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QD1 IO Expansion Module User Manual 

6                                                                                                          Document Version V3.0 (2020-08-18) 

1.3 Technical parameters 

1.3.1 Electrical parameters 

Table 1-1 QD1 electrical parameters 

Item 

Modular type 

Economical type 

Rated input 

voltage 

24 V d.c. (20.4~28.8 V d.c.) 

24 V d.c. (20.4~28.8 V d.c.) 

Interface type 

RJ45 (two) 

RJ45 (two) 

Interface 

speed 

10/100 M adaptive 

10/100 M adaptive 

Input channel 

32 Input/16 Input 

16 Input 

(up to 128 Input) 

Output 

channel 

32 Output/16 Output 

16 Output 

(up to 128 Output) 

Input mode 

Default: NPN 

Customized: PNP 

Default: NPN 

Customized: PNP 

Input signal 

"0" 

0~5 V 

0~5 V 

Input signal 

"1" 

15~28 V 

15~28 V 

Output mode 

NPN mode 

NPN mode 

Output drive 

capability 

200 mA (continuous) 

200 mA (continuous) 

1.3.2   Dimension parameters 

Table 1-2 Dimension parameters of QD1 product (unit: mm) 

Item 

Modular type   

(32 In/32 Out) 

Modular type   

(16 In/16 Out) 

Economical type 

Dimensions 

110(W)*260(L)*140(H) 

110(W)*180(L)*140(H) 

85(W)*83(L)*30(H) 

   

Содержание QD1

Страница 1: ......

Страница 2: ...User Manual QD1 IO Expansion Module Modular Economical QKM Technology Dongguan Co Ltd Document Version V3 1 0 Issue Date 18 08 2020...

Страница 3: ...gs The signs in this document clearly indicate any dangers warnings attentions and descriptions that may occur while users perform the operations described in this manual be sure to pay attention to t...

Страница 4: ...nology Dongguan Co Ltd QKM has been granted ownership of this trademark Disclaimer QKM does not assume any direct indirect special or incidental loss or liability due to improper use of this manual or...

Страница 5: ...The version history contains the accumulated information on each update of the document and the latest version of the document includes the updates in all previous versions of the document Version Da...

Страница 6: ......

Страница 7: ...1 2 2 Economical type 5 1 3 Technical parameters 6 1 3 1 Electrical parameters 6 1 3 2 Dimension parameters 6 1 3 3 Installation environment 7 1 4 Product features 7 Chapter 2 Work Principle 8 2 1 Co...

Страница 8: ...20 3 3 1 Installation of motherboard 20 3 3 2 Installation of daughterboards 21 3 3 3 Installation of communication cable 22 3 3 4 Installation of power wire 24 3 4 Check after installation 25 Chapte...

Страница 9: ...Contents Document Version V3 1 0 2020 08 18 VII 4 4 Dynamic library configuration 47 Appendix A FAQ 49...

Страница 10: ...terms in this manual are described as follows Term Description QKM Quotient Kinematics Machine QD1 QKM Digital Input and Output GDE Guidance Development Environment IO Input output DI Digital intput...

Страница 11: ...n the industry Main controller can access and control each IO channel upon connection to QD1 with network cable QD1 module has dual RJ45 network ports with native routing and forwarding function and c...

Страница 12: ...roduction of components 1 1 1 Modular type The components of modular QD1 are detailed in Figure 1 4 Modular QD1 16 In 16 Out has the same power interface and network ports as modular QD1 32 In 32 Out...

Страница 13: ...of modular QD1 32 In 32 Out 1 1 2 Economical type Economical QD1 consists of a motherboard and a daughterboard with components detailed in Figure 1 6 and Figure 1 7 Figure 1 6 Motherboard of economica...

Страница 14: ...Expansion Module User Manual 4 Document Version V3 0 2020 08 18 Figure 1 7 Daughterboard of economical QD1 1 2 Product dimensions 1 2 1 Modular type Figure 1 8 Dimensions of modular QD1 32 In 32 Out u...

Страница 15: ...iew Document Version V3 1 0 2020 08 18 5 Figure 1 9 Dimensions of modular QD1 16 In 16 Out unit mm 1 2 2 Economical type Figure 1 10 Dimensions of QD1 motherboard unit mm Figure 1 11 Dimensions of QD1...

Страница 16: ...Input channel 32 Input 16 Input 16 Input up to 128 Input Output channel 32 Output 16 Output 16 Output up to 128 Output Input mode Default NPN Customized PNP Default NPN Customized PNP Input signal 0...

Страница 17: ...ascading topology Stable and reliable with IO channels completely isolated from the system strong resistance to interference power protection and IO LEDs High integration small size with high integrat...

