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Delta R2-EC 004 Series User Manual

Ethercat remote i/o module
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DELTA_IA-IPC_R2-ECx004_UM_EN_20221111
Digitized Automation for a Changing World
Delta EtherCAT Remote I/O Module
R2-ECx004 User Manual
www.deltaww.com

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  • Page 1 Mail: Sales.IA.RU@deltaww.com TEL: +7 495 644 3240 USA: Delta Electronics ( Americas ) Ltd. Delta Greentech Elektronik San. Ltd. Sti. ( Turkey ) Turkey: 5101 Davis Drive, 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 –...
  • Page 2 Use this user manual as a reference when installing, setting up, using, and maintaining the R2-ECx004 EtherCAT remote control digital I/O expansion module. Delta technical services: Please consult your DELTA equipment distributors or DELTA Customer Service Center if you encounter any problems. EtherCAT ®...
  • Page 3 If you are uncertain of the voltage in your area, contact local electrical technicians.  Do not attempt to disassemble or repair the module yourself if a malfunction occurs. Contact Delta or the distributor for technical support.

  • 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 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 Outer dimensions ···················································································· 2-4 2.3 Description and illustration of product interface ·······················································...
  • Page 5 Object Dictionary 5.1 Object list ······································································································· 5-3 5.2 General Objects ······························································································· 5-4 5.2.1 Device Type (1000h) ················································································ 5-4 5.2.2 Error Register (1001h) ·············································································· 5-4 5.2.3 Manufacturer Device Name (1008h)····························································· 5-5 5.2.4 Manufacturer Software Version (100Ah) ························································ 5-5 5.2.5 Identity Object (1018h) ·············································································· 5-6 5.3 PDO Mapping Objects ·······················································································...
  • Page 6 SDO Abort Codes 6.1 SDO abort codes ····························································································· 6-2...
  • Page 7 (This page is intentionally left blank.)

  • Page 8: Product Inspection And Model Explanation

    Product Inspection and Model Explanation 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. 1.1 Product inspection ············································································· 1-2 1.2 Model explanation ············································································· 1-2...
  • Page 9 Product Inspection and Model Explanation R2-ECx004 User Manual 1.1 Product inspection Check the following after you receive the product. 1. Packaging: check if the shipping carton is intact. 2. Bubble wrap: the bubble wrap is used to protect the product from collision. Check if the stickers are securely attached to the bubble wrap.

  • Page 10: Specifications And Product Interface

    Specifications and Product Interface This chapter introduces the specifications of the R2-ECx004 series products, including electrical specifications, product diagram, dimensional drawings, and definitions of the connection ports and indicators. 2.1 Electrical specifications ······································································· 2-2 2.2 Product diagram and dimensions ·························································· 2-3 2.2.1 Product diagram ··········································································...

  • Page 11: Electrical Specifications

    Specifications and Product Interface R2-ECx004 User Manual 2.1 Electrical specifications Item R2-EC0004 R2-EC1004 R2-EC2004 Power 24 V , -15% to +20% Module input < 1A current Digital input / Digital input Digital output Digital input Digital output output Isolation type Optical coupling Optical coupling Optical coupling...

  • Page 12: Product Diagram And Dimensions

    R2-ECx004 User Manual Specifications and Product Interface 2.2 Product diagram and 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 V loads.

  • Page 13: Outer Dimensions

    Specifications and Product Interface R2-ECx004 User Manual 2.2.2 Outer dimensions 94.72 (3.73) 52.5 (2.07) 74.8 (2.94) Unit: mm (inch)

  • Page 14: Description And Illustration Of Product Interface

    R2-ECx004 User Manual Specifications and Product Interface 2.3 Description and illustration of product interface The following describes the product interface of the R2-ECx004 series models. ( ) 4 ( ) 2 Description EtherCAT input port (connection status indicator included) Module power port EtherCAT output port (connection status indicator included) Module power indicator (PWR) Module communication indicator (RUN)

  • Page 15: Description Of Connection Ports And Indicators

    Specifications and Product Interface R2-ECx004 User Manual 2.4 Description of connection ports and indicators 2.4.1 R2-ECx004 IO Port 0  Definitions of Port 0 for R2-EC0004 and R2-EC1004 models are as follows. PORT0 16DI-DC Description Description S/S* Common input point Reserved (no connection) S/S* Common input point...
  • Page 16 R2-ECx004 User Manual Specifications and Product Interface  Definitions of Port 0 for R2-EC2004 models are as follows. PORT0 16DO-DT Description Description Common output point Common output point output of Port 0 output of Port 0 output of Port 0 output of Port 0 output of Port 0 output of Port 0...

