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DVP-2212920-01
10/04/2020
RTU-ECAT
EtherCAT Remote IO
Communication Module
Operation Manual
www.deltaww.com
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Table of Contents
Related Manuals for Delta RTU-ECAT
Summary of Contents for Delta RTU-ECAT
- 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...
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Page 2: Table Of Contents
3.6 Extended IO Interface ..............3-4 Chapter 4 Installing and Wiring ............4-1 4.1 Installing RTU-ECAT and DVP-S Extension Modules ....4-2 4.2 Installing RTU-ECAT and DVP-S Modules on DIN Rail ....4-2 4.3 Connecting to EtherCAT Port ............4-3 4.4 Wiring ..................4-3 4.4.1 Power Input ................ - Page 3 6.3.1 Control Word Parameter............. 6-6 6.3.2 Status Indication ..............6-7 Chapter 7 Application Examples ............7-1 7.1 Using Delta AX8 Series CPU with RTU-ECAT ........ 7-3 7.2 Using TwinCAT3 with RTU-ECAT ..........7-13 7.2.1 Configuring the Network via TwinCAT3 ........7-13 7.2.2 Controlling RTU-ECAT’s Right-side Modules via PLC .....
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Page 4: 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 5: Explanation Of Symbols In This Manual
RTU-ECAT 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. The enclosure should prevent non-maintenance staff from operating the device (e.g. -
Page 6: Chapter 2 Overview
Chapter 2 Overview Table of Contents 2.1 Characteristics ................2-2 2.2 Specifications ................2-2 2.3 Extension Modules Connectable to RTU-ECAT ......2-3... -
Page 7: Characteristics
2. This manual only provides introductory information on RTU-ECAT. For more detailed information on EtherCAT protocol, please refer to relevant references or literatures. 3. RTU-ECAT is defined as an EtherCAT slave and DVP-S series DI/DO modules and special modules can be connected on its right side. -
Page 8: Extension Modules Connectable To Rtu-Ecat
Safety Conforms to IEC 61131-2, UL 61010-1, UL 61010-2-201 Operating: 1080~795hPa (-1000~2000m) Barometric pressure-altitude Storage: 1080~660hPa (-1000~3500m) Weight Extension Modules Connectable to RTU-ECAT R T U-EC AT PO WER RU N AL AR M x 10 R UN x 10... - Page 9 8 bits 8 bits DVP32SM11N 32 bits DVP32SN11TN 32 bits DVP08ST11N 8 bits Special modules connectable to RTU-ECAT Default IO mapping data Default IO mapping data (EtherCAT master →RTU-ECAT) (RTU-ECAT → EtherCAT master) Special module (Model name) Start CR...
- Page 10 Chapter 2 Overview Note: When special modules are connected to RTU-ECAT, the start one of CRs for data upload and download and the length of data to be uploaded and downloaded can be set up via the EtherCAT network configuration tool.
- Page 11 RTU-ECAT Operation Manual MEMO...
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Page 12: Chapter 3 Profile And Parts
Chapter 3 Profile and Parts Table of Contents 3.1 Profile and Dimension ..............3-2 3.2 Parts ................... 3-2 3.3 EtherCAT Port ................3-3 3.4 RUN/STOP Switch ............... 3-3 3.5 Address Switches ............... 3-3 3.6 Extended IO Interface ..............3-4... -
Page 13: Profile And Dimension
RTU-ECAT Operation Manual Profile and Dimension 63 4 25 2 . R T U-E C AT P O WE R R U N AL A R M R U N S T O P Unit: mm Parts R T U -EC A T... -
Page 14: Ethercat Port
Description 0 ~ 99 EtherCAT node address Example: If you need to set the node address of RTU-ECAT to 26, simply switch the corresponding switch of x10 2 and the corresponding switch of x10 to 6. Notes: Please set up the node address when the power is switched off. After the setup is completed, re-power ... -
Page 15: Extended Io Interface
RTU-ECAT Operation Manual Extended IO Interface The interface is used for connecting Delta DVP-S series DI/DO extension modules and special modules. -
Page 16: Chapter 4 Installing And Wiring
Installing and Wiring Table of Contents 4.1 Installing RTU-ECAT and DVP-S Extension Modules ....4-2 4.2 Installing RTU-ECAT and DVP-S Modules on DIN Rail ....4-2 4.3 Connecting to EtherCAT Port ............4-3 4.4 Wiring ..................4-3 4.4.1 Power Input ................4-3... -
Page 17: Installing Rtu-Ecat And Dvp-S Extension Modules
Open the DIN rail clips of RTU-ECAT and extension modules. Insert RTU-ECAT and extension modules into the DIN rail. Press the DIN rail clips of RTU-ECAT and extension modules to fix them on the DIN rail, as shown below. RT U- E CA T... -
Page 18: Connecting To Ethercat Port
Connect the supply power to the two terminals, 24V and 0V and the grounding terminal to the earth. Be cautious that the RTU-ECAT device may be damaged if the positive and negative polarities of the supply power are connected reversely. - Page 19 RTU-ECAT Operation Manual RTU-ECAT Safety Circuit Wiring RT U ECAT DV P-PS02 AC power supply: 100～240VAC; 50/60Hz. 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.
