Delta ASRTU-EC16AP Operation Manual
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Delta ASRTU-EC16AP Operation Manual

Ethercat remote communication module
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Industrial Automation Headquarters
Delta Electronics, Inc.
Taoyuan Technology Center
No.18, Xinglong Rd., Taoyuan District,
Taoyuan City 330477, Taiwan
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*We reserve the right to change the information in this manual without prior notice.
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TEL: +971 ( 0 ) 4 2690148
AS-0242920-03
2023/07/20
Digitized Automation for a Changing World
ASRTU-EC16AP
EtherCAT Remote Communication
Module Operation Manual
www.deltaww.com

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Summary of Contents for Delta ASRTU-EC16AP

  • Page 1 Mail: Sales.IA.RU@deltaww.com TEL: +7 495 644 3240 Delta Electronics ( Americas ) Ltd. Delta Greentech Elektronik San. Ltd. Sti. ( Turkey ) 5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: +1-919-767-3813 / FAX: +1-919-767-3969 Şerifali Mah. Hendem Cad. Kule Sok. No:16-A 34775 Ümraniye –...

  • Page 2: Table Of Contents

    3.4 Address Switches ................3-4 3.5 Extension Module Port..............3-4 Chapter 4 Installing and Wiring ............4-1 4.1 Installing ASRTU-EC16AP and AS Extension Modules to DIN Rail ... 4-2 4.2 Connecting EtherCAT Ports ............... 4-3 4.3 Wiring ..................4-3 4.3.1 Power Input ................4-3 4.3.2 Ground ..................
  • Page 3 6.2.1 Device Type (1000h) ............... 6-3 6.2.2 Error Register (1001h) ............6-3 6.2.3 Device Name (1008h) ............. 6-4 6.2.4 Hardware Version (1009h) ............6-4 6.2.5 Software Version (100Ah) ............6-4 6.2.6 Identity (1018h) ..............6-5 6.3 PDO Mapping Objects ..............6-5 6.3.1 Receive PDO Mapping .............
  • Page 4 6.5.2 Detected Module ID List (F050h) ..........6-34 Chapter 7 Application Examples ............7-1 7.1 Using DELTA AX3 Series CPU with ASRTU-EC16AP1TA ......7-4 7.2 Using ASRTU-EC16AP1TA’s High-Speed Counting and Pulse Output ..7-10 Chapter 8 Error Diagnosis and Trouble-shooting ......8-1 8.1 LED Indicator Diagnosis ..............

  • Page 6: Chapter 1 Preface

    Chapter 1 Preface Table of Contents 1.1 Explanation of Symbols in This Manual ..........1-2 1.2 Revision History ................1-2...

  • Page 7: Explanation Of Symbols In This Manual

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual  This manual provides an introduction to product functions, specifications, installation, basic operations and settings.  This product is an OPEN TYPE device and therefore should be installed in an enclosure free of airborne dust, humidity, electric shock and vibration.

  • Page 8: Chapter 2 Overview

    Chapter 2 Overview Table of Contents 2.1 Characteristics ................2-2 2.2 Specifications ................. 2-2 2.3 Extension Modules Connectable ............2-5...

  • Page 9: Characteristics

    EtherCAT protocol, please refer to relevant references or literatures. 3. ASRTU-EC16AP is defined as an EtherCAT remote slave and AS series DI/DO modules and AI/AO modules can be connected on its right side. (Note: The communication module and positioning module are not allowed to connect on the right side of ASRTU-EC16AP.)
  • Page 10 Chapter 2 Overview  Electrical specification for built-in digital input points (24VDC) Item Specification Number of digital input points 8 points (X0.0 ~ X0.7) Connector type Removable terminal block Input type Digital input Input form Direct current (sinking or sourcing) Input voltage/ current 24 VDC, 5 mA OFF→ON...
  • Page 11 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual  EtherCAT communication specification Item Specification Communication protocol EtherCAT Protocol Supported service CoE (PDO, SDO) Physical layer 100 BASE-TX Baud rate 100 Mbps Transmission medium Cat 5 or above shielded cable Transmission distance...

