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Related Manuals for ICOP Technology QEC-RXXMP Series
Summary of Contents for ICOP Technology QEC-RXXMP Series
- Page 1 ICOP Technology Inc. User Manual QEC-RXXDT0/D0T EtherCAT Slave Digital I/O Module With 32-ch Digital Input/Output (Revision 2) QEC-RXXDT0/D0T User Manual Ver.2 January, 2024...
- Page 2 ICOP Technology Inc. REVISION DATE VERSION DESCRIPTION 2023/11/30 Version1.0 New Release. 2024/01/11 Version2.0 Update Specification. QEC-RXXDT0/D0T User Manual Ver.2 January, 2024...
- Page 3 No part of this manual may be reproduced, copied, translated or transmitted, in whole or in part, in any form or by any means without the prior written permission of ICOP Technology Inc. ©Copyright 2024 ICOP Technology Inc. Ver.2 January, 2024 TRADEMARKS ACKNOWLEDGMENT ICOP®...
- Page 4 ICOP Technology Inc. SAFETY INFORMATION Read these safety instructions carefully. ⚫ Please carry the unit with both hands and handle it with caution. ⚫ Power Input voltage +19 to +50VDC Power Input (Typ. +24VDC) ⚫ Make sure the voltage of the power source is appropriate before connecting the ⚫...
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Page 5: Table Of Contents
ICOP Technology Inc. Content Content ..........................iv Ch. 1 General Information ...................... 1 1.1 Introduction ......................2 1.2 Specifications ....................... 3 1.3 Dimension ......................4 1.4 Mounting Instruction ....................5 1.5 Ordering Information....................6 1.5.1 Reference Ordering Part Number: ..................6 Ch. - Page 6 ICOP Technology Inc. 5.2 Object Dictionary ....................37 5.2.1 Standard Objects (0x1000-0x1FFF) ................. 38 5.2.2 Manufacturer Objects (0x5000-0x5FFF) ............... 44 5.2.3 Especial Objects (0x6000-0xFFFF) ................45 Warranty ..........................48 QEC-RXXDT0/D0T User Manual Ver.2 January, 2024...
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Page 7: 1 General Information
General Information 1.1 Introduction 1.2 Specifications 1.3 Dimension 1.4 Mounting Instruction 1.5 Ordering Information QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 8: Introduction
ICOP Technology Inc. 1.1 Introduction ICOP’s QEC-RXXDTO and QEC-RXXD0T are standard industrial EtherCAT slave digital I/O modules that support 32 channels, which are optional for digital input and output channels. Complying with the EtherCAT Conformance Test Tool (ET9400), the QEC-RXXD_T is qualified and can cooperate with the EtherCAT master systems for quick implementation in industrial applications. -
Page 9: Specifications
ICOP Technology Inc. 1.2 Specifications Model Name QEC-RXXDT0H QEC-RXXD0TH QEC-RXXDT0L QEC-RXXD0TL Digital Type Input Output Input Output I/O Type Sink Channel I/O Frequency 8KHz 8KHz Propagation delay time 150 ns 50 μs 150 ns 50 μs Mailbox Service Distributed clocks... -
Page 10: Dimension
ICOP Technology Inc. 1.3 Dimension (Unit: mm) QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 11: Mounting Instruction
ICOP Technology Inc. 1.4 Mounting Instruction QEC-RXXDT0 and QEC-RXXD0T are easy-install design to help you set-up your modules easily. Please refer to Ch.3.1 DIN-Rail installation. DIN-Rill QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 12: Ordering Information
ICOP Technology Inc. 1.5 Ordering Information RJ45 power source Functions Feature Type Coating Input Output Digital Input Output Digital Type QEC-R 1. Type: Code 1~4 R: EtherCAT Slave. 2. RJ45 Power source: Code 5~6 0: RJ45 In/Out w/o power 1: RJ45 PoE Device, Red Plastic Housing 3. -
Page 13: 2 Hardware System
ICOP Technology Inc. Hardware System 2.1 General Technical Data 2.2 Connector Summary 2.3 Wiring to the Connector QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 14: General Technical Data
ICOP Technology Inc. 2.1 General Technical Data QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 15: Connector Summary
ICOP Technology Inc. 2.2 Connector Summary Description Type Narrative Pin # External RJ45 Connector 8-pin EtherCAT Interface (Gold finger) 8-pin Power Connector Terminal Block Interface 6-pin Power and Connection Status LEDs External Status LEDs I/O Status LEDs External Status LEDs... -
