(max 10 khz); Mosfet, max 500 ma per channel, Vext: Vdc; RPDO< 1,25 ms Supported Protocols

Transcription

1 6CH Digital Input, 8CH Digital Output module / CANopen-ModBUS RTU Power Supply..4 Vdc, 9..8 Vac Max Consumption,5 W Isolation,5 kvac (3 way) Digital Inputs 6; Nr 8 with 3 bit (max khz); TPDO < ms Digital Outputs 8, 3 bit (max khz); Mosfet, max 5 ma per channel, Vext: Vdc; RPDO<,5 ms Supported Protocols CAN bus standard (.A), CANopen (CiA 4 v..), ModBUS RTU Dip-Switches Baud rate and ID Node configuration Operating temperature C Dimension (W*H*D) 35 x x mm For additional information please refer to

2 ORDER CODES Model Accessories Configuration ZC-6DI-8DO 6 CH Digital Input, 8 CH Digital Output module / CANopen-ModBUS RTU Z-PC-DINAL-35 Terminal block for power / bus + slot 35 mm Z-PC-DIN-35 slot block 35 mm Z-PC-DIN slot block 35 mm PM6 Programming serial cable Jack / DB9F EDS File (Electronic Data Sheet) free on TECHNICAL FEATURES GENERAL DATA INPUT DATA Power Supply..4 Vdc; 9..8 Vac Channels 6 (with shared negative pole, selfpowered at 6 Vdc) Max consumption Isolation Input Protection Rejection W,5 kvac (3 way) Against ESD up to 4 kv Settable 5 or 6 Hz Type Totalizers TPDO EN 63- type, synq (pnp); Vmax=3 V Nr 3 bit, freq. max khz Settable increment, reset, preset, overflow indication \ < ms Status indicators (LED) Dimension (WxHxD) Enclosure, weight, color Operating temperature Connection Protection degree Configuration Supported Protocols Max CANopen Speed Norms & Approvals Power Supply, communication, fault 35 x x mm PBT, 4 g, black C Screw-fit removable for wires up to 3.5 mm IDC Back connector for DIN rail frontal Jack RS3 (ModBUS) (COM) connection IP DIP switches (baud rate, ID Node) EDS IEC 63 CAN bus standard (.A) CANopen (profile CiA 4 v..) ModBUS RTU Mbps CE, EN 6-6-4, EN 64-6-, EN 6- CAN.A CiA 4 v.. IEC EN 63- OUTPUT DATA Channels Imax RPDO CANOPEN FEATURES NMT Error control Node ID Nr PDO PDO Modes PDO linking PDO mapping Nr SDO Server Emercency Messages Application layer Profile 8 Mosfet (open source) with shared negative pole.5 A (from terminals); 5 ma (from connectors) <,5 ms Slave Node guarding Software, DIP-switches RX 5 Event Triggered, Sync (cyclic), Sync (acyclic) Yes Variable Yes CiA 3 v. 4. CiA 4 v.. ELECTRICAL CONNECTIONS Module insertion on DIN guide 4677 IDC back connectors Digital Inputs Digital Outputs Backplane bus Z-PC DIN CANbus Connection Norms Fast counters ( Khz) Generic Inputs Connection from terminals Connection from connectors Connessione seriale RS3 DB9F / Jack stereo ZC-6DI-8DO_98EN