  • Page 12: Extension Modules Connectable

    UL94V-0 rating of plastic case Weight 84 g 2.3 Extension Modules Connectable  Digital input and output modules connectable to ASRTU-EC16AP and their specifications Default I/O mapping data DI/DO module (EtherCAT master → ASRTU-EC16AP) (ASRTU-EC16AP → EtherCAT master) (Model name)
  • Page 13 8 bits AS32AM10N 32 bits AS32AN02T 32 bits AS64AM10N 64 bits AS64AN02T 64 bits  Special modules connectable to ASRTU-EC16AP and their specifications Default I/O mapping data Special module (Model name) (EtherCAT master → ASRTU-EC16AP) (ASRTU-EC16AP→EtherCAT master) AS04AD-A 10 words AS08AD-B...

  • Page 14: Chapter 3 Profile And Parts

    Chapter 3 Profile and Parts Table of Contents 3.1 Profile and Dimensions ..............3-2 3.2 Parts ....................3-2 3.3 Definition of EtherCAT Port Pins ............3-4 3.4 Address Switches ................3-4 3.5 Extension Module Port..............3-4...

  • Page 15: Profile And Dimensions

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 3.1 Profile and Dimensions Unit: mm 3.2 Parts Number Name Description Model Name Model name of the module...
  • Page 16 Chapter 3 Profile and Parts Number Name Description Indicates the status of the power supply POWER LED indicator ON: The power is on. (Blue) OFF: No power ON: The module is in EtherCAT Operational status. OFF: The module is in EtherCAT Initial status. Blinking: Run LED indicator 1.

  • Page 17: Definition Of Ethercat Port Pins

    Switch setting Description 0 ~ 99 EtherCAT node address Example: If you need to set the node address of ASRTU-EC16AP to 26, simply switch the corresponding switch of x10 to 2 and the corresponding switch of x10 to 6. Notes: ...

  • Page 18: Chapter 4 Installing And Wiring

    Chapter 4 Installing and Wiring Table of Contents 4.1 Installing ASRTU-EC16AP and AS Extension Modules to DIN Rail ... 4-2 4.2 Connecting EtherCAT Ports ............... 4-3 4.3 Wiring .................... 4-3 4.3.1 Power Input ................4-3 4.3.2 Ground ................... 4-4 4.4 Input and Output Wiring ..............4-5 4.4.1 External Input Wiring ..............

  • Page 19: Installing Asrtu-Ec16Ap And As Extension Modules To Din Rail

    DIN rail and well connected to ASRTU-EC16AP. In the same way, install more IO modules to the right side of ASRTU-EC16AP and secure them to DIN rail one by one. D IN Rail Clip...

  • Page 20: Connecting Ethercat Ports

    4.2 Connecting EtherCAT Ports  There is a strict network topology requirement for the EtherCAT network. The network must follow the rule that the input port of the next ASRTU-EC16AP must be connected to the output port of the current ASRTU-EC16AP. ...

  • Page 21: Ground

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual ASRTU-EC16AP Safety Circuit Wiring ASR TU-E C16 AP  AC power supply: 100～240VAC; 50/60 Hz  Power supply circuit protection fuse  System 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.

  • Page 22: Input And Output Wiring

    The e quipment can n ot be g ro unded in this way . 4.4 Input and Output Wiring 4.4.1 External Input Wiring The input points X0.0~X0.7 of ASRTU-EC16AP are direct current inputs with two types of wiring: Sinking and Sourcing. See the two types of wiring below. ...

  • Page 23: External Output Wiring

    24 V DC S/S (Common) S witch （ ） IN0 Input 4.4.2 External Output Wiring All local output points of ASRTU-EC16AP are transistor outputs with the following wiring circuits.  For ASRTU-EC16AP1TA (NPN type) ASRTU EC16AP 1TA Load OUT0 5~30VDC 0.5A...

  • Page 24: Chapter 5 Configuring In Diadesigner-Ax

    Chapter 5 Configuring in DIADesigner-AX Table of Contents 5.1 Software Introduction ..............5-2 5.2 Adding ASRTU-EC16AP and Right-Side Extension Modules ....5-2 5.2.1 Manually Adding ASRTU-EC16AP and Right-Side Extension Modules ..............5-2 5.2.2 Using Auto Scan Function to Add ASRTU-EC16AP and Right-Side Modules ..............