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Page 20: Ground
Chapter 4 Installing and Wiring 4.5.1 Ground The diameter of the ground should not be less than the diameters of the cables connected to the terminals L and N. If using multiple pieces of equipment, use a single-point ground. ... - Page 21 RTU-ECAT Operation Manual MEMO...
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Page 22: Chapter 5 Configuring Rtu-Ecat
5.1 Terms ..................5-2 5.2 Introduction to the Software Interfaces ........5-3 5.2.1 Main Interface for RTU Configuration ........... 5-3 5.2.2 DC Interface ................5-3 5.2.3 Right-side Configuration of RTU-ECAT .......... 5-4 5.2.4 Data Exchange Configuration Interface of Special Modules ..... 5-5... -
Page 23: Terms
RTU-ECAT Operation Manual This section describes how RTU-ECAT as an EtherCAT slave realizes the data exchange between EtherCAT master and DVP-S series extension modules. EtherCAT master transmits the data to extension modules. The input data from extension modules are transmitted back to EtherCAT master. -
Page 24: Introduction To The Software Interfaces
This section introduces the configuration of RTU-ECAT by taking the TwinCAT3 software as an example. 5.2.1 Main Interface for RTU Configuration Click on the RTU-ECAT symbol on the left list of the TwinCAT3 window as below. The main RTU configuration interface appears then. -
Page 25: Right-Side Configuration Of Rtu-Ecat
When choosing DC as the operation mode, do related settings on the following “Advanced Settings” interface. 5.2.3 Right-side Configuration of RTU-ECAT Click on Slots tab on the configuration interface of RTU-ECAT to go to the interface for configuring right-side modules. -
Page 26: Data Exchange Configuration Interface Of Special Modules
Chapter 5 Configuring RTU-ECAT Select the upper “Terminals” row from the left list based on the actually configured modules on the right of RTU-ECAT. Then select the corresponding module from the right list and click on the symbol to have the modules configured to RTU-ECAT. - Page 27 Status the special modules which have been configured can be added or deleted The control word in RTU-ECAT and the CRs with the property of Write in the special Control modules which have been configured can be added or deleted.
- Page 28 Chapter 5 Configuring RTU-ECAT Explanation of the pull-down menu Item Description Add or insert a CR with the property of Read in the module. Insert Selecting “Insert” in the place of an existing CR means to insert a CR row here.
- Page 29 RTU-ECAT Operation Manual MEMO...
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Page 30: Chapter 6 Introduction Of Parameters
Chapter 6 Introduction of Parameters Table of Contents 6.1 Parameters for Right-side Special Modules ......... 6-2 6.2 Parameters for Connection Status of Right-Side Modules ... 6-5 6.3 Control Word and Status Indication Parameters ......6-6 6.3.1 Control Word Parameter ............. 6-6 6.3.2 Status Indication ............... -
Page 31: Parameters For Right-Side Special Modules
RTU-ECAT. For example, when the special module is the first one on the right of RTU-ECAT, its index is 16#2000. When the special module is the second one on the right of RTU-ECAT, its index is 16#2020. - Page 32 Chapter 6 Introduction of Parameters Explanation of paramters for special modules on the right of RTU-ECAT Index Subindex Description The index and subindex that CR0 parameter corresponds to when 16#1 the special module is located as the 1 one on the right of RTU-ECAT.
- Page 33 RTU-ECAT Operation Manual Index Subindex Description RTU-ECAT. … … The index and subindex that CR0 parameter corresponds to when 16#1 the special module is located as the 9 one on the right of RTU-ECAT. 16#2100 The index and subindex that CR1 parameter corresponds to when...