3 ET83C DIP-SWITCH SETTINGS (CANopen/ModBus PROTOCOL) ADDRESS SOFTWARE PROGRAMMED PROGRAMMED CANopen ModBus SW SW SW3 SW4 Type of communication Protocol SW SW4 ModBus CANopen ModBus TERMINATOR SW3 State ENABLE DISABLE WARNING Disconnect power supply before changing settings. Z-PC Line EN ZC-6DI-8DO CANopen/MODBUS I/O Module 6 Digital Inputs - 8 Digital Outputs Installation Manual Contents: - General Specifications - Technical Specifications - Installation Rules - Electrical connections - DIP-switches settings - Programming - Significant Components Position - Leds Signallings - Factory Settings SENECA s.r.l. Via Germania, Z.I. CAMIN - PADOVA - ITALY Tel Fax For manuals, EDS files and configuration software, see This document is property of SENECA srl. Duplication and reprodution are forbidden, if not authorized. Contents of the present documentation refers to products and technologies described in it. All technical data contained in the document may be modified without prior notice Content of this documentation is subject to periodical revision. Voltage Consumption Temperature Humidity Altitude Storage Temperature Protection Removable Terminals Rear IDC Connector IDC Connector on the rear Stereophonic frontal jack Dimensions Box Isolation Diagram 3-Point 5 VAC Isolation CAN/MODBUS POWER SUPPLY - 4 VDC or 9-8 VAC Typical:.5 W, Max:.5 W ENVIRONMENTAL CONDITIONS C 3-9% at 4 C non condensing up m a.s.l C IP CONNECTIONS 4-way screw terminals (3.5 mm pitch): inputs/outputs. CAN/MODBUS Interface and power supply (for DIN rail). Digital Outputs (alternatively to terminals). 3.5 mm: RS3 (COM). DIMENSIONS / BOX L: mm, H: mm, W: 35 mm PBT, black ISOLATIONS / STANDARS Standards The module complies with the following standards: EN6-6-4/- (electromagnetic emission, industrial environment). EN6-6-/6- (electromagnetic immunity, industrial environment). EN6-/ (safety). All circuits must be isolated from the other circuits under dangerous voltage with double isolation. The power supply transformer must comply with En674: Isolated transformers and safety transformers. Installation Rules The module is designed to be installed in vertical position on a DIN 4677 rail. In order to ensure optimum performance and the longest working life, the module(s) must be supplied adequate ventilation and no raceways or other objects that obstruct the ventilation slots. Never install modules above sources of heat; we recommend installation in the lower part of the control panel. Inserting on the DIN rail As it is illustrated in the figure: ) Insert the rear IDC connector on a DIN rail free slot (the inserting is univocal since the connectors are polarized). ) Tighten the four locks placed at the sides of the rear IDC connector to fix the module. DIGITAL INPUTS Digital inputs settable as High Speed Digital Counters (Max Frequency: khz) Generic Digital Inputs DIGITAL OUTPUTS Digital Outputs from Terminals Digital Outputs from IDC connector The total current entering on power supply terminal Connection suggested to supply 4 V relays. The must be limited to 4 A with quick-break fuse or total current entering on power supply terminal must equivalent protection. be limited to. A with quick-break fuse or equivalent protection. IDC Connector on the module rear side. Frontal Panel Significant Components Position Terminals/Leds/IDC Connector/ DIP-switch The terminals numbering, the leds position on the frontal panel, the rear IDC connector (fixing on the DIN rail) and the DIP-switch on the rear side are illustrated below. Triple flash ON LED ERR (Red) ON Lateral Panel IDC: CAN/MODBUS and Power Supply LEDs Signallings LED ERR E RUN: CANOPEN / MODBUS COMMUNICATION STATE The meaning of leds ERR and RUN is described below; refer to the User Manual for details about the possible state and the flashing modes of the two leds. LED ERR (Red) STATE LED (Red) ERR (CANOPEN) Meaning OFF No error The Device is in working condition. Single flash Warning limit At least one of the error counters of the CAN reached controller has reached or exceeded the warning level (too many error frames). Double flash Error Event A guard event (NMT-Slave or NMT-master). Sync Error Bus off ModBus RTU PROTOCOL: FRONT PANEL JACK: RS3, 4 BAUD, ADD. BAUD RATE (kbps) 3 SOFTWARE ADD. ADD. ADD. 3 ADD. 4 ADD ADD. 7 The SYNC message has not been received within the communication cycle period time out. The CAN controller is bus off. LED (Red) Rx (MODBUS) Meaning The device is receiving. KEY ON Factory Preset : IDC: Outputs MI53-I-E ENGLISH /8 MI53-I-E ENGLISH 3/8 MI53-I-E ENGLISH 5/8 MI53-I-E ENGLISH 7/8 General Specifications Sixteen 6 VDC self-powered digital inputs with shared negative pole. Eight inputs settable as 3-bit counters with khz maximum frequency. Eight Mosfet Digital Outputs with shared negative pole,5-3vdc collectively supplied. Digital outputs available both by terminals and IDC connector to facilitate the connection to external relays. Can Interface with CANopen protocol up to Mbps speed or MODBUS RS485 Interface up to 5 Kbit/s speed. CANopen/MODBUS Baud rate and Node ID configurability by DIP-switches or software. RS3 Serial Communication with MODBUS-RTU protocol. Facilitated power supply and CANopen/MODBUS bus wiring by means of the bus housed in the DIN rail. 5 VAC Isolation among input/output, power supply and CAN/MODBUS interface circuits. Counters increment individually configurable on the rising or falling edges of the corresponding digital input. Overflow indication available for each counter. Preset value configurable for each counter. Reset and preset commands individually executable on each counter. Overtemperature and short-circuit to ground of digital outputs continuous monitoring and consequent fault condition signalling. Outputs value in case of no communication or fault condition: programmable value or last set value. Leds Signallings: Power Supply, Digital Inputs/Outputs State, CAN/MODBUS Communication, MODBUS-RTU Communication, Outputs fault. INPUTS Polarity (EN 63- type ) Channels Counters (if enabled) U L (state OFF) U H (state ON) Absorbed Current (for each input) VMAX Minimum pulse width ON/OFF Delay Counters frequency Technical Specifications OUTPUTS Sink (pnp) Channels (3 bit) - 7 VDC - 3 VDC 3 ma 3 VDC 35 μs Typical:, ms Max: 3 ms Max KHz Outputs Type Power Supply Voltage Maximum current (for each output) RDS on ON/OFF Delay Mosfet (Open Source) 5-3 VDC.5 A (connection from terminals) 5 ma (connection from IDC connector),75 Ω Max ms Electrical Connections POWER SUPPLY AND CAN/MODBUS INTERFACE Power Supply and CAN/MODBUS interface are available by using the bus for the Seneca DIN rail, by the rear IDC connector or by Z-PC-DINAL-35 accessory. GNDCAN / GNDMODBUS CANH / A CANH / A CANL / B CANL / B Rear Connector (IDC) In the figure the meaning of the IDC connector pins is showed, in the case the user decides to provide the signals directly through it. Z-PC-DINAL-35 Accessory Use In case of Z-PC-DINAL--35 accessory use, the signals may be provided by terminal blocks. The figure shows the meaning of the terminals and the position of the DIPswitch (present on each DIN rail supports listed on Accessories) for CAN network termination. GNDSHLD: Shield to protect the connection cables (it is always recommended). CAN bus Connection Rules ) Install the modules on the DIN rail (max ). ) Connect the remote modules using cables of proper length. On the table the following data about the cables length are provided: -Bus Length: CAN network maximum length as a function of the Baud rate. It is the lenght of the cables which connect the two bus terminators modules (see Scheme ). -Drop Length: maximum length of a drop line (see Scheme ) as a function of the Baud Rate. Baud rate Bus Lenght Drop Lenght Scheme kbps 5 m 5 m 5 kbps 5 kbps 5 kbps 5 kbps 8 kbps m 5 m 5 m m 5 m 6 m 5 m 5 m 5 m 3 m kbps 5 m.3 m For the best performances, the use of special shielded cables is recommended (BELDEN 984 cable for example). 3) Terminate the two ends of the CANbus network by setting to ON the DIP-switch present on the DIN rail connection supports (seeaccessories) where the two ends are inserted. RS3 SERIAL PORT The connection cable DB9 with a 3.5 mm stereophonic jack, can be assembled as indicated in the following figure, or can be bought as an accessory. DIP-switches Settings The DIP-switches position defines the module CAN/MODBUS communication parameters: Address and Baud Rate. In the following figure the Baud Rate and Address values are listed as a function of the DIP-switches position: BAUD RATE (kbps) ADDRESS SOFTWARE SOFTWARE PROGRAMMED PROGRAMMED CANopen ModBus ADD ADD ADD ADD ADD ADD. 7 Type of communication Protocol SW SW4 ModBus CANopen ModBus TERMINATOR SW3 State ENABLE DISABLE KEY ON We underline that on all the DIN rail supports a DIP-switch is present and if it is set to ON position the CAN network termination is inserted. Programming PROGRAMMING THROUGH CAN/MODBUS INTERFACE The module may be programmed/configured through the CAN/MODBUS interface; refer to the User Manual for details about the communication. Factory Parameters With all the DIP-switches in OFF position (values from memory), the module is originally programmed as follows: MODBUS, Baud Rate: 384, Bit: 8, Parity: None, Stop bit:, Address: To switching ON SW and SW4 : CANOPEN, Baud Rate: kbps, Address: 7. PROGRAMMING THROUGH RS3 (FRONTAL JACK) The module may be programmed/configured through the RS3 interface by using MODBUS-RTU protocol; refer to the User Manual for details about the communication. The connection parameters are the following: Address:, Baud Rate: 4 Baud, Parity: none, Stop bit:. LED RUN (Green) STATE LED (Green) RUN (CANOPEN) Meaning Single flash Stop The Device is in STOPPED state. Blinking Pre-operational The Device is in the PRE-OPERATIONAL state. Acceso Operational The Device is in the OPERATIONAL state. LED RUN (Green) LED (Green) Tx (MODBUS) Meaning ON The device is transmitting. LEDS FAIL AND PWR: GENERAL SYSTEM DIAGNOSTICS LED PWR (Green) Meaning LED FAIL (Yellow) Meaning ON LED..6 (Green) DIGITAL INPUTS / OUTPUTS STATE LEDS LED O..8O Meaning (Green) ON The correspondent digital output (O..8O) ON ON Meaning Power Supply Presence ON / Blinking - Data reception on the RS3 port (COM). - At least an output in Fault -..8: If counters are enabled: the correspondent counter is ON. Otherwise it signals the state of the correspondent generic digital input : The correspondent generic digital input is ON. FACTORY SETTINGS All DIP-switch OFF: - MODBUS Protocol / - Communication parameters: 384 8,N, Addr. - Filter active on the 6 Digital inputs / - Filter value = Hz - In case of fail, outputs go low. - Modbus communication monitoring, not active. All dip switch OFF except SW (ON) and SW4 (ON): - CANopen Protocol / - Communication parameters: K Addr. 7 - Filter active on the 6 Digital inputs / - Filter value = Hz - In case of fail, outputs go low. Variations of standard parameters are possible by using configuration softwares Z-NET and EASY-Z-PC ( Disposal of Electrical & Electronic Equipment (Applicable throughout the European Union and other European countries with separate collections programs). This symbol, found on your producr or on its packaging, indicates that this product should not be treated as household waste when you wish to dispose of it. Instead, it should be handed over to an applicable collection point for the recycling of electrical & electronic equipment. By ensuring this product is didposed of correctly, you will help prevent potential negative consequences to the environment and human health, which could otherwise be caused by inappropriate disposal of this product. The recycling of materials will help to conserve natural resources. For more detailed information about the recycling of the product, please contact your local city office, waste disposal service of the retail store where you purchased this product. MI53-I-E ENGLISH /8 MI53-I-E ENGLISH 4/8 MI53-I-E ENGLISH 6/8 MI53-I-E ENGLISH 8/8