  • Page 25: Software Introduction

    There are two methods of adding ASRTU-EC16AP and right-side extension modules to the EtherCAT master configuration. The first method is to manually add ASRTU-EC16AP first and then extension modules. The second method is to use the auto-scan function of the software to add ASRTU-EC16AP and its right-side extension modules.
  • Page 26 Chapter 5 Configuring in DIADesigner-AX 2. After the “Add Device” window is open, go to “Fieldbuses” → “EtherCAT” → “Slave” → “Delta Electronics, Inc” → “System Coupler”. Find out and select “ASRTU-EC16AP” (e.g. ASRTU-EC16AP1TA), and click on the “Add Device” button.
  • Page 27 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual...
  • Page 28 Chapter 5 Configuring in DIADesigner-AX After that, ASRTU-EC16AP is visible in the EtherCAT configuration as the following figure shows. Close the window after adding the device is finished. 3. Right-click ASRTU-EC16AP and then click “Add Device…” from the context menu.

  • Page 29: Using Auto Scan Function To Add Asrtu-Ec16Ap And Right-Side Modules

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual After adding right-side extension modules is complete, click “Close” to close the window. 5.2.2 Using Auto Scan Function to Add ASRTU-EC16AP and Right-Side Modules ASRTU-EC16AP supports the function of automatically scanning for ASRTU-EC16AP and right-side extension modules for easy configuration and operation.
  • Page 30 ASRTU-EC16AP1TA) and its right-side extension modules which are scanned out. After the ASRTU-EC16AP slave and right-side extension modules are scanned out, click “Copy All Devices to Project” button to add ASRTU-EC16AP and its right-side extension modules to the EtherCAT master...

  • Page 31: Operation Mode Setup

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 5.3 Operation Mode Setup With a click on “General” tab in the configuration interface of ASRTU-EC16AP, users could set the mode of running ASRTU-EC16AP on the General page. ASRTU-EC16AP supports three operation modes of SM-Synchron, DC-Synchron and FreeRun. Users could choose one mode from them in the drop-down box as shown above.
  • Page 32 Apart from configuring 5 default TxPDO Mappings and 5 default RxPDO Mappings, users could also configure the parameters for each PDO Mapping in the following steps. In the main configuration interface of ASRTU-EC16AP, click on “General” tab and tick the checkbox of “Enable expert settings”.
  • Page 33 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual For example, to add the filter time parameter for input point X0.0 to the first RxPDO Mapping for ASRTU-EC16AP, click “1st RxPDO Mapping” first and then the blank row in the PDO Content area and finally click “+Insert” button.
  • Page 34 Chapter 5 Configuring in DIADesigner-AX Select “Digital input bit0 filter time”. Then with a click on “OK”, the parameter “Digital input bit0 filter time” is added to the RxPDO Mapping. 5-11...

  • Page 35: Startup Parameters

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 5.5 Startup Parameters The parameter values for ASRTU-EC16AP and extension modules could be preset on the page of the Startup Parameters tab. When the EtherCAT master and ASRTU-EC16AP make the connection successfully, the corresponding parameters will be written values into according to the data configured in the Startup Parameters tab.

  • Page 36: Ethercat I/O Mapping

    PLC as well as define mapping variables or map user-defined variables to parameters. Here are three types of commonly-used pages: The first one is the EtherCAT I/O mapping page for ASRTU-EC16AP itself. The second one is the EtherCAT I/O mapping page for the extension modules on the right side of ASRTU-EC 16AP1TA.
  • Page 37 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual The third one is the Edit IO mapping page. Right-click on the slave ASRTU-EC16AP and then select “Edit IO mapping” item from the pop-up menu as shown below. After that, the following page is open, where you can see corresponding PDO parameters for ASRTU-EC16A P1TA and right-side extension modules.
  • Page 38 Chapter 5 Configuring in DIADesigner-AX Note: After you have modified the PDO mappings for ASRTU-EC16AP, the PDO parameters for ASRTU-EC16AP and extension modules would show up simultaneously on the EtherCAT I/O mapping page and the mapping devices and variables for the right-side extension modules on the Module I/O mapping page would be invalid.
  • Page 39 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual MEMO 5-16...