Page 16: Power Connector
ICOP Technology Inc. 2.2.2 Power Connector Vs for system power; Vp for peripheral power and backup power. Pin # Signal Name Pin # Signal Name Vs- (GND) Vp- (GND) Power Input voltage +19 to +50VDC Power Input (Typ. +24VDC) QEC-RXXDT0/D0T User Manual... -
Page 17: Power And Connection Status Leds
ICOP Technology Inc. 2.2.3 Power and Connection Status LEDs Power Status LED Power input is 24V (typical). The LED status provide high/low voltage warning. Notation Color States Description Green LED On Voltage <= 48V and Voltage >= 19V Green LED On 1. -
Page 18: I/O Status Leds
ICOP Technology Inc. 2.2.4 I/O Status LEDs Notation States Color Description Digital input status is “Off” Orange From 0 to 15 channel, Digital input status is "On" Blue From 16 to 32 channel, Digital input status is "On" Purple Both Digital input from 0 to 15 and 16 to 32 channels are "On"... -
Page 19: I/O Connector
ICOP Technology Inc. 2.2.5 I/O Connector For EtherCAT Slave index assignments, refer to 4.2.3 Especial Objects (0x6000-0xFFFF). Digital Input (QEC-RXXDT0H/ QEC-RXXDT0L) Digital Input Connector Color: Positive (Red), Negative (Black). Front side: Pin # Signal Name Pin # Signal Name DI04... - Page 20 ICOP Technology Inc. Digital Output (QEC-RXXD0TH/ QEC-RXXD0TL) Digital Output Connector Color: Positive (Orange), Negative (Black). Front side: Pin # Signal Name Pin # Signal Name DO04 DO00 DO05 DO01 DO06 DO02 DO07 DO03 DO12 DO08 DO13 DO09 DO14 DO10 DO15...
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Page 21: Din-Rail Installation
ICOP Technology Inc. 2.2.6 DIN-Rail installation Please refer to Ch.3.1 DIN-Rail installation. QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 22: Wiring To The Connector
ICOP Technology Inc. 2.3 Wiring to the Connector 2.3.1 Connecting the wire to the connector Insulated Terminals Dimensions (mm) Position Ø D1 Ø d1 Ø D2 CN 0.5-6 CN 0.5-8 CN 0.5-10 10.0 2.3.2 Removing the wire from the connector QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 23: Application Wiring
ICOP Technology Inc. 2.3.3 Application Wiring Digital Input Example for 32-ch Digital Input Operation. (QEC-RXXDT0H/QEC-RXXDT0L) The wiring diagram shows a setup where four digital input pins are grouped with one ground (GND) pin (For example, DI0+ to DI3+ pins' ground is 0-). Its load voltage is from 24 to 56VDC, and the ISO1212 chips inside the module help to receive the signals safely and reliably. - Page 24 ICOP Technology Inc. Digital Output Example for 32-ch Digital Output Operation. (QEC-RXXD0TH/QEC-RXXD0TL) The wiring diagram shows a setup where four digital output pins are grouped with one ground (GND) pin (For example, DO0+ to DO3+ pins' ground is 0-).
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Page 25: 3 Hardware Installation
ICOP Technology Inc. Hardware Installation 3.1 DIN-Rail installation 3.2 Removing QEC-RXXD Unit QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 26: Din-Rail Installation
ICOP Technology Inc. This section describes how to install QEC-RXXD. Please turn OFF the power supply before you mount QEC-RXXD. Always mount QEC-RXXD one at a time. 3.1 DIN-Rail installation Slide in the QEC-RXXD on the hookup guides and press the QEC-RXXD with a certain amount of force against the DIN track until the DIN Track mounting hook lock into place. -
Page 27: Removing Qec-Rxxd Unit
ICOP Technology Inc. 3.2 Removing QEC-RXXD Unit Use a flat-blade screwdriver to remove the DIN Track mounting hook on the unit. Pull down and out the flat-blade screwdriver with force against the DIN track until you hear the DIN Track remove the hook. -
Page 28: 4 Getting Started
ICOP Technology Inc. Getting Started 4.1 Hardware Preparation and Connection 4.2 Software/Development Environment 4.3 Connect to your PC and set up the environment 4.4 Configuration and Operation 4.5 Access Further Documentation QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... - Page 29 ICOP Technology Inc. This chapter explains how to access the QEC-RXXDT0 and QEC-RXXD0T modules through the QEC-M-01 (EtherCAT Master) and its software, 86Duino Coding IDE. The parameter settings are easy to configure, shortening the system installation and evaluation time. Note.