4 ZC-6DI8DO CANopen/Modbus I/O Module 6 Digital Input 8 Digital Output Or 8 Counters (3 bit) 8 Digital Input 8 Digital Output User Manual CANopen TPDOs TRANSMISSION OBJECT VALUE TRANSMISSION TYPE x8x sub Synchronous - acyclic From to 4 TYPE SUPPORTED Synchronous - cyclic 55 Asynchronous TECHNICAL DATA Contents: CANopen Features CANopen PDOs CANopen PDO Transmission Type CANopen Emergency Message CANopen Functional Diagram CANopen Object Dictionary Modbus Features Modbus Register Modbus Command BAUD RATE, 5, 5, 5, 5, 8, Kbits/s COUNTERS NR/TYPE 8 (3 bit) from input..8 MAX FREQUENCY FOR COUNTERS khz TYPICAL ON/OFF DELAY ms (filter disabled) for inputs.5 ms for outputs CANOpen TECHNICAL DATA NMT ERROR CONTROL NODE ID NUMBER OF PDO PDO MODES PDO MAPPING PDO LINKING NUMBER OF SDO ERROR MESSAGE CANopen FEATURES SLAVE NODE GUARDING HW SWITCH OR SOFTWARE 5 TX, RX Event Triggered, Sync (cyclic), Sync (acyclic) VARIABLE SUPPORTED SERVER YES SUPPORTED APPLICATION CiA 3 v4. LAYER CiA 4 v. PDO NR RPDO TDO TPDO 5 TPDO 6 TPDO 7 TPDO 8 CANopen PDOs MAPPING OBJECTS FOR DEFAULT MAPPING COB-ID MAPPED OBJECTS SUB x Digital + Input x6 NodeId [..8] Digital Input x6 [..8] x48 + NodeId x48 + NodeId x438 + NodeId x448 + NodeId x43 + NodeId Digital Input [9..6] Digital Input [7..4] Overflow counter [..8] Counter value Counter value Counter 3 value Counter 4 value Counter 5 value Counter 6 value Counter 7 value Counter 8 value x6 x6 x6 x x x x x x x x Note that TPDO COB-ID must starts with x