  • Page 40: Chapter 6 Introduction Of Parameters

    Chapter 6 Introduction of Parameters Table of Contents 6.1 Parameter List ................6-3 6.2 General Objects ................6-3 6.2.1 Device Type (1000h) ............... 6-3 6.2.2 Error Register (1001h)............. 6-3 6.2.3 Device Name (1008h) ............. 6-4 6.2.4 Hardware Version (1009h) ............6-4 6.2.5 Software Version (100Ah) ............
  • Page 41 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 6.4.2.8 Counter Channel 1 Status (3001: 09h) ......6-14 6.4.3 Counter Channel 2 Operation (3003h) ........6-15 6.4.4 Pulse Output Channel 1 Operation (3005h) ......6-15 6.4.4.1 Pulse Output Channel 1 Command (3005: 01h) ....6-16 6.4.4.2 Pulse Output Channel 1 MotionMode (3005: 02h) ....

  • Page 42: Parameter List

    USINT 0x00 When ASRTU-EC16AP produces an alarm, you can check the cause of the error and take a corrective action for ASRTU-EC16AP according to the value of the parameter. See the detailed explanation of parameter values in the following table.

  • Page 43: Device Name (1008H)

    Explanation How to deal with Check the error information on the special modules on the right of ASRTU-EC16AP and find the error cause based on the error code value of the extension module. Right-side extension module error Refer to AS Series Module Manual for detailed information on error codes for the special modules 1.

  • Page 44: Identity (1018H)

    2000h; when an extension module is located at the 2 place on the right of ASRTU-EC16AP, the index of the module parameters is 2001h and so on. Thus, likewise when an extension module is located at the 32 place on the right of ASRTU-EC16AP, the index of the module parameters is 201Fh.

  • Page 45: Local Parameter Objects

    The RTU Parameter set consists of general function parameters including switch ID, control word, digital input and digital output for ASRTU-EC16AP. 6.4.1.1 Switch ID (3000:01h) The Switch ID parameter reads the rotary switch value of the node address at the time when ASRTU-EC16AP is powered on. Index...

  • Page 46: Control Word (3000:02H)

    3000h Control word UINT See explanation of the control word parameter values of ASRTU-EC16AP in the following table. Value Description When ASRTU-EC16AP is disconnected from the master or exits from the OP state, users can set up the output values for local output points, the first 8 digital modules and the first 8 special modules with the parameters “COMlost_RTU_...

  • Page 47: Digital Output (3000:03H)

    Users can read the value of the parameter by configuring the parameter to a PDO or using a SDO so as to get the status of the local input points of ASRTU-EC16AP. Bit0 of the parameter corresponds to local input point...

  • Page 48: Digital Input Filter Time (3000:05H ~ 3000:0Ch)

    6.4.1.7 COMlost_RTU_Output (3000:0Eh) When ASRTU-EC16AP is disconnected from the master or exits from the OP state, and bit 1 of the control word parameter is 0, you can set the value of the local output points of ASRTU-EC16AP through the parameter.

  • Page 49: Counter Channel 1 Operation (3001H)

    1 starts counting immediately and the counting continues from the last recorded counter value. The function of clearing the counter value to 0 is enabled; the count value of ASRTU-EC16AP’s counter channel 1 is cleared to 0 and meanwhile counter channel 1 stops counting immediately. Note: Please connect a resistor of 2.2K ohm between the input points and S/S common terminal when the input...

  • Page 50: Counter Channel 1 Inputmode (3001: 02H)

    Chapter 6 Introduction of Parameters 6.4.2.2 Counter channel 1 InputMode (3001: 02h) The parameter sets the input mode for counter channel 1. ASRTU-EC16AP supports three input modes: single pulse, “pulse + direction” and “phase A + phase B”. Supports PDO...
  • Page 51 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual Pulse input Timing of counting type Phase A + phase B (multiplication Phase A + phase B (multiplication Phase A + phase B (multiplication 6-12...

