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TPM 207-D533-NN User Manual

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TPM
207-D533-NN User Manual
207-D533-NN
User Manual
Version: V1.0 2019 Nov. 12
To properly use the product, read this manual thoroughly is necessary.
Part No.: 81-18D533-010
1

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Summary of Contents for TPM 207-D533-NN

  • Page 1 207-D533-NN User Manual 207-D533-NN User Manual Version: V1.0 2019 Nov. 12 To properly use the product, read this manual thoroughly is necessary. Part No.: 81-18D533-010...
  • Page 2 207-D533-NN User Manual Revision History Date Revision Description 2019/11/12 Document creation.
  • Page 3 The product, including the product itself, the accessories, the software, the manual and the software description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted, transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except the documentation kept by the purchaser for backup purposes.
  • Page 4 207-D533-NN User Manual Electrical safely ◼ To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating the system. ◼ When adding or removing devices to or from the system, ensure that the power cables for the devices are unplugged before the signal cables are connected.

  • Page 5: Table Of Contents

    Switch Description ............................12 2.4.2 LED Description ............................13 2.4.3 EtherCAT Communication .......................... 16 2.4.4 Power Connector ............................17 2.4.5 207-D533-NN – Pin Definition ........................18 ..................................21 IGNAL IRCUIT TWINCAT 3 OPERATION ..............................22 ESI D ............................22 NSTALL THE...
  • Page 6 207-D533-NN User Manual (4000 )................................40 TATION LIAS 6.1.1 Device Addressing ............................41 (4001 ) ..........................44 UTPUT ESET ETTING (4005 ) ............................45 ETAIN ARIABLE PERATION (1010 ) ............................... 46 ARAMETERS (1011 ) ............................. 46 ESTORE EFAULT ARAMETERS...

  • Page 7: Ethercat Introduction

    207-D533-NN User Manual 1. EtherCAT Introduction 1.1 Introduction ® EtherCAT is an ultra-high-speed serial communication system. This technology is widely applied in factory ® and machinery automation industries. EtherCAT is real-time down to the I/O level. The transmission rate of ®...

  • Page 8: System Configurations

    207-D533-NN User Manual 1.2 System Configurations 1.3 Data Transition...

  • Page 9: Ethercat Tool: Twincat

    PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics runtime systems. ® ® All TPM modules can be tested with TwinCAT easily. With the RJ45 cable, EtherCAT Master and ® EtherCAT slaves can connect to achieve the control system.

  • Page 10: Product Overview

    207-D533-NN User Manual 2. Product Overview 2.1 Naming Rule 2 0 7 - D 3 - N EtherCAT Plug-in EtherCAT NPN type NPN type Digital 48 DI 48 DO module series Input Output 2.2 Dimension P0 P1 R E 123mm...

  • Page 11: 207-D533-Nn Specifications

    207-D533-NN User Manual 2.3 207-D533-NN Specifications EtherCAT Serial interface Fast Ethernet, Full-Duplex Distributed Clock Cable type CAT5 UTP/STP Ethernet cable Surge protection 10KV Transmission speed 100 Mbps Communication type Digital I/O I/O isolation voltage 3750Vrms Input type NPN type Input impendence 5.6KΩ/0.5W...

  • Page 12: Connection

    207-D533-NN User Manual 2.4 Connection Label Function P0 P1 R E Power Connector for Module Power Connector for External CN11 CN13 CN3~CN8 Input Signal Connector CN10 CN12 CN14 CN9~CN14 Output Signal Connector EtherCAT Communication IN EOUT EtherCAT Communication OUT 2.4.1 Switch Description...

  • Page 13: Led Description

    207-D533-NN User Manual 2.4.2 LED Description ◆ DIO LED Indicator Description P0 P1 R E Pn0 ~ Pn7 - Green DI Port(n) Bit0 ~ Bit7, n = 0 ~ 5 Pn0 ~ Pn7 - Red DO Port(n) Bit0 ~ Bit7, n = 6 ~ 11 ◆...
  • Page 14 207-D533-NN User Manual There are four patterns below indicating the LED status besides ON and OFF. Pattern 1: Flickering 50ms 50ms Pattern 2: Blinking 200ms 200ms Pattern 3: Single flash 200ms Pattern 4: Double flash 200ms 1000ms 200ms 200ms...
  • Page 15 207-D533-NN User Manual Run Indicator Run Indicator indicates the ESM (EtherCAT ® State Machine) status. LED lights in green. LED Status Meaning ESM: In INIT state Blinking ESM: In Pre-operational state Single Flash ESM: In Safe-operational state ESM: Operation state Error Indicator Error Indicator indicates an alarm defined in the AL Status Code.