5 The Emergency message is composed by: bytes of EEC (Emergency error code) bytes of ER (Error Register) 4 bytes MEF (Manufacturer Error Filled Objects (x) Where if the bit is means no error CANopen EMERGENCY MESSAGE EMERGENCY MESSAGE BYTE BYTE BYTE BYTE3 BYTE4 BYTE5 BYTE6 EER ER MEF CODE x x x4 x4 x43 x8 x8 x83 x84 xff xff3 xff5 EEC No Error Generic error CPU Temperature over T_HIGH_HIGH CPU Temperature over T_HIGH CPU Temperature under T_LOW Communication Can Overrun Error Passive Life Guard Error Recovered From Bus Off CPU Error Vext For outputs not found / SPI Communication Error Output Fail If Hardware switches are in from memory mode the node address is selectable by Object x. ER BIT7 BIT6 BIT5 BIT4 BIT3 BIT BIT BIT Generic Temperature Communication Manifacture CANopen MANUFACTURER SPECIFIC PROFILE If Hardware switches are in from memory mode baud rate is selectable by Object x. OBJECT VALUE Object x3 can be used for monitoring the CPU temperature The HOT STOP Temperature sends in preoperational the station. The HOT ERROR and the COLD ERROR Temperature sends the Emergency Object. The Object is Read Only BAUDRATE ( OBJECT X) Kbit/s 5 Kbit/s 3 5 Kbit/s 4 5 Kbit/s 5 5 Kbit/s 6 8 Kbit/s 7 Mbit/s CPU TEMPERATURE ( OBJECT X3 ) SUB Actual Temperature [ C/] 3 4 Temperature for HOT STOP ERROR [ C/] 95. Temperature for HOT ERROR [ C/] 9. Temperature for COLD ERROR [ C/] -5. Object X5 is used to send commands to the station module. CPU COMMAND (OBJECT X5) COMMAND CODE x5cn x5dn x5en Force the preset value (object x) for counter n Force the reset for counter n Force the overflow reset (object x6 sub 4) NODE ADDRESS (OBJECT X:) OBJECT VALUE.7 Node Address

6 Object X is used to customize the input filter. FILTER PARAMETERS (OBJECT X) SUB 3 Samples Number for filter (default 4) Counter threshold for high level (default ) Counter threshold for low level (default ) For a high level sample the filter counter is incremented, otherwise for a low level the filter counter is decremented. When the filter counter is greater or equal subindex the input is stated high. When the filter counter is lower or equal subindex3 the input is stated low. In beetween subindex and subindex3 no state is asserted (dead zone). DIGITAL COUNTERS (OBJECT X) SUB Preset Counter Value Preset Counter Value 3 Preset Counter 3 Value 4 Preset Counter 4 Value 5 Preset Counter 5 Value 6 Preset Counter 6 Value 7 Preset Counter 7 Value DIP-SWITCH CONFIGURATION Note that the filter can be disabled by selecting: Subindex = Subindex = Subindex 3 = Object x stores the values of the 8 counters in 3 bit format. DIGITAL COUNTERS (OBJECT X) SUB Counter Value Counter Value 3 Counter 3 Value 4 Counter 4 Value 5 Counter 5 Value 6 Counter 6 Value 7 Counter 7 Value 8 Counter 8 Value CANopen LED INPUT/OUTPUT LED LED STATE 8 ON Input [..8] is high OFF Input [..8] is low 9.6 ON Input [9..4] is high OFF Input [9..4] is low O 8O ON Output [..8] is high OFF Output [..8] is low

7 SERVICE (DIAGNOSTIC) LED LED STATE RUN Pre-operational BLINKING mode SINGLE FLASH Stop mode ERROR ON SINGLE FLASH DOUBLE FLASH TRIPLE FLASH ON Operational mode At least one error counter has reached or exceeded the warning level GUARD Event The SYNC hasn t received within the configurated communication cycle timeout period The CAN controller is bus OFF OFF NO Error FAIL Data receiving from ON BLINKING RS3 POWER ON Power Supply CANopen DIGITAL INPUT MANAGEMENT Object x63 is used for Input Filter Configuration FILTER CONSTANT INPUT (OBJECT X63) SUB FILTER ENABLED FOR INPUT [..8] FILTER ENABLED FOR INPUT [9..6] READ ONLY Object x67 is used as Digital Interrupt Mask Low to Hgh. IINTERRUPT MASK LOW TO HIGH (OBJECT X67) SUB Interrupt mask on rising edge input [..8] Interrupt mask on rising edge input [9..6] 3 Interrupt mask for counters overflow For subindex and if value is than the generation of TxPDO on rising edge is enabled. If subindex 3 value is the generation of TxPDO on all 8 counters overflows is enabled. Object x67 is used as Digital Interrupt Mask Low to Hgh. IINTERRUPT MASK HIGH TO LOW (OBJECT X68) SUB Interrupt mask on falling edsge input [..8] Interrupt mask on falling edsge input [9..6] For subindex and if value is than the generation of TxPDO on falling edge is enable CANopen DIGITAL OUTPUT MANAGEMENT If the value of object x63 subindex is all inputs from to 8 are configured in counter mode,in other word counter mode switched ON. If the value of object x63 subindex is not equal to the counter mode is switched OFF. Object x6 is used as 8 bit output 8 BIT OUTPUT (OBJECT X6) SUB OUTPUT [..8] VALUE Object x65 is used for Interrupt Enable: If the value is the station can generate a synchronous TxPDO (DEFAULT setting). If the value is the station can t generate a synchronous TxPDO. OUTPUT ERROR MODE (OBJECT X66) SUB OUTPUT [..8] ERROR MODE If bit n (output n) is, this output keeps the last value; If bit n (output n) is, this output is loaded with object x67.