  • Page 17: R2-Ecx004 Io Port 1

    Specifications and Product Interface R2-ECx004 User Manual 2.4.2 R2-ECx004 IO Port 1  Definitions of Port 1 for R2-EC0004 and R2-EC2004 models are as follows. PORT1 16DO-DT Description Description Common output point Common output point output of Port 1 output of Port 1 output of Port 1 output of Port 1 output of Port 1...
  • Page 18 R2-ECx004 User Manual Specifications and Product Interface  Definitions of Port 1 for R2-EC1004 models are as follows. PORT1 16DI-DC Description Description S/S* Common input point Reserved (no connection) S/S* Common input point S/S* Common input point input of Port 1 input of Port 1 input of Port 1 input of Port 1...

  • Page 19: R2-Ecx004 Power Port

    Specifications and Product Interface R2-ECx004 User Manual 2.4.3 R2-ECx004 power port Definitions of the power port for the R2-ECx004 series models are as follows. Description Note Module external power of 24 V Range of error: -15% to +20% Ground for module external power Functional ground Follow the instructions for power supply and wiring to prevent any danger.

  • Page 20: Ethercat Communication Port And Indicators

    R2-ECx004 User Manual Specifications and Product Interface 2.4.4 EtherCAT communication ports and indicators Definitions of the communication ports and LED indicators for the R2-ECx004 series models are as follows. (IN) Green (OUT) Green The LED indicators for the communication ports (RJ-45) are green, which indicate the EtherCAT communication connection status.

  • Page 21: R2-Ecx004 Io Indicators

    Specifications and Product Interface R2-ECx004 User Manual 2.4.5 R2-ECx004 IO indicators  Definitions of the LED indicators for Port 0 and Port 1 of the R2-EC0004 series models are as follows. PORT1 PORT0 16DI-DC 16DO-DT The LED indicators show the status of the GPIO signals. When the input / output signal is on, the corresponding indicator shows green (solid on).
  • Page 22 R2-ECx004 User Manual Specifications and Product Interface  Definitions of the LED indicators for Port 0 and Port 1 of the R2-EC1004 series models are as follows. PORT1 PORT0 16DI-DC 16DI-DC The LED indicators show the status of the GPIO signals. When the input / output signal is on, the corresponding indicator shows green (solid on).
  • Page 23 Specifications and Product Interface R2-ECx004 User Manual  Definitions of the LED indicators for Port 0 and Port 1 of the R2-EC2004 series models are as follows. PORT1 PORT0 16DO-DT 16DO-DT The LED indicators show the status of the GPIO signals. When the input / output signal is on, the corresponding indicator shows green (solid on).

  • Page 24: R2-Ecx004 Module Status Indicators

    R2-ECx004 User Manual Specifications and Product Interface 2.4.6 R2-ECx004 module status indicators Definitions of the LED indicators for the module status of the R2-ECx004 series models are as follows. The module status indicators include module power indicator (PWR), module communication status indicator (RUN), and module error indicator (ERR).
  • Page 25 Specifications and Product Interface R2-ECx004 User Manual (This page is intentionally left blank.) 2-16...

  • Page 26: Wiring And Installation

    Wiring and Installation This chapter introduces the wiring examples of input and output 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 ·······················································································...

  • Page 27: Input Port Wiring Example

    Wiring and Installation R2-ECx004 User Manual 3.1 Input port wiring example  Connect NPN (SINK) type load to R2-ECx004 input ports The IO power (IO_24V / IOGND) and module power (24VPWR / PWR_GND) should be two independent power circuits. The following figure illustrates a single input point (X15). The structure is the same for the other 15 input points (X01 - X14).
  • Page 28 R2-ECx004 User Manual Wiring and Installation  Connect PNP (SOURCE) type load to R2-ECx004 input ports The IO power (IO_24V / IOGND) and module power (24VPWR / PWR_GND) should be two independent power circuits. The following figure illustrates a single input point (X15). The structure is the same for the other 15 input points (X01 - X14).

