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Summary of Contents for ICOP Technology QEC-RXXHU9S-N
- Page 1 ICOP Technology Inc. User Manual QEC-RXXHU EtherCAT Slave HID Module With RS232/485, MPG, LCM and Keypad (Revision 3.0) QEC-RXXHU User Manual Ver.3 January, 2024...
- Page 2 ICOP Technology Inc. REVISION DATE VERSION DESCRIPTION 2022/09/01 Version 1.0 New Release. 2023/09/24 Version 2.0 Updated Product Specifications. 2024/1/11 Version 3.0 Add Getting Started QEC-RXXHU User Manual Ver.3 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.3 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 Ordering Part Number ....................... 6 Ch. - Page 6 ICOP Technology Inc. 4.5 Access Further Documentation ................35 Ch. 5 Slave Information ....................... 36 5.1 ESI (EtherCAT Slave Information) file ..............37 5.2 Object Dictionary ....................37 5.2.1 Standard Objects (0x1000-0x1FFF) ................. 38 5.2.2 Manufacturer Objects (0x5000-0x5FFF) ................42 5.2.3 Especial Objects (0x6000-0xFFFF) ................46 Warranty ..........................
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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-RXXHU User Manual Ver.3 January, 2024... -
Page 8: Introduction
ICOP Technology Inc. 1.1 Introduction QEC-RXXHU series is an industrial-grade EtherCAT slave human interface device (HID) module. Integrates rich EtherCAT gateway functions, including RS-232/485, MPG JOG, Keypad, and LCM, into the EtherCAT network for easy installation, communication, and data transmission with other devices. In addition, QEC-RXXHU has internal monitoring data capabilities to monitor the system’s operating status for timely problem detection and repair. -
Page 9: Specifications
ICOP Technology Inc. 1.2 Specifications General Connector UART port x2 (D-Sub 9-pin)/MPG Hand-wheel connecter Interface Keypad (4x4)/LCM (2 lines, 16 characters per line) Protocol EtherCAT Ethernet Standard IEEE 802.3 Transmission Rate 100Mbps Power Connector 4-pins Power Input/Output & 2-pins FGND Power Requirement +19 to +50VDC Power Input (Typ. -
Page 10: Dimension
ICOP Technology Inc. 1.3 Dimension (Unit: mm) QEC-RXXHU User Manual Ver.3 January, 2024... -
Page 11: Mounting Instruction
ICOP Technology Inc. 1.4 Mounting Instruction QEC-RXXHU series is an easy-install design to help you set-up your modules easily. Please refer to Ch.3.1 DIN-Rail installation. DIN-Rill QEC-RXXHU User Manual Ver.3 January, 2024... -
Page 12: Ordering Information
ICOP Technology Inc. 1.5 Ordering Information RJ45 power source Functions Feature Type Coating Input Output Functions Standard 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 In/Out – Power Device 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-RXXHU User Manual Ver.3 January, 2024... -
Page 14: General Technical Data
ICOP Technology Inc. 2.1 General Technical Data QEC-RXXHU User Manual Ver.3 January, 2024... -
Page 15: Connector Summary
ICOP Technology Inc. 2.2 Connector Summary Description Type Narrative Pin # RJ45 Connector 8-pin EtherCAT Interface (Gold finger) 8-pin Power Connector Power Socket 6-pin Power and Connection Status LEDs Status LEDs I/O Status LEDs Status LEDs RS232/485 Connector & Switch... -
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-RXXHU 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: Io Status Leds
ICOP Technology Inc. 2.2.4 IO Status LEDs Notation Color Description Green UART port1 TX signal Green UART port1 RX signal Green UART port2 TX signal Green UART port2 RX signal Green MPG signal KEYPAD Green Keypad signal Green LCM signal 2.2.5 RS232/485 Connector &... -
Page 19: Lcm
ICOP Technology Inc. 2.2.6 LCM LCD Module: 2 lines, 16 characters per line. 2.2.7 DIN-Rail installation Please refer to Ch.3.1 DIN-Rail installation. QEC-RXXHU User Manual Ver.3 January, 2024... -
Page 20: Keypad