  • Page 52: Counter Channel 1 Countdirection (3001: 04H)

    Chapter 6 Introduction of Parameters 6.4.2.3 Counter Channel 1 CountDirection (3001: 04h) The parameter can be used for specifying the direction of counting when the “single pulse input” mode is set as the pulse input mode for counter channel 1. Supports PDO Index Subindex...

  • Page 53: Counter Channel 1 Triggermode (3001: 07H)

    UINT ErrorCode If the touch probe (position capture) function of ASRTU-EC16AP’s input point X0.1 is enabled (the value of "Channel X1 TouchCommand" parameter is 1), high-speed counter channel 1 disables the counting function. At that time, if the value of "Counter channel 1 Command" parameter is set to 1, then the value of "Counter channel 1 ErrorCode"...

  • Page 54: Counter Channel 2 Operation (3003H)

    Counting status for counter channel 2 6.4.4 Pulse Output Channel 1 Operation (3005h) The Pulse output channel 1 operation parameter set contains the relevant parameters for pulse output channel 1 and pulse output channel 1 corresponds to ASRTU-EC16AP’s output points: Y0.0 and Y0.1. Index Subindex...

  • Page 55: Pulse Output Channel 1 Command (3005: 01H)

    1 will start the pulse output. Note: When the communication between ASRTU-EC16AP and the master is lost during the pulse output, pulse output channel 1 will stop immediately and the actual output pulse count will not be cleared to 0.

  • Page 56: Pulse Output Channel 1 Motionmode (3005: 02H)

    Chapter 6 Introduction of Parameters 6.4.4.2 Pulse Output Channel 1 MotionMode (3005: 02h) The parameter is available to select the motion mode for pulse output channel 1. The motion modes include speed output, position output, PWM mode, home mode, and general output for option. The parameter setting is effective as the command word for pulse output channel 1 changes from 0 to 1.
  • Page 57 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual Value Description Absolute position output mode: In this mode, the output point Y0.0 outputs a corresponding number of pulses according to the set target pulse number (Pulse output channel 1 TargetPulses), target frequency...

  • Page 58: Pulse Output Channel 1 Status (3005:04H)

    Chapter 6 Introduction of Parameters 6.4.4.3 Pulse Output Channel 1 Status (3005:04h) The parameter shows the status of pulse output channel 1. Supports PDO Index Subindex Name Data type Attribute Default mapping or not? Pulse output channel 1 3005h Status See explanation of the values of the parameter in the following table.

  • Page 59: Pulse Output Channel 1 Acceleration Time (3005: 08H)

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 6.4.4.7 Pulse Output Channel 1 Acceleration Time (3005: 08h) The parameter is the acceleration time or pulse output width for pulse output channel 1. Modifying the parameter value is invalid after the pulse output is enabled except that the motion mode is set to PWM mode.

  • Page 60: Pulse Output Channel 1 Outputmode (3005: 0Ah)

    A/B phase output: Y0.0 outputs phase A pulse, Y0.1 outputs phase B pulse. Note: When the mode of A/B phase output is selected, the maximum output frequency that ASRTU-EC16AP supports is 100 KHz. CW/CCW: Clockwise mode and counterclockwise mode. In CW mode, Y0.0 outputs the pulse signal and Y0.1 is OFF. In CCW mode, Y0.0 is OFF and Y0.1 outputs the pulse signal.

  • Page 61: Pulse Output Channel 1 Actual Motionmode (3005: 0Ch)

    The Pulse output channel 2 operation parameter set contains the relevant parameters for pulse output channel 2 which corresponds to ASRTU-EC16AP’s output point: Y0.2 and Y0.4. The explanations of the parameters for pulse output channel 2 are identical to those for pulse output channel Please refer to corresponding parameters for Pulse Output Channel 1 Operation in Section 6.4.4 for...

  • Page 62: Comlost_Domodule_Outputs (2100H~2107H)

    ActualFrequency 6.4.6 COMlost_DOmodule_Outputs (2100h~2107h) When ASRTU-EC16AP is disconnected from the master or exits from the OP state, and bit 1 of the control word parameter is 0, ASRTU-EC16AP will control the right-side extension DO modules to output corresponding values according to the settings for the parameters below.
  • Page 63 OP state. Before setting this set of parameters above, users need to know which one among all ASRTU-EC16AP’s right-side DO extension modules is the DO module to be configured, instead of knowing which one among all extension modules on the right side of the ASRTU-EC16AP is the DO module to be configured.