Страница 18: ...bit and users can only read its status but cannot modify it DO is a coil output in which each address corresponds to one data bit and users can set reset and read back its status 2 1 Communication net...

Страница 19: ...Document Version V3 1 0 2020 08 18 9 2 1 1 Modular type Figure 2 1 Modular QD1 networking diagram 2 1 2 Economical type Figure 2 2 Economical QD1 networking diagram 16 or 32 channel DO 16 or 32 channe...

Страница 20: ...Module User Manual 10 Document Version V3 0 2020 08 18 2 2 Definition of IO pins 2 2 1 Modular type Figure 2 3 Modular QD1 interfaces of 32 In 32 Out top view Figure 2 4 Modular QD1 interfaces of 16 I...

Страница 21: ...V GND Digital signal input expansion 01 32 24 V power supply Common port 16 In 16 Out DI 00 16 Digital signal input expansion 01 16 DO interface 32 In 32 Out DO 00 32 24 V GND Digital signal output ex...

Страница 22: ...t 00 25 DI_10 Input 10 8 DI_01 Input 01 26 DI_11 Input 11 9 DO_00 Output 00 27 DO_07 Output 07 10 DO_01 Output 01 28 DO_06 Output 06 11 DO_02 Output 02 29 DO_05 Output 05 12 DO_03 Output 03 30 DO_04 O...

Страница 23: ...ircuit diagram is shown in Figure 2 6 Figure 2 6 Input circuit diagram of modular QD1 2 3 2 Economical type Economical QD1 supports 16 channel optocoupler isolated digital input and a single slave sta...

Страница 24: ...Each channel has a rated output current of 200 mA and the output circuit diagram is shown in Figure 2 8 Figure 2 8 Output circuit diagram of modular QD1 2 4 2 Economical type Economical QD1 supports...

Страница 25: ...rated output current of 200 mA and the output circuit diagram is shown in Figure 2 9 Figure 2 9 Output circuit diagram of economical QD1 2 5 Description of LEDs 2 5 1 Modular QD1 Figure 2 10 Modular Q...

Страница 26: ...s normally Communication LED LAN1 LAN2 Green Communication LED NO indicates that a communication connection has been established Flashing indicates communication is being performed 100 Mbit s Yellow N...

Страница 27: ...D NO indicates the module fails LED4 Red Network LED NO indicates there is a conflict or serious error in IP address Flashing indicates network connection timeout Communication port LAN1 LAN2 Green Co...

Страница 28: ...orm installation and ensure that no conductors or other conductive objects fall into PCB during QD1 installation 3 2 Installation of modular QD1 3 2 1 Installation of guide rail Step 1 Install the fix...

Страница 29: ...to configuration scenario and with reference to Section 2 1 Communication networking This diagram only presents one example scenario for reference Step 2 Installation of IO signal wires 1 Use a screwd...

Страница 30: ...erface and hold it Step 2 Connect the DC power wire to the power interface of QD1 Step 3 Release the power interface and check whether the connection is firm as shown in Figure 3 4 Figure 3 4 Installa...

Страница 31: ...ughterboards Upon expansion it supports 32 48 64 112 IO channels which can flexibly meet users requirements Step 1 Install screws and bolts in the mounting holes at the four corners of daughterboard S...

Страница 32: ...ependently powered with a total output current of 3 2 A for 16 channels per daughterboard and the motherboard does not provide this output via SCSI interface up to 6 daughterboards can be installed an...

Страница 33: ...es 1 Optional step View the definition of pins in Section 2 2 2 Produce an IO connector as shown in Figure 3 9 Figure 3 9 Production of IO connector If the QD1 product you choose to buy is not equippe...

Страница 34: ...ircuit will not work or even circuit board will be burnt If many loads are connected or power consumption is large external power supply can be separately provided for loads but common GND terminals n...

Страница 35: ...ative poles are connected in reverse Conduct measurement to ensure there is no short circuit before turning on the power Check whether signal wires are connected properly and firmly Check whether fore...

Страница 36: ...f QKM 4 1 Initialization configuration 4 1 1 IP address configuration Step 1 Connect QD1 to 24 V d c power supply If the power LED is always on it indicates that power is normally supplied to the modu...

Страница 37: ...Settings button to make configuration changes as shown below and click the OK button Then click the Scan button again Figure 4 3 Scan IP address Step 4 Double click the address under IP address bar t...

Страница 38: ...ddress is the address set by the user it means that the setting is successful if it fails check whether the set IP address is occupied by another device 4 2 Configuration for connection to robot Prere...

