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DELTA_IA-IPC_R1-EC5614_UM_EN_20200917
Delta EtherCAT Gateway
Slave Module R1-EC5614
MPG Module User Guide
www.deltaww.com
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Related Manuals for Delta R1-EC5614
Summary of Contents for Delta R1-EC5614
- Page 1 TEL: 7 495 644 3240 Raleigh Office P.O. Box 12173, 5101 Davis Drive, Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) Research Triangle Park, NC 27709, U.S.A. Şerifali Mah. Hendem Cad. Kule Sok. No:16-A TEL: 1-919-767-3813 / FAX: 1-919-767-3969 34775 Ümraniye – İstanbul Mail: Sales.IA.Turkey@deltaww.com...
- Page 2 This is the one and only choice for industrial upgrading. How to use this user guide You can use this user guide as a reference while using the R1-EC5614 series EtherCAT remote control MPG input expansion module, which contains the information related to the product installation, setting, as well as instructions on how to use and maintain this product.
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Page 4: Table Of Contents
Table of Contents Product Inspection and Model Explanation 1.1 Product inspection ··························································································· 1-2 1.2 Model explanation ···························································································· 1-2 1.3 Product instructions ·························································································· 1-2 Specifications and Product Interface 2.1 Electrical specifications ····················································································· 2-2 2.2 Product diagram and dimensions ········································································· 2-3 2.2.1 Product diagram ························································································ 2-3 2.2.2 Dimensions ·······························································································... - Page 5 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 ·······················································································...
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Page 6: Product Inspection
Product Inspection and Model Explanation This chapter includes the product inspection, model explanation, and instructions for the R1-EC5614 expansion module. 1.1 Product inspection ············································································· 1-2 1.2 Model explanation ············································································· 1-2 1.3 Product instructions ··········································································· 1-2... -
Page 7: Product Instructions
2. Bubble wrap: for protection of the product. Make sure the stickers are firmly attached to the bubble wrap. 3. R1-EC5614: check the product for damage and all accessories are included. 4. Product installation instructions: make sure there is an instruction sheet. -
Page 8: Specifications And Product Interface
Specifications and Product Interface This chapter introduces the product specifications of the R1-EC5614 module, including electrical specifications, product diagram, dimensional specifications, and definitions of the ports and indicators. 2.1 Electrical specifications ······································································· 2-2 2.2 Product diagram and dimensions ·························································· 2-3 2.2.1 Product diagram ··········································································... -
Page 9: Electrical Specifications
Specifications and Product Interface R1-EC5614 User Guide 2.1 Electrical specifications Item Description Standard number of 4 axes (6 axes) controlled axis (maximum) Module control power Supplied by E-Bus Magnification selection X1 / X10 / X100 Jog input 3 sets Sampling frequency... -
Page 10: Product Diagram And Dimensions
R1-EC5614 User Guide Specifications and Product Interface 2.2 Product diagram and dimensions 2.2.1 Product diagram Front view of module panel ... -
Page 11: Dimensions
Specifications and Product Interface R1-EC5614 User Guide 2.2.2 Dimensions R1-EC5614 module: 100 mm x 73 mm x 17.5 mm... -
Page 12: Product Interface Description
R1-EC5614 User Guide Specifications and Product Interface 2.3 Product interface description Interface and configuration for the R1-EC5614 model Description I/O points for single axis I/O signal LED indicators for single axis Model number Communication status indicator Power indicator E-Bus transmission ports... -
Page 13: Port Description
Specifications and Product Interface R1-EC5614 User Guide 2.4 Port description 2.4.1 I/O signals for single axis I/O Port 0 pin definition for single axis Description External power input X-axis signal (24 V common anode, single-ended contact) Y-axis signal (24 V... - Page 14 R1-EC5614 User Guide Specifications and Product Interface I/O Port 1 pin definition for single axis Description External power ground (GND) (24 V common anode, single-ended contact) MPG pulse phase A input (24 V common anode, single-ended contact) MPG pulse phase B input (24 V...
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Page 15: Definitions Of Indicators
Specifications and Product Interface R1-EC5614 User Guide 2.4.2 Definitions of indicators Indicator Indicator Description Description mark mark X-axis indicator PA encoder input Y-axis indicator PB encoder input Z-axis indicator U-axis indicator Pulse magnification X1 Pulse magnification X10 Pulse magnification X100... -
Page 16: Wiring
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: Input Port Wiring Example
If the MPG device is expanded to 6 axes, only 2 sets of Jog input can be used. Connect AXIS_4 and AXIS_5 of the MPG device to the JZ+ and JZ- contacts of the R1-EC5614 module respectively. (The activation of the Jog function requires the MPG setting in the software. - Page 18 R1-EC5614 User Guide Wiring R1-EC5614 MPG signal input wiring example Isolate the IO power supply VCCIO_24V / IOGND and bus power supply 24V_POWER / 24VGND circuits. The following example is the single point (X) input diagram for axis selection.