  • Page 64: Comlost_Aomodule_Outputs (2120H~2127H)

    Chapter 6 Introduction of Parameters 6.4.7 COMlost_AOmodule_Outputs (2120h~2127h) When ASRTU-EC16AP is disconnected from the master or exits from the OP state, and bit 1 of the control word parameter is 0, ASRTU-EC16AP will write data into TxPDO parameters of special modules according to the settings for this set of parameters below.
  • Page 65 2 special module which has the RxPDO AOmodule2_output2 mapping, on the right side of ASRTU-EC16AP when ASRTU-EC16AP is disconnected from the master or exits from the OP state. This parameter stands for the value in the 3...
  • Page 66 10V voltage, channel 3 is to output -5V voltage, and channel 4 is to output -10V voltage after ASRTU-EC16AP is disconnected from the master, please set bit 1 of the control word parameter to 0 in advance, and then set the parameter AOmodule2_output1 to 16000, AOmodule2_output3 to 32000, AOmodule2_output5 to -16000, and AOmodule2_output7 to -32000.

  • Page 67: Touch Probe Parameters

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 6.4.8 Touch Probe Parameters ASRTU-EC16AP’s local input points X0.1, X0.2, X0.3, X0.6 and X0.7 support the high-speed touch probe function (which is supported by firmware version 1.1.0 or later version). The touch probe function of input point X0.1 and the counting function of high-speed counter channel 1 can’t be used simultaneously, and the...
  • Page 68 Chapter 6 Introduction of Parameters Index Subindex Parameter name Description Channel X1 TouchCounter1posval Reserved Count value of high-speed counter Channel X2 TouchCounter1posval channel 1 when high-speed touch probe point X0.2 is rising-edge triggered. Count value of high-speed counter Channel X3 TouchCounter1posval channel 1 when high-speed touch probe 3014h point X0.3 is rising-edge triggered.

  • Page 69: Touch Probe Command (3010H)

    1 will not count and the value of "Counter channel 1 ErrorCode" parameter will become 16 # 3000. When the touch probe function of ASRTU-EC16AP’s input point X0.2 or X0.3 is enabled and the value of the parameter "Channel X2 TouchCommand" or "Channel X3 TouchCommand" is 1, the counting function of high-speed counter channel 2 is disabled.

  • Page 70: Touch Probe Status (3012H)

    Chapter 6 Introduction of Parameters Description of parameter setting values: Value Description Rising-edge single-cycle touch probe In this mode, after the command word for a touch probe point is set to 1, the relevant parameter will record the high-speed counter channel’s current count value when the status of the corresponding input point changes from OFF to ON for the first time.

  • Page 71: Touch Probe Error (3013H)

    After the counting function of ASRTU-EC16AP’s high-speed counter channel 1 is enabled, the touch probe function of the ASRTU-EC16AP’s local input point X0.1 is disabled. If the touch probe function of input point X0.1 is enabled at that time, the value of "Channel X1 TouchErrorID" parameter will change to 16#3000.

  • Page 72: Touch Probe Counter2Posval (3015H)

    TouchCounter2posval The parameters "Channel X2 TouchCounter2posval" and "Channel X3 TouchCounter2posval" are reserved since the touch probe function of ASRTU-EC16AP’s input points X0.2 and X0.3 and the counting function of high-speed counter channel 2 cannot be used simultaneously. 6.4.8.7 Touch Probe Counter1negval (3016h) The Touch Probe Counter1negval parameter set is the current value of high-speed counter channel 1, which is captured by falling edge at each touch probe point.