  • Page 16: Ethercat Communication

    207-D533-NN User Manual 2.4.3 EtherCAT Communication ◆ Communication IN and OUT Description ◆ Ethernet LED Status Description P0 P1 R E Speed indicator: Green Green on – Operating as a 100/1000-Mbps connection. Off – Operating as a 10-Mbps connection. Link/Activity indicator: Orange Blinking –...

  • Page 17: Power Connector

    207-D533-NN User Manual 2.4.4 Power Connector ◆ CN1 – Module Power Connector Label Description P0 P1 R E DC 24V Input 24VS for module internal DC 24V ground GNDS for module internal Field ground ◆ CN2 – External Power Connector...

  • Page 18: 207-D533-Nn - Pin Definition

    207-D533-NN User Manual 2.4.5 207-D533-NN – Pin Definition ◆ Digital Input Port0 ~ Port3 CN3 - I0 CN5 – I2 Pin Label Function Pin Label Function DC 24V DC 24V DC 24V DC 24V Port#0 Bit0 Input Port#2 Bit0 Input...
  • Page 19 207-D533-NN User Manual ◆ Digital Input Port4 ~ Port5 ◆ Digital Output Port6 ~ Port7 CN7 – I4 CN9 – Q0 Pin Label Function Pin Label Function DC 24V DC 24V DC 24V DC 24V Port#4 Bit0 Input Port#6 Bit0 Output...
  • Page 20 207-D533-NN User Manual ◆ Digital Output Port8 ~ Port11 CN11 – Q2 CN13 – Q4 Pin Label Function Pin Label Function DC 24V DC 24V DC 24V DC 24V Port#8 Bit0 Output Port#10 Bit0 Output Port#8 Bit1 Output Port#10 Bit1 Output...

  • Page 21: Signal Circuit

    207-D533-NN User Manual 2.5 Signal Circuit ◆ Digital Input Signal Circuit (NPN Type) 5.6K Internal Cu rcui t ◆ Digital Output Signal Circuit (NPN Type) LOAD Internal Cu rcui t...

  • Page 22: Twincat 3 Operation

    207-D533-NN User Manual 3. TwinCAT 3 Operation 3.1 Install the ESI Device Description Step 1 Copy the ESI file “(207) EZE_D533_NN_VxxxxSxxxx.xml”. EZE_D533_NN_VxxxxSxxxx_rls Note1 207-D533 series is a form factor of EZE-D533 combined with carrier board. Both 207-D533 and EZE-D533 are applied the same esi file Note2 Please update the latest ESI file.

  • Page 23: Create The Ethercat Device

    207-D533-NN User Manual 3.2 Create the EtherCAT Device Step 1 Open Visual Studio 2017. Step 2 Open a new TwinCAT project.
  • Page 24 207-D533-NN User Manual Step 3 Provide a name to this project “207-D533 Test”. Step 4 Click button “OK” to finish creating the project.

  • Page 25: Scan The Ethercat Device

    207-D533-NN User Manual 3.3 Scan the EtherCAT Device Step 1 Right-click on “Device”. Step 2 Select “Scan”. Note Before scan the device, the TwinCAT System Manager may first have to be set to "Config mode".
  • Page 26 207-D533-NN User Manual Step 3 Click “OK”. Step 4 Click “OK”. Step 5 Click “Yes”. Step 6 Click “Yes”.
  • Page 27 207-D533-NN User Manual Step 7 The name of the slave will be shown as “EZE_D533_NN”. Step 8 If the slave is found, please do the following steps.
  • Page 28 207-D533-NN User Manual Step 8-1 Take 207-D222 for example. Double click “Box 1” with green point. Step 8-2 Click “EtherCAT”, and check the “Version” of the slave. Step 8-3 Check if the version is the same with the ESI file.
  • Page 29 207-D533-NN User Manual Step 9 Double click “Device 2”, and select “Adapter”. Step 10 The detailed information of the Device will show at “Description”, “Device Name”, “MAC Address”, and “IP Address”.
  • Page 30 207-D533-NN User Manual Step 10-1 If the detailed information of the Device isn’t shown garbled, please select “Compatible Devices”. Step 10-2 Select your “Local LAN”, and click button “Install”.
  • Page 31 207-D533-NN User Manual Step 10-3 Click “Search”, select your “Local LAN”, and click button “OK”. Step 10-4 After finishing the above steps, the detailed information of the Device will show at “Description”, “Device Name”, “MAC Address”, and “IP Address”.

  • Page 32: Ethercat Basic Information

    207-D533-NN User Manual 4. EtherCAT Basic Information 4.1 Symbols and Abbreviations Abbreviation Term Description AL-layer EtherCAT Application Layer Service CAN in Automation A non-profit organization established in 1992 as a joint venture between companies to provide CAN technical information, product information, and marketing information.