  • Page 29: Output Port Wiring Example

    Wiring and Installation R2-ECx004 User Manual 3.2 Output port wiring example  Connect NPN (SINK) type load to R2-ECx004 output ports The IO power (IO_24V / IOGND) and module power (24VPWR / PWR_GND) should be two independent power circuits. The following figure illustrates a single output point (Y00). The structure is the same for the other 15 output points (Y01 - Y15).

  • Page 30: System Structure Example

    R2-ECx004 User Manual Wiring and Installation 3.3 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. Solenoid Valves Electrical Switch Sensor...

  • Page 31: Installation

    Wiring and Installation R2-ECx004 User Manual 3.4 Installation 3.4.1 Installation in the electrical control panel Follow these precautions when installation. If you do not follow the precautions specified in the manual, the protection provided by the control module may be reduced. Mounting space Install the R2-ECx004 series module in an enclosed electrical control panel and allow a clearance of 50 mm (2”) between the module and the walls for ventilation, as shown in the...
  • Page 32 R2-ECx004 User Manual Wiring and Installation Measures for increasing immunity to interference  No high voltage devices in the electrical control panel.  Isolate the power cable from the control module with the distance of at least 200 mm (7.87”). ...

  • Page 33: Wiring Requirements

    Wiring and Installation R2-ECx004 User Manual (3) The installation is complete. 3.4.2 Wiring requirements 1. The recommended wire gauge for wiring with the housing 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.

  • Page 34: Cia 401 Device Profile

    CiA 401 Device 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: Do Operation Method

    CiA 401 Device Profile R2-ECx004 User Manual 4.1 DO operation method You can control the digital output status at present with DO Setting Value (6200h) and Allow DO State Change (2001h), limit the output channels with DO Filter Mask (6208h), and determine the output status at present when a connection error occurs with DO Error Mode Enable (6206h) and DO Error Mode Setting Value (6207h).
  • Page 36 R2-ECx004 User Manual CiA 401 Device Profile 4.1.1 Related objects The following lists the names and setting properties of the objects related to R2-EC0004. Sub- Data Index Name Access Unit index type mapping Read DO Actual Value USINT Read Port 1 DO CH0 - 7 USINT 2000h Actual Value...
  • Page 37 CiA 401 Device Profile R2-ECx004 User Manual The following lists the names and setting properties of the objects related to R2-EC2004. Sub- Data Index Name Access Unit index type mapping Read DO Actual Value USINT Read Port 0 DO CH0 - 7 USINT Actual Value Read Port 0 DO CH8 - 15...
  • Page 38 R2-ECx004 User Manual CiA 401 Device Profile Sub- Data Index Name Access Unit index type mapping DO Filter Mask USINT Port 0 DO CH0 - 7 Filter Mask USINT 6208h Port 0 DO CH8 - 15 Filter Mask USINT Port 1 DO CH0 - 7 Filter Mask USINT Port 1 DO CH8 - 15 Filter Mask USINT...
  • Page 39 CiA 401 Device Profile R2-ECx004 User Manual (This page is intentionally left blank.)
  • Page 40 Object Dictionary This chapter introduces the objects, including the descriptions and applications, supported by R2-ECx004. 5.1 Object list························································································· 5-3 5.2 General Objects ················································································ 5-4 5.2.1 Device Type (1000h) ···································································· 5-4 5.2.2 Error Register (1001h) ·································································· 5-4 5.2.3 Manufacturer Device Name (1008h) ················································ 5-5 5.2.4 Manufacturer Software Version (100Ah) ···········································...
  • Page 41 Object Dictionary R2-ECx004 User Manual 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: Object List

    R2-ECx004 User Manual Object Dictionary 5.1 Object list Object Dictionary Section 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 Receive PDO Mapping 2 (1601h) 5.3.2 PDO Mapping...

  • Page 43: General Objects

    Object Dictionary R2-ECx004 User Manual 5.2 General Objects 5.2.1 Device Type (1000h) This object describes the type and function of each device. R2-EC0004 Sub- Data Index Name Access Value index type mapping 1000h Device Type UDINT 0x00030191 R2-EC1004 Sub- Data Index Name Access...