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Page 34: Parameters For Connection Status Of Right-Side Modules
Chapter 6 Introduction of Parameters Parameters for Connection Status of Right-Side Modules The index 16#8200 shows the actual connection state of the modules on the right of RTU-ECAT Explanation of parameters Index Subindex Description Data type Access type 16#1 The number of digital input points... -
Page 35: Control Word And Status Indication Parameters
Explanation of control word parameter bits Value Description RTU-ECAT is set to STOP as bit 15 of the control word parameter is 1 and bit 0 is 0. Bit 0 RTU-ECAT is set to RUN as bit 15 of the control word parameter is 1 and bit 0 is 1. -
Page 36: Status Indication
Chapter 6 Introduction of Parameters Value Description Control word is enabled. When the bit value is 1, RTU-ECAT can be controlled to enter RUN or STOP state via bit0 in the control word. 6.3.2 Status Indication List of RTU-ECAT status indication parameters... - Page 37 1. Ensure that the power supply to the right-side special modules is normal. 2. Check the error information of the special modules on the right of RTU-ECAT. Configure the error status CR registers for the An error occurs in the special 0x1002（4098）...
- Page 38 Refer to “Error list (Extension module of RTU-ECAT is alarming. error information)” below. The 2 special module on the right of RTU-ECAT is normal. Bit 1 The 2 special module on the Refer to “Error list (Extension module right of RTU-ECAT is alarming.
- Page 39 Description The error code in the 1 special module on the right of RTU-ECAT; the error code value Error list[0] is the value in the error status CR of the special module. For details, refer to error status CRs in DVP-PLC Application Manual: Special Modules.
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Page 40: Chapter 7 Application Examples
Chapter 7 Application Examples Table of Contents 7.1 Using Delta AX8 Series CPU with RTU-ECAT ........ 7-3 7.2 Using TwinCAT3 with RTU-ECAT ..........7-13 7.2.1 Configuring the Network via TwinCAT3 ........7-13 7.2.2 Controlling RTU-ECAT’s Right-side Modules via PLC ...... 7-24... - Page 41 1. DVP16SP11T is controlled to change its outputs Y0~Y7 to ON and its inputs X0~X7 are monitored via RTU-ECAT. 2. Channel 1 ~ channel 4 of DVP04DA-S are controlled to output the voltage of 5V via RTU-ECAT. 3. The analog data conversion values of Channel 1 ~ channel 4 of DVP04AD-S are read via RTU-ECAT.
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Page 42: Using Delta Ax8 Series Cpu With Rtu-Ecat
Refer to DVP-PLC Application Manual: Special Modules for more about DVP04DA-S and DVP04AD-S. Using Delta AX8 Series CPU with RTU-ECAT Download CODESYS software from Delta official website and install it. And then start the software. - Page 43 A new project is created by selecting the icon in the red box and then typing a project name and storage location as below. Click “OK” button to complete the setting. Afterward, select “AX-8xxEP0 Series (Delta Electronics, Inc.)” in the “Device” field and then click “OK” in the pop-out window.
- Page 44 Chapter 7 Application Examples The created new project is shown as below. Double-click on “Device” in the red box above and then click on “Scan Network” in the red box in the following window.
- Page 45 RTU-ECAT Operation Manual Then the following window appears, where AX-8 series controller will be searched automatically. After the AX-8 controller shows up, select the controller and click “OK” button. After the operations above are done, the connected CPU will automatically show up in the “Device” interface...
- Page 46 Chapter 7 Application Examples Double-click on “EtherCAT Master” in the red box below to open the “EtherCAT Master” interface. Click “Browse” button in the “EtherCAT Master” configuration area, then select the ECAT port from the pop-out “Select Network Adapter” window as below and afterwards click “OK” button.
- Page 47 Right-click on the “EtherCAT Master” after the above action is done and then choose “Scan For Devices…” from the context menu. Then the following “Scan Devices” window appears with the scanned slave as follows. After the software scan is complete, select the scanned RTU-ECAT and then click on “Copy to project” to add...
- Page 48 Chapter 7 Application Examples the RTU-ECAT to the EtherCAT configuration as shown below. Right-click on the RTU-ECAT after it is added and select “Add Device” from the context menu to add extension modules. The following “Add Device” window appears for users to select extension modules.