  • Page 33: Data Types

    207-D533-NN User Manual Physical Device Internal A set of elements that allows access to DL-Service from the AL Interface Process Data Object Objects that are sent and received in cyclic communications. PDO mapping Process Data Object Definitions of the applications objects that are sent with...

  • Page 34: Specification List

    207-D533-NN User Manual 4.3 Specification List Item Specification Physical layer 100 BASE-TX (IEEE802.3) Baud rate 100 Mbps, Full Duplex Topology Line Connection cable Twist pair CAT5e Cable length Between nodes: up to 100 m Number of slaves Up to 65535...

  • Page 35: Esm (Ethercat State Machine)

    207-D533-NN User Manual 4.4 ESM (EtherCAT State Machine) The EtherCAT State machine (ESM) is used to manage the communications states between the master and slave applications when EtherCAT communications are started and during operation, as show in the following figure.
  • Page 36 207-D533-NN User Manual SAFEOP Safe- The transmission (from slave to In SAFEOP state, Slave applications transfer the Operational master) with PDO as well as the actual input data, but not the output data that may not transmission and reception over be available for processing.

  • Page 37: Process Data Objects (Pdos)

    207-D533-NN User Manual 5. Process Data Objects (PDOs) The CANOpen over EtherCAT protocol allows the user to map objects to PDOs (Process Data Objects) in order to use the PDO for real-time data transfer. The PDO mappings define which objects will be included in the PDOs.

  • Page 38: 48-Ch. Digital Outputs (7000H)

    207-D533-NN User Manual 5.2 RxPDO List [Master transmits data to Slave] 5.2.1 48-Ch. Digital Outputs (7000h) Index Sub- Name/Description Units Range Data Acc- Save to Index Type Mode EEPROM 7000h 48 Channels Digital Outputs 0x01 Port_6 – 0 - 255 RxPDO CH0-CH1 ->...

  • Page 39: Service Data Objects (Sdos)

    207-D533-NN User Manual 6. Service Data Objects (SDOs) Index Sub- Name/Description Units Range Data Acc- Default Save to Index Type value Mode EEPROM 1010h Store parameters – – – 1011h Restore default – – – parameters 4000h Station Alias Selection –...

  • Page 40: Station Alias (4000H)

    207-D533-NN User Manual 6.1 Station Alias (4000h) Index Sub- Name/Description Units Range Data Default Save to Index Type -ess value Mode EEPROM 4000h Station Alias Selection (OP) Setup (High byte) – 0x00~0xFF Yes (OP) Station Switch – 0x00~0xFF – Station Alias –...

  • Page 41: Device Addressing

    207-D533-NN User Manual 6.1.1 Device Addressing The device can be addressed via Device Position Address (Auto Increment address), by Node Address (Configured Station Address/Configured Station Alias), or by a Broadcast. ⚫ Position Addressing (Auto-Increment Addressing) In this mode, the datagram holds the position address of the addressed slave as a negative value. Each slave increments the address.
  • Page 42 207-D533-NN User Manual Master Slave (EtherCAT Slave Controller) Configured Station 0130h 0010h AL Status Address bit5 0120h 0134h AL Control Al Status Code bit5 (EEPROM) Configured Station bit5 0012h Alias Configured Station 0004h Alias Station Alias ID (Low Byte )
  • Page 43 207-D533-NN User Manual AL Control Reg 0x0120.5 (ID Request) AL Status Reg 0x0130.5 (ID Loaded) AL Status Code 0x0134 Station Alias Station Alias is requested by the AL Status Code is cleared without request of AL Control the request of AL Control.

  • Page 44: Output Port Auto Reset Setting (4001 H )

    207-D533-NN User Manual 6.2 Output Port Auto Reset Setting (4001h) (Only for D222 & D204) Index Sub- Name/Description Units Range Data Default Save to Index Type -ess value Mode EEPROM 4001h Output Port Auto Reset Setting Output Port Auto Reset –...

  • Page 45: Retain Variable Operation (4005 H )

    207-D533-NN User Manual 6.3 Retain Variable Operation (4005h) Index Sub- Name/Description Units Range Data Default Save to Index Type -ess value Mode EEPROM 4005h Retain Variable Operation Control Word – 0x0000 ~ – PreOP 0xFFFF Status Word – 0x0000 ~ –...

  • Page 46: Save Parameters (1010H)

    207-D533-NN User Manual 6.4 Save Parameters (1010h) Index Sub- Name/Description Units Range Data Default Save to Index Type -ess value Mode EEPROM 1010h Store parameters Highest sub-index – – supported Save all parameters (0x00000000~0x 0x0000000 FFFFFFFF) Store parameters. This object is used to write (back up) the objects data into Flash Memory.

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