructions 3 Check if the power supply and wiring of the modules on the right of RTU ECAT are fine 4 Make sure that the wiring of EtherCAT cables is proper Red light on RTU ECAT is under voltag...

Page 76: ...r Yellow light Blinking Data are being transmitted or received via the EtherCAT port ON No data are being transmitted or received via EtherCAT port Add RTU ECAT to the master OFF There is no hardware connection to the EtherCAT port Ensure that the hardware connection to the EtherCAT port is proper 8 2 Status Indication Diagnosis The status indication parameters of RTU ECAT are used to display the ...

Page 77: ...RTU ECAT Operation Manual 8 4 _8 MEMO ...

Page 78: ...A 1 A Appendix A List of Accessories Table of Contents A 1 Accessories for EtherCAT Communication A 2 ...

Page 79: ...erCAT Communication Cables Figure Model Length Diameter AWG UC EMC003 02A 0 3M 4 22 PVC UC EMC005 02A 0 5M 4 22 PVC UC EMC010 02A 1 0M 4 22 PVC UC EMC020 02A 2 0M 4 22 PVC UC EMC050 02A 5 0M 4 22 PVC UC EMC100 02A 10 0M 4 22 PVC UC EMC200 02A 20 0M 4 22 PVC ...

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