  • Page 44: Manufacturer Device Name (1008H)

    R2-ECx004 User Manual Object Dictionary 5.2.3 Manufacturer Device Name (1008h) This object acquires the device name of R2-ECx004. R2-EC0004 Sub- Data Index Name Access Value index type mapping Manufacturer Device 1008h STRING R2-EC0004 Name R2-EC1004 Sub- Data Index Name Access Value index type...

  • Page 45: Identity Object (1018H)

    Object Dictionary R2-ECx004 User Manual 5.2.5 Identity Object (1018h) This object acquires the general information of R2-ECx004. R2-EC0004 Sub- Data Index Name Access Value index type mapping Number of entries USINT Vendor ID UDINT 0x000001DD 1018h Product code UDINT 0x00000004 Revision number UDINT 0x00100000...

  • Page 46: Pdo Mapping Objects

    R2-ECx004 User Manual Object Dictionary 5.3 PDO Mapping Objects In EtherCAT communication, you can set the PDO mapping objects to update data periodically. OD 1601h and 1A01h are optional objects. 5.3.1 Receive PDO Mapping (1600h) This object receives data periodically. R2-EC0004 Sub- Data...
  • Page 47 Object Dictionary R2-ECx004 User Manual 5.3.2 Receive PDO Mapping 2 (1601h) This object is optional and receives data periodically. R2-EC0004 Sub- Data Index Name Access Value index type mapping Number of objects in USINT this PDO Mapping entry 1 UDINT 0x24000008 1601h Mapping entry 2...
  • Page 48 R2-ECx004 User Manual Object Dictionary 5.3.3 Transmit PDO Mapping (1A00h) This object transmits data periodically. R2-EC0004 Sub- Data Index Name Access Value index type mapping Number of objects in USINT this PDO Mapping entry 1 UDINT 0x60000108 1A00h Mapping entry 2 UDINT 0x60000208 Mapping entry 3...
  • Page 49 Object Dictionary R2-ECx004 User Manual 5.4 Sync Manager Communication Objects 5.4.1 Sync Manager Communication Type (1C00h) In EtherCAT communication, this object sets the communication type of the sync managers. Sub- Data Index Name Access Value index type mapping Number of used Sync USINT Manager channels 1: mailbox...

  • Page 50: Sync Manager Synchronization (1C32H, 1C33H)

    R2-ECx004 User Manual Object Dictionary 5.4.3 Sync Manager Synchronization (1C32h, 1C33h) In EtherCAT communication, this object synchronizes the input and output parameters of the sync managers. Sub- Data Index Name Access Value index type mapping Number of SM Output USINT Parameter Synchronization Type UINT...

  • Page 51: Manufacturer Specific Objects

    Object Dictionary R2-ECx004 User Manual 5.5 Manufacturer Specific Objects 5.5.1 Read DO Actual Value (2000h) This object reads the actual output values of R2-EC0004 and R2-EC2004 (8 output channels as a set). R2-EC0004 Sub- Data Index Name Access Value index type mapping Read DO Actual Value...

  • Page 52: Allow Do State Change (2001H)

    R2-ECx004 User Manual Object Dictionary 5.5.2 Allow DO State Change (2001h) This object sets whether the states of the output channels of R2-EC0004 and R2-EC2004 can be changed (8 channels as a set). Take OD 2001h Sub-index 1 for example. To disallow CH0 - 5 from changing the states and allow CH6 - 7 to change the states, set the value of Sub-index 1 to the binary value of 11000000 (192 in decimal).

  • Page 53: Di Filter Range (2002H)

    Object Dictionary R2-ECx004 User Manual 5.5.3 DI Filter Range (2002h) This object sets the filter time of the digital inputs (DIs) of R2-EC0004 and R2-EC1004. The signals are filtered by the software filter function of the module with the minimum filter time of 100 µs.

  • Page 54: Clear Input Event (2011H)

    R2-ECx004 User Manual Object Dictionary 5.5.5 Clear Input Event (2011h) This object clears the DI event records of R2-EC0004 and R2-EC1004. Sub- Data Index Name Access Value index type mapping 2011h Clear Input Event USINT 0 to 255 Data description: Value Meaning When the value of OD 2011h changes, the value of OD 2012h is cleared to 0 immediately.