Страница 39: ...ontroller in the address bar If network connection is normal click to enter the interface as shown in Figure 4 6 Figure 4 6 Open Web Server Step 2 Open Administrator Control Panel and Teaching Panel i...

Страница 40: ...before every change of Data ID 583 value otherwise the Data ID 583 value that is already in effect cannot be modified When the number of IO channels extended for QD1 exceeds 64 repeat Step 2 Step 3 to...

Страница 41: ...The first input channel mapped to controller with an initial value of I 10101 5 The first input channel at the beginning of Output with an initial value of 1 6 The last input channel at the end of Ou...

Страница 42: ...o 0 Step 2 Set other output ports in sequence according to the examples above 4 3 Configuration for connection to PC Prerequisites Visual Studio 2015 installed on computer personnel familiar with Visu...

Страница 43: ...m interface of Windows Sockets example example program include header files that program needs to include library library functions of Modbus protocol Load dll files to C Windows System32 before confi...

Страница 44: ...gure 4 11 Open Visual Studio It may not open Win32 Console Application based on Win10 system if you open Visual Studio 2015 directly via the icon Please follow the step to run VS 2015 Step 3 Create a...

Страница 45: ...allation Document Version V3 1 0 2020 08 18 35 Figure 4 12 Open Visual Studio 2 Click Visual C in the New Project page and select Win32 Console Application then modify the project name and click OK as...

Страница 46: ...QD1 IO Expansion Module User Manual 36 Document Version V3 0 2020 08 18 Figure 4 13 Create Win32 Console Application...

Страница 47: ...nsole Application and uncheck empty project as shown in Figure 4 14 Figure 4 14 Application Settings If select empty project you might not find the directory of C in property pages Step 4 Add paths to...

Страница 48: ...sion Module User Manual 38 Document Version V3 0 2020 08 18 Figure 4 15 Add paths to include files 2 Select all platforms Figure 4 16 Select platforms 3 Then go back to property pages click VC Directo...

Страница 49: ...lude files After adding paths to include files it will be shown in directory page Figure 4 17 Add a path to include files 4 Go back to the property pages click VC Directories Library Directories and E...

Страница 50: ...n click the directory of C C General Additional Include Directories and Edit in sequence select paths to additional include files and confirm as shown in Figure 4 19 Figure 4 19 Add a path to addition...

Страница 51: ...Document Version V3 1 0 2020 08 18 41 Step 6 Click Linker General Additional Library Directories Edit in sequence select paths to additional library files as shown in Figure 4 21 Figure 4 21 Add a pa...

Страница 52: ...odule User Manual 42 Document Version V3 0 2020 08 18 Step 7 Click Linker Input Additional Dependencies and Edit in sequence Fill in modbus lib click OK and Apply as shown in Figure 4 22 Figure 4 22 F...

Страница 53: ...ally there are two debug directories under VS projects To run or debug the program through VS you need to place dependent dlls in debug2 and it is ineffective to place them in debug1 For example in de...

Страница 54: ...interface Each modbus slave device has its own independent ID which is called slave ID and is an integer Therefore you need to use the modbus_set_slave function to set slave ID for modbus_t structure...

Страница 55: ...he read value into the array pointed to by the dest pointer This function returns 0 on success and 1 on failure Example ret modbus_read_input_bits ctx MODBUS_DISCRETE_ADDR MO DBUS_DISCRETE_LEN bits if...

Страница 56: ...TRUE if ret 0 fprintf stderr s n modbus_strerror errno int modbus_write_bits modbus_t ctx int addr int nb const uint8_t src Write multiple coils with function code of 0x0F Write the array pointed to...

Страница 57: ...s TCP and enter the low power mode After QD1 enters the low power mode if interaction needs to be continued re establish a Modbus TCP connection for the master station if connection needs to be kept a...

Страница 58: ...ows h include process h include modbus h This can be any input just to keep connection alive define HEART_BEAT_BIT0 define HEART_BEAT_RATE30000 30s unsigned __stdcall HeartBeat void pParam create the...

Страница 59: ...wn functions here Free the connection and disable the thread modbus_close ctx modbus_free ctx CloseHandle hThread return 0 When adding the heartbeat package function please pay attention to the follow...

Страница 60: ......

Страница 61: ...or controlling channels after normal connection A1 Confirm whether the electrical connection of corresponding channel is normal and whether the connection is loose or dropped A2 Confirm whether the c...

Страница 62: ...the configured IP address to ensure that the IP addresses of robot and QD1 are on the same network segment A2 Check whether the value of Date ID 582 in Setup Parameter Database Controller Modbus TCP...

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