8 Object x67 is used to store outputs values to load, in FAULT case (only if in output error mode corresponding bit value is ). OUTPUT ERROR VALUE (OBJECT X67) SUB 3 Interrupt mask on falling edsge input [..8] Interrupt mask on falling edsge input [9..6] Interrupt mask on falling edsge input [7..4] Object x6 is used for outputs corresponding bits OUTPUT SINGLE BIT (OBJECT X6) SUB Output value Output value 3 Output 3 value 4 Output 4 value 5 Output 5 value 6 Output 6 value 7 Output 7 value 8 Output 8 value

9 CANopen FUNCTIONAL DIAGRAM COUNTER MODE ON (Subindex Object x63 = )

10 CANopen FUNCTIONAL DIAGRAM DIGITAL OUTPUT

11 CANopen OBJECT DICTIONARY Communication Profile Area SUB NAME TYPE ACCESS DEFAULT x Device Type Device Type (Profile 4 = x9) UNSIGNED 3 RO x39 x Error register Error register (DS 4) UNSIGNED 8 RO x Manufacturer Status Register x5 SYNC COB-ID x6 x7 x8 x9 xa Communication Window Length Synchronous Window Length Manufacturer Device Name Manufacturer Hardware version Manufacturer Software version Status Register UNSIGNED 3 RO The device consumes the SYNC mesage UNSIGNED 3 RW x8 Sync interval [us] UNSIGNED 3 RW Time window [us] for the PDO transmission after the SYNC Device name Hardware version Software version UNSIGNED 3 RW VISIBLE STRING VISIBLE STRING VISIBLE STRING RO RO RO ZC-6DI8DO SC SW9 xc Guard Time Guard Time [ms] UNSIGNED 6 RW xd Life Time Factor Max delay between two guarding telegrams = Guard_Time*Life_Time_Factor UNSIGNED 8 RW Store Parameters Max Subindex Number RO 4 Save All Parameters Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 3 RW x Save Communication Parameters Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 3 RW 3 Save Application Parameters Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 3 RW 4 Save Manufactures Parameters Store not volatile parameters (Write in ASCII save for store process MSB x LSB) UNSIGNED 3 RW Restore Default Max Subindex Number UNSIGNED 8 RO 4 Restore All Parameters Restore not volatile parameters (Write in ASCII load for load process MSB x6466f6c LSB) UNSIGNED 3 RW x Restore Communication Parameters Restore not volatile parameters (Write in ASCII load for load process MSB x6466f6c LSB) UNSIGNED 3 RW 3 Restore Application Parameters Restore not volatile parameters (Write in ASCII load for load process MSB x6466f6c LSB) UNSIGNED 3 RW

12 SUB NAME TYPE ACCESS DEFAULT 4 Restore Mnufactures parameters Restore not volatile parameters (Write in ASCII load for load process MSB x6466f6c LSB) UNSIGNED 3 RW x4 COB-ID Emergency Object COB-ID for Emergency Object UNSIGNED 3 RO NODEID + x8 Identity Object Max Subindex Number UNSIGNED 8 RO 4 Vendor ID Seneca srl UNSIGNED 3 RO x49 x8 Product Code ZC-6DI8DO Machine ID Code UNSIGNED 3 RO x 3 Revision Number Revision UNSIGNED 3 RO 4 Serial Number Serial Number Code UNSIGNED 3 RO x Server SDO Parameters Max Subindex Number UNSIGNED 8 RO Receive SDO COB-ID COB-ID of Receive SDO UNSIGNED 3 RO Transmit SDO COB-ID COB-ID of Transmit SDO UNSIGNED 3 RO NODEID + x6 NODEID+ x58 Receive PDO Communication Parameters Max Subindex Number UNSIGNED 8 RO 3 X4 COB-ID COB-ID of RxPDO UNSIGNED 3 RW Transmission Type Transmission Type for RxPDO x = Synchronous - acyclic x to xf = Synchronouscyclic xff = Asynchronous NODEID + x48 UNSIGNED8 RW xff 3 Inhibit Time Receive PDO Mapping Not used in Rx PDO UNSIGNED 6 RW x Max Subindex Number UNSIGNED 8 RO 4 x6 Object NR First Object UNSIGNED 3 RW x68 Object = x6 Subindex = Length = 8 bit Transmit PDO Communication Parameters Max Subindex Number UNSIGNED 8 RO 3 COB-ID COB-ID of TxPDO UNSIGNED 3 RW NODEID + x48 x8 Transmission Type Transmission Type for TxPDO x = Synchronous - acyclic x to xf = Synchronouscyclic xff = Asynchronous UNSIGNED 8 RW xff 3 Inhibit Time Min. delay for the next PDO (ms/) UNSIGNED 6 RW x x84 Transmit PDO5 Communication Parameters Max Subindex Number UNSIGNED 8 RO 3 COB-ID COB-ID of TxPDO5 UNSIGNED 3 RW NODEID + x48