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Page 20: Cia404 Drive Profile
CiA404 Drive Profile This 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 4.1.2 DC setting time ··········································································· 4-2... -
Page 21: Mpg Module Operation Mode
CiA404 Drive Profile R1-EC5614 User Guide 4.1 MPG module operation mode MPG input status (200Bh) MPG signal Set MPG mode (2000h) transmission MPG value (200Ah) MPG value clear (200Ch) 4.1.1 Related objects Index Name Access Units Type Mapping 2000h Set MPG mode... - Page 22 Object Dictionary This chapter introduces the objects, including the descriptions and applications, for R1-EC5614. 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) ···········································...
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Page 23: Object List
Object Dictionary R1-EC5614 User Guide 5.1 Object list Object dictionary Refer to Device type (1000h) 5.2.1 Error register (1001h) 5.2.2 General objects Manufacturer device name (1008h) 5.2.3 Manufacturer software version (100Ah) 5.2.4 Identity object (1018h) 5.2.5 Receive PDO mapping (1600h) 5.3.1... -
Page 24: General Objects
This object acquires the device name of R1-EC5614. Index Name Type Access Value Mapping Manufacturer device 1008h STRING name 5.2.4 Manufacturer software version (100Ah) This object acquires the information about the software version of R1-EC5614. Index Name Type Access Value Mapping Manufacturer software 100Ah STRING version... -
Page 25: Identity Object (1018H)
Object Dictionary R1-EC5614 User Guide 5.2.5 Identity object (1018h) This object acquires the general information about the device. Index Name Type Access Value Mapping Number of entries USINT Vendor ID UDINT 0x000001DD 1018h Product code UDINT 0x00005614 Revision number UDINT... -
Page 26: Pdo Mapping Objects
R1-EC5614 User Guide Object Dictionary 5.3 PDO mapping objects Display the used PDO mapping objects in the CoE (CANopen of EtherCAT) protocol. 5.3.1 Receive PDO mapping (1600h) Index Name Type Access Value Mapping Number of objects in this USINT Mapping entry 1... -
Page 27: Sync Manager Communication Objects
Object Dictionary R1-EC5614 User Guide 5.4 Sync manager communication objects 5.4.1 Sync manager communication type (1C00h) Index Name Type Access Value Mapping Number of used sync USINT manager channels Communication type sync 1: mailbox receive USINT manager 0 (master to slave) -
Page 28: Sync Manager Synchronization (1C32H And 1C33H)
R1-EC5614 User Guide Object Dictionary 5.4.3 Sync manager synchronization (1C32h and 1C33h) Index Name Type Access Value mapping Number of SM output USINT parameter Synchronization type UINT 0x0001 Cycle time UDINT Synchronization type UINT 0x0007 supported Minimum cycle time UDINT... -
Page 29: Manufacturer Specific Objects
Object Dictionary R1-EC5614 User Guide 5.5 Manufacturer specific objects 5.5.1 Set MPG mode (2000h) This object sets the number of input axes of the module and the number of sets for Jog input. Index Name Type Access Value Mapping 2000h... - Page 30 R1-EC5614 User Guide Object Dictionary 5.5.3 MPG input status (200Bh) This object displays the input status of the MPG, such as the selected axis, magnification, enable (EN) pin, and Jog. Index Name Type Access Value mapping 200Bh MPG input status...
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Page 32: Sdo Error Message Abort Code
SDO Error Message Abort Code This chapter introduces the SDO Error Message Abort Code of R1-EC5614. 6.1 SDO Error Message Abort Code ··························································· 6-2... - Page 33 SDO Error Message Abort Code R1-EC5614 User Guide 6.1 SDO Error Message Abort Code The following table lists the abort codes for SDO communication errors: Code Description 0x05 03 00 00 Toggle bit was not changed. 0x05 04 00 00 SDO protocol timeout.
- Page 34 Revision History Release date Version Chapter Revision contents V1.0 September, 2020 (First edition)
- Page 35 Revision History R1-EC5614 User Guide (This page is intentionally left blank.)