- Page 49 RTU-ECAT Operation Manual Find out and select DVP16SP11R/T in the red box above and then click “Add Device” button to add DVP16SP11T/R to RTU-ECAT. In the same way, add DVP04DA-S and DVP04AD-S respectively to the RTU-ECAT configuration. 7-10...
- Page 50 Chapter 7 Application Examples After the above configuration setting is complete, right-click on the RTU-ECAT and select “Edit IO Mapping” from the context menu to review the IO mapping information of RTU-ECAT. Variables can be combined in the red boxes above. When module channels are not combined to variables, the I and Q devices in the “Addresss”...
- Page 51 1~ channel 4 of DVP04AD-S in %IW1~%IW4. If you need to modify the mode of channel 1~ channel 4 of DVP04DA-S, click “Startup Parameters” in the configuration interface of RTU-ECAT to open the “Startup” configuration interface and then click button as follows.
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Page 52: Using Twincat3 With Rtu-Ecat
EtherCAT configuration data to the AX8 series CPU. Then the mode of channel 1~ channel 4 of DVP04DA-S is automatically switched to mode 1. Refer to DVP-PLC Application Manual: Special Modules for details on CR1 in DVP04DA-S. Using TwinCAT3 with RTU-ECAT 7.2.1 Configuring the Network via TwinCAT3 Configuring RTU-ECAT ... - Page 53 RTU-ECAT Operation Manual Click on the “I/O” item on the left list of the software interface, select “Devices” and then click on “Scan” of “TWINCAT” menu. With a click on “Scan” the following dialog appears, where you click on the “OK” button.
- Page 54 Chapter 7 Application Examples During the scan, the adapters information is listed as below. Select the right adapter and click on the “OK” button. Click on the “Y” button in the following dialog to scan the slave modules on the network. After the scan is over, the following dialog appears.
- Page 55 RTU-ECAT Operation Manual 6. Then the names of all node devices which have been scanned appear on the software interface as follows. With a double-click on the RTU-ECAT symbol, the interface for configuring RTU-ECAT appears. 7-16...
- Page 56 Chapter 7 Application Examples Click on ”Slots” tab and then set the right-side module configuration of RTU-ECAT as below. Click on the top “Terminals” row of the left list. Then the DVP-S series right-side extension modules which can be added appear on the right list.
- Page 57 RTU-ECAT Operation Manual 10. Select DVP16SP11R/T from the right list and click on to add DVP16SP11R/T to the configuration list of RTU-ECAT. 11. Following the steps above, add DVP04DA and DVP04AD under DVP16SP as below. 7-18...
- Page 58 Chapter 7 Application Examples 12. After the configuration is completed, click the “Process Data” tab to enter the data exchange configuration interface. Add or delete a special module CR which need be read or written to in the “PDO Content” box as below. 7-19...
- Page 59 RTU-ECAT Operation Manual Explanation of the pull-down menu： Item Description Insert Add or insert a special module CR. Delete Delete a special module CR which has been added. Edit Edit the selected parameter Move Up Move to the previous row...
- Page 60 14. If the mode of channel 1~ channel 4 of DVP04DA-S need be modified, e.g. the mode of channel 1~ channel 4 is to be changed to mode 1, click “Startup” tab in the configuration interface of RTU-ECAT and then press “New…” button as shown in the red box below.
- Page 61 RTU-ECAT Operation Manual Double-click “CR1: output mode setting” in the red box above. Then set the value for CR1 in the following new window. Click “OK” to close current window. After the setting is over, the CR1 parameter of DVP04DA-S which has been added can be seen in the “Startup”...
- Page 62 Chapter 7 Application Examples Click “TwinCAT” menu > “Activate Configuration” option to make current configuration effective. Refer to DVP-PLC Application Manual: Special Modules for details on CR1 in DVP04DA-S. 7-23...
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Page 63: Controlling Rtu-Ecat's Right-Side Modules Via Plc
After the configuration of the entire network is finished by following the steps above, create the PLC program to control the modules on the right of RTU-ECAT. 1. Select “PLC” on the left list of the TwinCAT software, right click on “PLC” and select “Add New Item” to add a PLC project. - Page 64 3. Create a global variable table in the PLC project and global variables as follows. 4. Click on “Build Solution” of “BUILD” menu to compile current project after global variables are created. 5. After the compiling is over, unfold the mapping list of RTU-ECAT’s right-side module with a click on it as below.