13 SUB NAME TYPE ACCESS DEFAULT Transmission Type 3 Inhibit Time Transmission Type for TxPDO5 x = Synchronous - acyclic x to xf = Synchronouscyclic xff = Asynchronous Min. delay for the next PDO (ms/) UNSIGNED 8 RW x UNSIGNED 6 RW x Transmit PDO6 Communication Parameters Max Subindex Number UNSIGNED 8 RO 3 COB-ID COB-ID of TxPDO6 UNSIGNED 3 RW NODEID + x438 x85 Transmission Type Transmission Type for TxPDO6 x = Synchronous - acyclic x to xf = Synchronouscyclic xff = Asynchronous UNSIGNED 8 RW x 3 Inhibit Time Min. delay for the next PDO (ms/) UNSIGNED 6 RW x Transmit PDO7 Communication Parameters Max Subindex Number UNSIGNED 8 RO 3 COB-ID COB-ID of TxPDO7 UNSIGNED 3 RW NODEID + x448 x86 Transmission Type Transmission Type for TxPDO7 x = Synchronous - acyclic x to xf = Synchronouscyclic xff = Asynchronous UNSIGNED 8 RW x 3 Inhibit Time Min. delay for the next PDO (ms/) UNSIGNED 6 RW x Transmit PDO Communication Parameters Max Subindex Number UNSIGNED 8 RO 3 COB-ID COB-ID of TxPDO UNSIGNED 3 RW NODEID + x43 x87 Transmission Type Transmission Type for TxPDO x = Synchronous - acyclic x to xf = Synchronouscyclic xff = Asynchronous UNSIGNED 8 RW x 3 Inhibit Time Transmit PDO Mapping Min. delay for the next PDO (ms/) UNSIGNED 6 RW x Max Subindex Number UNSIGNED 8 RO 4 xa Object NR First Object (default: Input..8) UNSIGNED 3 RW x68 Object = x6 Subindex = Length = 8 bit

14 SUB NAME TYPE ACCESS DEFAULT Object NR Second Object (default: Input 9..6) UNSIGNED 3 RW x68 Object = x6 Subindex = Length = 8 bit 3 Object NR3 Third Object (default: Counter..8 Overflow) UNSIGNED 3 RW x638 Object = x6 Subindex = 3 Length = 8 bit Transmit PDO5 Mapping Max Subindex Number UNSIGNED 8 RO xa4 Object NR First Object (default:: Counter ) UNSIGNED 3 RW x Object = x Subindex = Length = 3 bit Object NR Second Object (default: Counter) UNSIGNED 3 RW x Object = x Subindex = Length = 3 bit Transmit PDO6 Mapping Max Subindex Number UNSIGNED 8 RO xa5 Object NR First Object (default:: Counter 3) UNSIGNED 3 RW x3 Object = x Subindex = 3 Length = 3 bit Object NR Second Object (default: Counter 4) UNSIGNED 3 RW x4 Object = x Subindex = 4 Length = 3 bit Transmit PDO7 Mapping Max Subindex Number UNSIGNED 8 RO xa6 Object NR First Object (default: Counter 5) UNSIGNED 3 RW x5 Object = x Subindex = 5 Length = 3 bit Object NR Second Object (default: Counter 6) UNSIGNED 3 RW x6 Object = x Subindex = 6 Length = 3 bit Transmit PDO8 Mapping Max Subindex Number UNSIGNED 8 RO xa7 Object NR First Object (default:: Counter 7) UNSIGNED 3 RW x7 Object = x Subindex = 7 Length = 3 bit

15 SUB NAME TYPE ACCESS DEFAULT Object NR Second Object (default: Counter 8) UNSIGNED 3 RW x8 Object = x Subindex = 8 Length = 3 bit Manufacturer Profile Area SUB NAME TYPE ACCESS DEFAULT x Module Address Station Address (only if dip switch 4,5,6,7,8,9, are OFF) UNSIGNED 8 RW 7 x Buad Rate Station Baud Rate (only if dip switch,,3 are OFF) = Kbps = 5Kbps 3 = 5Kbps 4 = 5Kbps 5 = 5Kbps 6 = 8Kbps 7 = Mbps UNSIGNED 8 RW 7 Device Temperature Max Subindex Number UNSIGNED 8 RO 4 Internal Temperature Station internal Temperature [ C/] INTEGER 6 RO X3 Hi Hi Temperature Critical Hot Temperature (All operations Stop ) [ C/ INTEGER 6 RO 95 3 Hi Temperature Warning for Too Hot Temperature [ C/] INTEGER 6 RO 9 4 Low Temperature Critical Low Temperature (All operations Stop ) [ C/] INTEGER 6 RO -5 x5 CPU Command Command to execute Supported commands are: x5cnn Force preset for counter mask nn x5dnn Force reset for counter mask nn x5enn Force overflow for counter mask nn UNSIGNED 6 RW x5 Aux Command Reserved UNSIGNED 6 RW Input Filter Parameter Max Subindex Number UNSIGNED 8 RO 3 x Filter Length Number of samples to evaluate UNSIGNED 8 RW 4 Counter threshold for high level If counter >= threshold_high input is stated high UNSIGNED 8 RW