  • Page 55: Timestamp Initial Time Setting (2020H)

    5.5.7 Timestamp Initial Time Setting (2020h) This is a user-defined object. By Delta’s default setting, it sets the initial time of the R2-ECx004 timestamp. You can set the initial time of the timestamp with Sub-index 1 and Sub-index 2. For...

  • Page 56: Di Timestamp Counter And Pass Time Fifo (2030H To 204Fh)

    R2-ECx004 User Manual Object Dictionary 5.5.10 DI Timestamp Counter and Pass Time FIFO (2030h to 204Fh) These objects record the count of DI changes of R2-EC0004 and R2-EC1004 after the timestamp function is enabled and record the pass time based on the initial time (2020h). The available DI points of R2-EC0004 are DI 0 to DI 15 of Port 0;...

  • Page 57: Do Timestamp Counter And Pass Time Fifo (2050H To 206Fh)

    Object Dictionary R2-ECx004 User Manual 5.5.11 DO Timestamp Counter and Pass Time FIFO (2050h to 206Fh) These objects record the count of DO changes of R2-EC0004 and R2-EC2004 after the timestamp function is enabled and record the pass time based on the initial time (2020h). The available DO points of R2-EC0004 are DO 0 to DO 15 of Port 0;...

  • Page 58: Di Input Bounce Counter And Pass Time Fifo (2070H To 208Fh)

    R2-ECx004 User Manual Object Dictionary 5.5.12 DI Input Bounce Counter and Pass Time FIFO (2070h to 208Fh) These objects record the count of signal bounce of R2-EC0004 and R2-EC1004 after the timestamp function is enabled and record the pass time based on the initial time (2020h). The available DI points of R2-EC0004 are DI 0 to DI 15 of Port 0;...
  • Page 59 Object Dictionary R2-ECx004 User Manual 5.6 Device Control 5.6.1 Read Input (8-bit) (6000h) This object reads the status of the DI channels of R2-EC0004 and R2-EC1004 (8 input channels as a set). R2-EC0004 Sub- Data Index Name Access Value index type mapping Read Input (8-bit)
  • Page 60 R2-ECx004 User Manual Object Dictionary 5.6.2 DO Setting Value (6200h) This object sets the values of the DO channels of R2-EC0004 and R2-EC2004 (8 output channels as a set). R2-EC0004 Sub- Data Index Name Access Value index type mapping DO Setting Value USINT 0 to 255 Port 1 DO...
  • Page 61 Object Dictionary R2-ECx004 User Manual 5.6.3 DO Error Mode Enable (6206h) This object sets whether to enable the DO error mode for R2-EC0004 and R2-EC2004 (8 output channels as a set). For example, when the value of the sub-index is 00000000, the DO error mode is not enabled, and the value of the output channel set remains the same when an error occurs.
  • Page 62 R2-ECx004 User Manual Object Dictionary 5.6.4 DO Error Mode Setting Value (6207h) This object sets the DO Error Mode Setting Value for R2-EC0004 and R2-EC2004 (8 output channels as a set). R2-EC0004 Sub- Data Index Name Access Value index type mapping DO Error Mode Setting USINT...

  • Page 63: Do Filter Mask (6208H)

    Object Dictionary R2-ECx004 User Manual 5.6.5 DO Filter Mask (6208h) This object sets the DO Filter Mask for R2-EC0004 and R2-EC2004 (8 output channels as a set). For example, when the value of the sub-index is 00000000, it means the Filter Mask of the output channel set is disabled, and the value of the output channel set remains the same.
  • Page 64 SDO Abort Codes This chapter introduces the SDO abort codes for R2-ECx004. 6.1 SDO abort codes ··············································································· 6-2...
  • Page 65 SDO Abort Codes R2-ECx004 User Manual 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.
  • Page 66 Revision History Release date Version Chapter Revision contents V1.0 November, 2022 (First edition)
  • Page 67 Revision History R2-ECx004 User Manual (This page is intentionally left blank.)

This manual is also suitable for:

R2-ec0004R2-ec1004R2-ec2004

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