- Page 65 RTU-ECAT Operation Manual With a click on “Linked to”, the following interface pops out, where you select desirable varaibles and then click on the “OK” button. 7-26...
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Page 66: Using Omron Nj301 With Rtu-Ecat
7. After the variables and channels are connected, the values of channels of RTU-ECAT’s right-side modules can be read through the variables in the program. Setting the value of SP_OUT to 255, Y0~Y7 outputs of DVP16SP11T all change into ON. Setting the values of DA_OUT1~DA_OUT4 to 2000, channel 1~ channel 4 of DVP04DA-S can be controlled to output 5V voltage. - Page 67 RTU-ECAT Operation Manual Double-click “EtherCAT” under “Configurations and Setup” in the red box below to open the EtherCAT configuration interface. Right-click on “Master” and then select “Display ESI Library” from the context menu. 7-28...
- Page 68 Click “this folder” in the red box in the ESI Library window to open the folder where ESI file is to be stored. Copy the ESI file of RTU-ECAT to this folder to complete the installation of RTU-ECAT device file.
- Page 69 RTU-ECAT Operation Manual Select “Delta Electronics, Inc.” from the Toolbox pulldown list and then choose “EtherCAT PLC” as well as double-click on RTU-ECAT to add RTU-ECAT to the EtherCAT network. Double-click on “Node1: RTU-ECAT(E001)” to open the configuration interface after RTU-ECAT is added to the EtherCAT network.
- Page 70 Chapter 7 Application Examples Add DVP16SP11T to the node configuration as below by selecting the top slot and then finding out and double-clicking on DVP16SP11R/T from the Toolbox area on the right side of the software. Add DVP04DA-S and DVP04AD-S to the second and third slots respectively in the method of step 6. 7-31...
- Page 71 RTU-ECAT Operation Manual Double-click on “I/O Map” in the red box below and then type variables for mapping of module channels in the “Variable” column of the “IO Map” interface. Click menu “Controller” > “Communications Setup…” to set up the connection type between the NJ CPU and computer as follows.
- Page 72 Chapter 7 Application Examples 10. After the communication setup is complete, click “OK” button in the window above and then select “Online” from the “Controller” menu in the window below. 7-33...
- Page 73 EtherCAT configuration and program to the controller. After the download is done, the channels of the right-side modules of RTU-ECAT can be read and written to via the variables set in the I/O Map interface. Setting the value of SP_OUT to 255, Y0~Y7 outputs of DVP16SP11T all change into ON. Setting the values of DA_OUT1~DA_OUT4 to 2000, channel 1~ channel 4 of DVP04DA-S can be controlled to output 5V voltage.
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Page 74: Chapter 8 Error Diagnosis And Trouble-Shooting
Chapter 8 Error Diagnosis and Trouble-shooting Table of Contents 8.1 LED Indicator Diagnosis .............. 8-2 8.2 Status Indication Diagnosis ............8-3... -
Page 75: Led Indicator Diagnosis
RTU-ECAT Operation Manual RTU-ECAT provides two diagnostic methods, LED indicator diagnosis and status indication diagnosis. LED Indicator Diagnosis POWER LED LED status Indication How to correct Power is abnormal. Make sure that RTU-ECAT is powered. Green light on Power is normal. -
Page 76: Status Indication Diagnosis
EtherCAT port. the EtherCAT port is proper. Status Indication Diagnosis The status indication parameters of RTU-ECAT are used to display the operating states of special modules and DI/DO modules. See section 6.3.2 for details on related status indication parameters. - Page 77 RTU-ECAT Operation Manual MEMO...
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Page 78: Appendix A List Of Accessories
Appendix A List of Accessories Table of Contents A.1 Accessories for EtherCAT Communication ........A-2... -
Page 79: Accessories For Ethercat Communication
RTU-ECAT Operation Manual A.1 Accessories for EtherCAT Communication Cables Figure Model Length Diameter（AWG） UC-EMC003-02A 0.3M 4#22 PVC 0.5M UC-EMC005-02A 4#22 PVC 1.0M UC-EMC010-02A 4#22 PVC UC-EMC020-02A 2.0M 4#22 PVC UC-EMC050-02A 5.0M 4#22 PVC UC-EMC100-02A 10.0M 4#22 PVC UC-EMC200-02A 20.0M...
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