16 SUB NAME TYPE ACCESS DEFAULT 3 Counter threshold for low level If counter <= threshold_low input is stated low UNSIGNED 8 RW Input Counters Max Subindex Number UNSIGNED 8 RO 8 Counter Value Counter value UNSIGNED 3 RW Counter Value Counter value UNSIGNED 3 RW 3 Counter 3 Value Counter 3 value UNSIGNED 3 RW x 4 Counter 4 Value Counter 4 value UNSIGNED 3 RW 5 Counter 5 Value Counter 5 value UNSIGNED 3 RW 6 Counter 6 Value Counter 6 value UNSIGNED 3 RW 7 Counter 7 Value Counter 7 value UNSIGNED 3 RW 8 Counter 8 Value Counter 8 value UNSIGNED 3 RW Preset for Input Counters Counter Preset Value Max Subindex Number UNSIGNED 8 RO 8 Counter preset value UNSIGNED 3 RW Counter Preset Value Counter preset value UNSIGNED 3 RW 3 Counter 3 Preset Value Counter 3 preset value UNSIGNED 3 RW x 4 Counter 4 Preset Value Counter 4 preset value UNSIGNED 3 RW 5 Counter 5 Preset Value Counter 5 preset value UNSIGNED 3 RW 6 Counter 6 Preset Value Counter 6 preset value UNSIGNED 3 RW 7 Counter 7 Preset Value Counter 7 preset value UNSIGNED 3 RW 8 Counter 8 Preset Value Counter 8 preset value UNSIGNED 3 RW x5 x5 Output Status Max Subindex Number UNSIGNED 8 RO Output [..8] Status = Output status ERROR = Output status OK UNSIGNED 8 RW Output Fail type Max Subindex Number UNSIGNED 8 RO Fail type Output [..8] Reserved UNSIGNED 3 RW

17 Standard Device Profile Area SUB NAME TYPE ACCESS DEFAULT x6 8 bit Digital Input Counter overflow Max Subindex Number UNSIGNED 8 RO 3 Input [..8] Value Read input [..8] value UNSIGNED 8 RO Input [9..6] Value Read input [9..6] value UNSIGNED 8 RO 3 Counter [..8] overflow Overflow Status Counter [..8] UNSIGNED 8 RO Filter Mask Enable Max Subindex Number UNSIGNED 8 RO x63 Input [..8] Filter Mask Enable Input [..8] Filter enable Mask bit = Filter disabled (and Counters..8 Enabled) Mask bit = Filter enabled (and Counters..8 Disabled) UNSIGNED 8 RW XFF x65 Input [9..6] Filter Mask Enable Global Interrupt Enabled Interrupt Mask Low to High Input [9..6] Filter Mask enable UNSIGNED 8 RO xff = TxPDO Asynchronous disabled = TxPDO Asynchronous enabled UNSIGNED 8 RW Max Subindex Number UNSIGNED 8 RO 3 Input [..8] interrupt Low to High mask enable Input [..8] rising interrupt mask enable Mask bit = rising interrupt disabled Mask bit = rising interrupt enabled UNSIGNED 8 RW xff x67 Input [9..6] interrupt Low to High mask enable Input [9..6] rising interrupt mask enable Mask bit = rising interrupt disabled Mask bit = rising interrupt enabled UNSIGNED 8 RW xff 3 Counter [..8] Overflow interrupt mask enable Counter [..8] rising interrupt mask enable Mask bit = rising interrupt disabled Mask bit = rising interrupt enabled UNSIGNED 8 RW xff Interrupt Mask High to Low Max Subindex Number UNSIGNED 8 RO X68 Input [..8] interrupt High to Low mask enable Input [..8] falling interrupt mask enable Mask bit = falling interrupt disabled Mask bit = falling interrupt enabled UNSIGNED 8 RW xff Input [9..6] interrupt High to Low mask enable Input [9..6] falling interrupt mask enable Mask bit = falling interrupt disabled Mask bit = falling interrupt enabled UNSIGNED 8 RW xff

18 SUB NAME TYPE ACCESS DEFAULT Read Input Bit Max Subindex Number UNSIGNED 8 RO 6 X6 X6 X66 X67 Input Value Input Value 3 Input 3 Value 4 Input 4 Value 5 Input 5 Value 6 Input 6 Value 7 Input 7 Value 8 Input 8 Value 9 Input 9 Value Input Value Input Value Input Value 3 Input 3 Value 4 Input 4 Value 5 Input 5 Value 6 Input 6 Value = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low = Input is Low UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO UNSIGNED 8 RO 8 bit Output Max Subindex Number UNSIGNED 8 RO Output..8 Value Output Value UNSIGNED 8 RW Error Mode Output Max Subindex Number UNSIGNED 8 RO Error Mode Output [..8] = Load object x67 value = Keep last UNSIGNED 8 RW XFF Error Value Output Max Subindex Number UNSIGNED 8 RO Error Value Output [..8] Value to load in fail case [..8] UNSIGNED 8 RW x Single bit Output Max Subindex Number UNSIGNED 8 RO 8 Output Value Output BOOLEAN RW Output Value Output BOOLEAN RW x6 3 Output 3 Value Output3 BOOLEAN RW 4 Output 4 Value Output4 BOOLEAN RW 5 Output 5 Value Output5 BOOLEAN RW 6 Output 6 Value Output6 BOOLEAN RW

