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6 

 

Object Dictionary

 

                                                                

5.1  Object list ······································································································· 5-2 
5.2  General objects ······························································································· 5-3 

5.2.1    Device type (1000h) ···················································································· 5-3 
5.2.2  Error register (1001h) ·················································································· 5-3 
5.2.3    Manufacturer device name (1008h) ································································ 5-3 
5.2.4  Manufacturer software version (100Ah) ··························································· 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 manager communication type (1C00h) ···················································· 5-6 
5.4.2    Sync manager PDO assignment (1C12h and 1C13h) ········································· 5-6 
5.4.3    Sync manager synchronization (1C32h and 1C33h) ··········································· 5-7 

5.5    Manufacturer specific objects ·············································································· 5-8 

5.5.1    Set MPG mode (2000h) ··············································································· 5-8 
5.5.2    MPG value (200Ah) ···················································································· 5-8 
5.5.3    MPG input status (200Bh) ············································································ 5-9 

5.5.4    MPG value clear (200Ch) ············································································· 5-9 

 

SDO Error Message Abort Code                                                   

6.1    SDO Error Message Abort Code ········································································· 6-2 

Содержание R1-EC5614

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

Страница 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...

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

Страница 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...

Страница 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...

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

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

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