ICOP Technology Inc. 2.2.8 Keypad Matrix: 4x4. 2.2.9 MPG No. Pin Assignment No. Pin Assignment AXIS_B0 AXIS_B1 AXIS_B2 MULTIPLE_B0 MULTIPLE_B1 EMERGENCY QEC-RXXHU User Manual Ver.3 January, 2024... -
Page 21: 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-RXXHU User Manual Ver.3 January, 2024... -
Page 22: 3 Hardware Installation
ICOP Technology Inc. Hardware Installation 3.1 DIN-Rail installation 3.2 Removing QEC-RXXHU Unit QEC-RXXHU User Manual Ver.3 January, 2024... -
Page 23: Din-Rail Installation
ICOP Technology Inc. This section describes how to install QEC-RXXHU. Please turn OFF the power supply before you mount QEC-RXXHU. Always mount QEC-RXXHU one at a time. 3.1 DIN-Rail installation Slide in the QEC-RXXHU on the hookup guides and press the QEC-RXXHU with a certain amount of force against the DIN track until the DIN Track mounting hook lock into place. -
Page 24: Removing Qec-Rxxhu Unit
ICOP Technology Inc. 3.2 Removing QEC-RXXHU 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 25: 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-RXXHU User Manual Ver.3 January, 2024... - Page 26 ICOP Technology Inc. This chapter explains how to access the QEC-RXXHU 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. QEC’s PoE (Power over Ethernet) In QEC product installations, users can easily distinguish between PoE and non-PoE: if the RJ45 house is red, it is PoE type, and if the RJ45 house is black, it is non-PoE type.
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Page 27: 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-R11HU9S-N (EtherCAT HID Slave, supports 2 UART, 1 MPG, 1 Keypad, 1 LCM) 24V power supply & EU-type terminal cable LAN cable 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 28: 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 29: 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 30: 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 31: Step 2: Set The Parameters
ICOP Technology Inc. Step 2: Set the parameters Press twice on the scanned device image to enter the corresponding parameter setting screen. QEC-M-01 Press twice on the image of the QEC-M-01 to see the parameter settings. This example will use the default settings and not change any settings; please click "Back" in the upper left corner to return. -
Page 32: Step 3: Generation The Code
ICOP Technology Inc. Step 3: Generation the code After configuring all settings, click the "Code Generation" button. When you're done, double-click the OK button to turn off 86EVA, or it will close in 10 seconds. The generated code and files are as follows: sketch_dec28b: Main Project (.ino, depending on your project name) -
Page 33: 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 34: Ethercatdevice_Qecrxxhu Class
ICOP Technology Inc. EthercatDevice_QECRXXHU Class This class within the EtherCAT Library specifically caters to QEC EtherCAT Slave Digital IO Modules. For comprehensive details on the EthercatDevice_QECRXXHU Class, please refer to EthercatDevice_QECRXXHU Class. To obtain the full EtherCAT Master API User Manual, we encourage you to reach out to our sales team or email us directly at info@icop.com.tw. - Page 35 ICOP Technology Inc. Practical Application Examples 1. UART Port The following example is reading the data from the Serial Monitor in 86Duino IDE and transferring it from COM1 to COM2. After COM2 receives the data, we print it on the Serial Monitor.
- Page 36 ICOP Technology Inc. After uploading, you can input a number or letter to the Serial Monitor in 86Duino IDE. All data will transfer from COM1 to COM2. After COM2 receives the data, we print it on the Serial Monitor, as in the image below.
- Page 37 ICOP Technology Inc. 2. Keypad + LCM + Buzzer The following example is reading the keypad input data and printing on the specific positions of LCM according to it. Buzzer will buzz when the keypad is pressed; among them, '#' is a clear LCM display and sets the print position to the first row, and '*' is a clear LCM display and sets the print position to the second row.