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Page 30: Hardware Preparation And Connection
ICOP Technology Inc. 4.1 Hardware Preparation and Connection The following devices are used here: QEC-M-01P (EtherCAT Master/PoE) QEC-R11D0TH-N (EtherCAT Slave High-speed 32-ch digital input/PoE) QEC-R11DT0H-N (EtherCAT Slave High-speed 32-ch digital input/PoE) RJ45 cable 24V power supplier All QEC devices have PoE functions, so we only need to connect to Vs+/Vs and Vp+/Vp power pins (EU terminals) supplies for 19 to 50VDC power on QEC-M-01P, and then other devices will be powered by PoE. -
Page 31: Software/Development Environment
ICOP Technology Inc. 4.2 Software/Development Environment Download 86duino IDE from https://www.qec.tw/software/. After downloading, please unzip the downloaded zip file, no additional software installation is required, just double-click 86duino.exe to start the IDE. *Note: If Windows displays a warning, click Details once and then click the Continue Run button once. -
Page 32: Connect To Your Pc And Set Up The Environment
ICOP Technology Inc. 4.3 Connect to your PC and set up the environment Follow the steps below to set up the environment: Connect the QEC-M-01P to your PC via a Micro USB to USB cable (86Duino IDE installed). Turn on the QEC power. -
Page 33: Configuration And Operation
ICOP Technology Inc. 4.4 Configuration and Operation 86EVA is a graphical EtherCAT configurator based on the EtherCAT Library in the 86Duino IDE and is one of the development kits for 86Duino. The user can use it to configure the EtherCAT network quickly and start programming. -
Page 34: Step 2: Set The Parameters
ICOP Technology Inc. Step 2: Set the parameters You can press twice on the scanned device image to enter the corresponding parameter setting screen. There are including the Device Name, Object Name, Alias Address, Vendor ID, and Product Code of the QEC slave. -
Page 35: Step 3: Generation The Code
ICOP Technology Inc. Step 3: Generation the code After configuring all settings, click the "Code Generation" button. After clicking, the result and completion screen will appear, click OK to leave the program; If you do not click OK, you will leave the program after 10 seconds. -
Page 36: Step 4: Upload The Code
ICOP Technology Inc. Step 4: Upload the code Once the code is generated, click on the toolbar to compile, and to confirm that the compilation is complete and error-free, you can click to upload. The program will run when the upload is complete. -
Page 37: Ethercatdevice_Qecrxxd Class
ICOP Technology Inc. EthercatDevice_QECRXXD Class This class within the EtherCAT Library specifically caters to QEC EtherCAT Slave Digital IO Modules. For comprehensive details on the EthercatDevice_QECRXXD Class, please refer to EthercatDevice_QECRXXD Class - QEC. Functionality Overview To effectively utilize your QEC-RXXD device, it's important to understand which functions are compatible with different modules (For EtherCAT Slave index assignments, please refer to 4.2.3 Especial Objects... - Page 38 ICOP Technology Inc. Practical Application Examples When using these functions, reference the object name of your QEC-RXXD device as set in the 86EVA or from your code object definition. 1. digitalRead Example for basic digital input operations. Suppose your device is named Slave0. In this case, the code to read would be implemented as follows: To read the digital input from the all pins: Slave0.digitalRead();...
- Page 39 ICOP Technology Inc. 2. digitalWrite Example for basic digital output operations. Suppose your device is named Slave1. In this case, the code to set digital output pin would be implemented as follows: To set the all digital out pins to HIGH: Slave1.digitalWrite(pins, HIGH);...
- Page 40 ICOP Technology Inc. 3. Distributed Clock (DC) For high-speed QEC Slave DIO modules, you might need to configure the DC mode. For instance, to set the DC mode on a device named Slave0: Slave0.setDc(cycletime0_ns); In this example code, we also attach the cyclic Callback function and set the EtherCAT SYNC mode.