  • Page 73: Module Config Objects

    TouchCounter2negval The parameters "Channel X2 TouchCounter2negval" and "Channel X3 TouchCounter2negval" are reserved since the touch probe function of ASRTU-EC16AP’s input points X0.2 and X0.3 and the counting function of high-speed counter channel 2 cannot be used simultaneously. 6.5 Module Config Objects 6.5.1 Configured Module ID List (F030h)
  • Page 74 Chapter 7 Application Examples Table of Contents 7.1 Using DELTA AX3 Series CPU with ASRTU-EC16AP1TA ......7-4 7.2 Using ASRTU-EC16AP1TA’s High-Speed Counting and Pulse Output ..7-10...
  • Page 75 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual This chapter describes how to configure the parameters for the ASRTU-EC16AP1TA module by means of examples. In Sections 7.1 and 7.2 is the introduction of the configuration methods for ASRTU-EC16AP1TA used together with different EtherCAT masters.

  • Page 76: Chapter 7 Application Examples

    Delta EtherCAT remote IO module AS04DA_A Delta analog-output module AS04AD_A Delta analog-input module Delta digital input/output module with 8 points for output AS16AP11T and 8 points for input Note: 1. Please check that the modules AS16AP11T, AS04DA_A, AS04AD_A and ASRTU-EC16AP1TA are working normally and the entire network wiring is proper.

  • Page 77: Using Delta Ax3 Series Cpu With Asrtu-Ec16Ap1Ta

    7.1 Using DELTA AX3 Series CPU with ASRTU-EC16AP1TA Download DIADesigner-AX software from Delta official website, install it and then start the software. A new project is created by selecting the “Standard project” icon in the red box and then typing a...
  • Page 78 Chapter 7 Application Examples Click “OK” button to complete the setting. Afterward, select “AX-308EA0MA1T (Delta Electronics, Inc.)” in the “Device” field and one right version, and then click “OK” in the following window. The created new project is shown as below.
  • Page 79 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual Double-click on “Device” in the red box above and then click on “Scan Network…” in the red box in the following window. Then the following window appears, where AX-3 series controller will be searched for automatically.
  • Page 80 Chapter 7 Application Examples After that, the connected CPU will automatically show up in the “Device” interface as below. Right-click on “EtherCAT_Master_Softmotion” in the red box below and select “Scan For Device” from the pop-up menu to scan out the EtherCAT slave. After the scan function is enabled, the software can scan out the ASRTU-EC16AP1TA module and its right-side extension modules.
  • Page 81 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual After the scan is complete, click “Copy All Devices to Project” to add all scanned devices to the software. After adding devices is complete, right-click on ASRTU-EC16AP1TA and select “Edit IO mapping” from the context menu to view the IO mapping for ASRTU-EC16AP1TA.
  • Page 82 Chapter 7 Application Examples Note: You can assign existing program variables or create IO variables for module channels in the “Variable” column as shown in the red box above. When the module channels are not assigned any program variable, the I and Q devices in the “Address”...

  • Page 83: Using Asrtu-Ec16Ap1Ta's High-Speed Counting And Pulse Output

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 7.2 Using ASRTU-EC16AP1TA’s High-Speed Counting and Pulse Output Control requirements  Select the “pulse + direction” mode as the pulse output mode for pulse output channel 1 of ASRTU-EC16AP1TA, and set the target number of output pulses to 1,000,000, the target frequency to 100 kHz, and both acceleration time and deceleration time to 1000 milliseconds.
  • Page 84 As the wiring in the above figure shows, please connect the common terminal S/S to 0V, C0 to 24V, input point X0.0 to output point Y0.0, and input point X0.1 to output point Y0.1.  Setting the network configuration 1. Download and DIADesigner-AX software from Delta official website, install it and then start the software. 7-11...
  • Page 85 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 2. After clicking “New Project…” in the open software interface, select the “Standard project” template and then type a project name and storage location in the “New Project” window as below. After the above setting is complete, click the "OK" button, then select "AX-308EA0MA1T" in the “Device”...
  • Page 86 Chapter 7 Application Examples 3. The newly created project is viewed as below. Double-click “Device” in the red box in the figure above, and then click the "Scan Network…" in the red box of the following figure. 7-13...
  • Page 87 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual After clicking "Scan Network", a new window will pop up, where the software will automatically scan for AX-3 series controller. After the software scans out the AX-3 controller, please select the controller, and then click "OK"...
  • Page 88 Chapter 7 Application Examples 7-15...
  • Page 89 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 4. Right-click on “EtherCAT_Master_Softmotion” and then select “Scan For Device” from the context menu to scan for the EtherCAT slave. The “Scanned Devices” window pops up and the software automatically scans ASRTU-EC16AP1TA out after the scan function is enabled.
  • Page 90 Chapter 7 Application Examples 5. Double-click ASRTU-EC16AP1TA to open the configuration window, where you click “Process Data” tag to open the page. On the Process Data page, select relevant PDO Mappings for pulse output channel 1 and counter channel 1 as the above figure shows. 6.
  • Page 91 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 7. Double-click "ASRTU-EC16AP1TA ", and then click "EtherCAT I/O Mapping" tab. On the following "EtherCAT I/O Mapping" page, you can map the parameters to corresponding program variables as shown in the figure below.
  • Page 92 Chapter 7 Application Examples Description of lines in the program above: Line 2: The counting mode for counter channel 1 is set to “pulse + direction”. Line 3: The motion mode for pulse output channel 1 is set to the “absolute position output” mode. Line 4: The target frequency for pulse output channel 1 is set to 100 kHz.
  • Page 93 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual MEMO 7-20...