- Page 38 ICOP Technology Inc. After uploading, you can press the keypad on the QEC-R11HU9S-N's side and printing on the specific positions of LCM according to it. Buzzer will buzz when the keypad is pressed; among them, '#' is a clear LCM display and sets the print position to the first row, and '*' is a clear LCM display and sets the print position to the second row.
- Page 39 ICOP Technology Inc. 3. MPG In the following example, we want to read the data and status of the MPG of QEC-R11HU9S, and print out EMG, Enable, Axis, Ratio, Raw, Logical data through the Serial Monitor of 86Duino IDE. Note: Once the code is written, click on the toolbar to...
- Page 40 ICOP Technology Inc. After the upload is completed, you can read the data and status of the MPG of QEC-R11HU9S, and view EMG, Enable, Axis, Ratio, Raw, Logical and other data through the Serial Monitor of 86Duino IDE. QEC-RXXHU User Manual...
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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-RXXHU User Manual Ver.3 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 1009 Hardware version Index Name Data type Flags Default 1009 Hardware version STRING DM406D Index 100A Index Name Data type Flags Default 100A Software version STRING 1.00 Index 1018 Identity Index Name Data type Flags Default...
- Page 46 ICOP Technology Inc. Index 10F8 Timestamp Object Index Name Data type Flags Default 10F8 Timestamp Object UINT8 RW P C0 1B A1 1A 36 00 00 00 Index 1A00 Input mapping Index Name Data type Flags Default 1A00:0 Input mapping 0 UINT8 >...
- Page 47 ICOP Technology Inc. Index 1C13 SyncManager 3 assignment Index Name Data type Flags Default 1C13:0 SyncManager 3 assignment UINT8 > 1 < 1C13:01 SubIndex 001 UINT16 0x1A00 (6656) Index 1C33 SM input parameter Index Name Data type Flags Default 1C33:0...
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Page 48: 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 0xXXXX Read SP Voltage (RO) 0x5001 VARIABLE UINT16 SP_Current 0xXXXX Read SP Current (RO) 0x5002 VARIABLE UINT16 PP_Voltage... - Page 49 ICOP Technology Inc. Index 0x5013 COM1 Index Object Code DataType Name Default Description Read_COM1 0x5013 RECORD COM1 > 15 < Write_COM1 (RW) 2400, 4800, 9600, 14400, 19200, UINT32 Baud_Rate 0x1C200 38400, 57600, 115200 UINT8 Data_Width 0x08 (RW) 5, 6, 7, 8 (RW) "0 = One “STOP bit”...
- Page 50 ICOP Technology Inc. Index 0x5014 COM2 Index Object Code DataType Name Default Description Read_COM2 0x5014 RECORD COM2 > 15 < Write_COM2 (RW) 2400, 4800, 9600, 14400, 19200, UINT32 Baud_Rate 0x1C200 38400, 57600, 115200 UINT8 Data_Width 0x08 (RW) 5, 6, 7, 8 (RW) "0 = One “STOP bit”...
- Page 51 ICOP Technology Inc. Index 0x5015 Hand Wheel Count Value Index Object Code DataType Name Default Description 0x5015 VARIABLE INT32 HandWheelCountValue 0 (WO) Write Hand Wheel Count Value. Index 0x5016 Invert Hand Wheel Count Index Object Code DataType Name Default Description...
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Page 52: Especial Objects (0X6000-0Xffff)
ICOP Technology Inc. 5.2.3 Especial Objects (0x6000-0xFFFF) Index 0x6nnx Input Data of the Module (0x6000 - 0x6FFF) Index Object Code DataType Name Default Description 0x6000 VARIABLE INT32 HandWheelCount (RO) 0x6001 RECORD MPG_SwitchState > 5 < BOOL EmergencyStop (RO) 0: Release, 1:Push Down... -
Page 53: 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-RXXHU User Manual Ver.3 January, 2024...
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