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Page 41: Access Further Documentation
ICOP Technology Inc. 4.5 Access Further Documentation For those seeking comprehensive details about the EtherCAT Master API, we recommend referring to the EtherCAT Master API User Manual.This manual provides an in-depth exploration of the API, offering insights into more advanced features and capabilities. -
Page 42: 5 Slave Information
ICOP Technology Inc. Slave Information 5.1 ESI (EtherCAT Slave Information) file 5.2 Object Dictionary QEC-RXXDT0/D0T User Manual Ver.2 January, 2024... -
Page 43: Esi (Ethercat Slave Information) File
ICOP Technology Inc. 5.1 ESI (EtherCAT Slave Information) file The ESI files contain information unique to the EtherCAT Slave Terminals in XML format. You can load an ESI file into the Support Software to easily allocate Slave Terminal process data and other settings. -
Page 44: Standard Objects (0X1000-0X1Fff)
ICOP Technology Inc. 5.2.1 Standard Objects (0x1000-0x1FFF) Index 1000 Device type Index Name Data type Flags Default 1000 Device type UINT32 0x00001389 (5001) Index 1001 Error register Index Name Data type Flags Default 1001 Error register UINT8 0x00 (0) Index 1008 Device name... - Page 45 ICOP Technology Inc. Index 1018 Identity Index Name Data type Flags Default 1018:0 Identity UINT8 > 4 < 1018:01 Vendor ID UINT32 0x00000BC3 (3011) 1018:02 Product code UINT32 Refer to following table. 1018:03 Revision UINT32 Depending by model. 1018:04 Serial number...
- Page 46 ICOP Technology Inc. Index 1600 DigitalOutput process data mapping Index Name Data type Flags Default DigitalOutput process data 1600:0 UINT8 Maximum of 16, by model. mapping 1600:01 SubIndex 001 UINT32 0x7000:01, 1 1600:02 SubIndex 002 UINT32 0x7000:02, 1 1600:03 SubIndex 003...
- Page 47 ICOP Technology Inc. Index 1A00 DigitalInput process data mapping Index Name Data type Flags Default DigitalInput process data 1A00:0 UINT8 Maximum of 16, by model. mapping 1A00:01 SubIndex 001 UINT32 0x6000:01, 1 1A00:02 SubIndex 002 UINT32 0x6000:02, 1 1A00:03 SubIndex 003...
- Page 48 ICOP Technology Inc. Index 1C00 Sync manager type Index Name Data type Flags Default 1C00:0 Sync manager type UINT8 > 4 < 1C00:01 SubIndex 001 UINT8 0x01 (1) 1C00:02 SubIndex 002 UINT8 0x02 (2) 1C00:03 SubIndex 003 UINT8 0x03 (3)
- Page 49 ICOP Technology Inc. Index 1C32 SM output parameter Index Name Data type Flags Default 1C32:0 SM output parameter UINT8 > 32 < 1C32:01 Synchronization Type UINT16 0x0001 (1) 1C32:02 Cycle Time UINT32 0x00000000 (0) Synchronization Types 1C32:04 UINT16 0x401F (16415)
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Page 50: Manufacturer Objects (0X5000-0X5Fff)
ICOP Technology Inc. 5.2.2 Manufacturer Objects (0x5000-0x5FFF) Index 0x5xxn Manufacturer Objects Index Object Code DataType Name Default Description 0x5000 VARIABLE UINT16 SP_Voltage Read SP Voltage 0x5001 VARIABLE UINT16 SP_Current Read SP Current 0x5002 VARIABLE UINT16 PP_Voltage Read PP Voltage 0x5003... -
Page 51: Especial Objects (0X6000-0Xffff)
ICOP Technology Inc. 5.2.3 Especial Objects (0x6000-0xFFFF) Index 0x6nnx Input Data of the Module (0x6000 - 0x6FFF) Digital input index data. (QEC-RXXDT0H) Users can use it according to the number of digital input pins. Index Object Code DataType Name Default... - Page 52 ICOP Technology Inc. BOOL DI29 BOOL DI30 BOOL DI31 Index 0x7nnx Output Data of the Module (0x7000 - 0x7FFF) Digital output index data. (QEC-RXXD0TH) Users can use it according to the number of digital output pins. Index Object Code DataType...
- Page 53 ICOP Technology Inc. BOOL DO28 BOOL DO29 BOOL DO30 BOOL DO31 If this is your first time running EtherCAT and using a QEC-M master, we recommend that you read Set up the QEC-M-043T for 86Duino to get your project started.
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Page 54: Warranty
All Trademarks appearing in this manuscript are registered trademark of their respective owners. All Specifications are subject to change without notice. © ICOP Technology Inc. 2024 QEC-RXXDT0/D0T User Manual Ver.2 January, 2024...
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