  • Page 94: Chapter 8 Error Diagnosis And Trouble-Shooting

    Chapter 8 Error Diagnosis and Trouble-shooting ASRTU-EC16AP supports two diagnostic methods: LED indicator and status indication. Table of Contents 8.1 LED Indicator Diagnosis ..............8-2 8.2 Status Indication Diagnosis .............. 8-3...

  • Page 95: Led Indicator Diagnosis

    The power supply is abnormal. is normal Green light on The power supply is normal.  Error LED Error LED indicates if there is an error in ASRTU-EC16AP and right-side modules. LED status Indication How to correct ASRTU-EC16AP works normally or lacks the work power.

  • Page 96: Status Indication Diagnosis

    EtherCAT network and blinking data exchange is happening. 8.2 Status Indication Diagnosis The status indication parameter of ASRTU-EC16AP, “Error register” indicates current error information for ASRTU-EC16AP. See Section 6.2.2 for details on the explanation of the parameter values.
  • Page 97 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual MEMO...
  • Page 98 Appendix A Accessories for EtherCAT Communication Table of Contents A.1 Accessories for EtherCAT Communication .......... A-2...

  • Page 99: Appendix A Accessories For Ethercat Communication

    ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual A.1 Accessories for EtherCAT 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...
  • Page 100 Appendix B Online Firmware Upgrade Table of Contents B.1 Online Firmware Upgrade ..............B-2...

  • Page 101: Appendix B Online Firmware Upgrade

    1. Open the DIADesigner-AX software page, create a new project and then add ASRTU-EC16AP to the EtherCAT network, as shown in the following figure: Note: Please refer to Section 5.2 for details on how to add ASRTU-EC16AP to the EtherCAT network. 2. With a double click on "EtherCAT_Master_SoftMotion", open the EtherCAT master configuration interface and then deselect "Automatic restart slaves"...
  • Page 102 After clicking "Login", click the "Yes" button in the new pop-up window. After successful login, click the "Start" option on the "Debug" menu of the menu bar. 4. Open the configuration interface for ASRTU-EC16AP, and select "Enable expert settings" in the “General” tab.
  • Page 103 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual 5. Open the "Online" configuration interface for ASRTU-EC16AP, click the "Bootstrap" button. After ASRTU-EC16AP enters the "Bootstrap Mode" state, click the "Download..." button under the "File access via EtherCAT" field.
  • Page 104 Appendix B Online Firmware Upgrade Select an online file for updating the firmare from the new interface, and then click the "Open" button. Click the "OK" button in the following pop-up window to start updating the firmware.
  • Page 105 Once the online firmware upgrade is complete, the progress bar will disappear, and then the ASRTU-EC16AP will automatically restart, and the current status will change to "Init". Since the check box of "Automatic restart slaves" in the "EtherCAT_Master_SoftMotion" window has been deselected, you can reset the AX-308E by using the "Reset warm"...
  • Page 106 Appendix B Online Firmware Upgrade...
  • Page 107 ASRTU-EC16AP EtherCAT Remote Communication Module Operation Manual MEMO...

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