19 SUB NAME TYPE ACCESS DEFAULT 7 Output 7 Value Output7 BOOLEAN RW 8 Output 8 Value Output8 BOOLEAN RW

20 MODBUS FEATURES TECHNICAL DATA BAUD RATE.4, 4.8, 9.6,9., , 5. Kbits/s COUNTERS NR/TYPE 8 (3 bit) from input..8 MAX FREQUENCY FOR COUNTERS khz DIP-SWITCH CONFIGURATION MODBUS LED SERVICE LED LED STATE RUN/TX ON Data Transmission ERR/RX ON Data Receiving FAIL Data receiving from ON BLINKING RS3 POWER ON Power Supply INPUT LED LED STATE 8 ON Input [..8] is high OFF Input [..8] is low 9.4 ON Input [9..4] is high OFF Input [9..4] is low

21 MODBUS REGISTERS Holding Registers ADDRESS REGISTER TYPE ACCESS DEFAULT 4 MACH-ID/EXT_FW_REV machine id = x ext revision FLASH R x 4 FW_CODE 43 INPUT INPUT 9..6 Seneca FW Code Input 8 Input 9 6 FLASH R CODE 45 OUTPUT..8 Output..8 RAM R/W 46 STATUS Status 47 OUTPUT STATUS..8 Output Status 48 COUNTER_OVERFLOW 49 COUNTER_H 4 COUNTER_L 4 COUNTER_H 4 COUNTER_L 43 COUNTER3_H 44 COUNTER3_L 45 COUNTER4_H 46 COUNTER4_L 47 COUNTER5_H 48 COUNTER5_L 49 COUNTER6_H 4 COUNTER6_L 4 COUNTER7_H 4 COUNTER7_L 43 COUNTER8_H 44 COUNTER8_L 45 PRESET_COUNTER_H Counter overflow = Enable, = Disable Counter_high word Counter_low word Counter_high word Counter_low word Counter3_high word Counter3_low word Counter4_high word Counter4_low word Counter5_high word Counter5_low word Counter6_high word Counter6_low word Counter7_high word Counter7_low word Counter8_high word Counter8_low word Preset Counter value = FLASH R/W 46 PRESET_COUNTER_L FLASH R/W 47 PRESET_COUNTER_H Preset Counter vallue = FLASH R/W 48 PRESET_COUNTER_L FLASH R/W 49 PRESET_COUNTER3_H Preset Counter vallue = FLASH R/W 43 PRESET_COUNTER3_L FLASH R/W 43 PRESET_COUNTER4_H Preset Counter vallue = FLASH R/W 43 PRESET_COUNTER4_L FLASH R/W 433 PRESET_COUNTER5_H Preset Counter vallue = FLASH R/W 434 PRESET_COUNTER5_L FLASH R/W

22 ADDRESS REGISTER TYPE ACCESS DEFAULT 435 PRESET_COUNTER6_H Preset Counter vallue = FLASH R/W 436 PRESET_COUNTER6_L FLASH R/W 437 PRESET_COUNTER7_H Preset Counter vallue = FLASH R/W 438 PRESET_COUNTER7_L FLASH R/W 439 PRESET_COUNTER8_H Preset Counter vallue = FLASH R/W 44 PRESET_COUNTER8_L FLASH R/W 44 ERROR MODE OUT..8 Output..8 Error Mode FLASH R/W xff 44 ERROR VALUE OUT..8 Output..8 Error Value FLASH R/W 443 FILTER IN MASK [..8] 444 FILTER IN MASK [9..6] Input..8 Filter Mask Input 9..6 Filter Mask 445 FILTER_SAMPLES_NR Default filter: It operates for frequency > Hz 446 FILTER_HIGH_SAMPLES 447 FILTER_LOW_SAMPLES ( 55) ( 55) FLASH R/W xff FLASH R xff FLASH R/W x8 FLASH R/W x4 FLASH R/W x4 448 ADDR_CAN CANOpen Address 7 FLASH R/W BAUD_CAN CANOpen Baudrate kbps FLASH R/W 45 ADDR/PARITY MODBUS Modbus Address, no parity FLASH R/W x 45 BAUD/DELAY MODBUS Modbus Baudrate 384, no delay FLASH R/W x5 45 MODBUS FAIL COMM MODE 453 MODBUS FAIL COMM TIMEOUT Modbus communication monitoring result Timeout for Modbus communication monitoring [/ s] FLASH R/W FLASH R/W 4 COMMAND Command register RAM R/W 4 COMMAND_AUX Service register for command 43 INPUT [..6]

23 Status This register contains the states of over-temperature and flash errors: STATUS BIT7 BIT6 BIT5 BIT4 BIT3 BIT BIT BIT FLASH_ERROR TEMP_ERROR Filters For a high input level the filter counter is incremented, otherwise for a low level the filter counter is decremented. When the filter counter is greater or equal than FILTER_HIGH_SAMPLE the input is stated High. When the filter counter is lower or equal than FILTER_LOW_SAMPLE the input is stated Low. Between FILTER_HIGH_SAMPLE and FILTER_LOW_SAMPLE no state is asserted (dead zone). MASK nn (HEX) Counter8 XXX XXXX 8 X Counter7 XXX XXXX 4 X Counter6 XXX XXXX X Counter5 XXX XXXX X Counter4 XXXX XXX X 8 Counter3 XXXX XXX X 4 Counter XXXX XXX X Counter XXXX XXX X EXAMPLES: x5d83 (Mask. ) Reset Counters 8, e x5d5c (Mask: ) Reset Counters 7,5,4 e 3 x5dff(mask ) Reset all counters Note that the filter can be disabled by selecting: FILTER_HIGH_SAMPLE_NR = FILTER_LOW_SAMPLE = FILTER_HIGH_SAMPLE = Modbus FAIL Communication During Modbus Communication, a traffic monitoring is improved; so, if for a fixed time ( MODBUS FAIL TIMEOUT) there is no data transmission/reception and MODBUS FAIL COMM MODE =, the device is in FAIL condition and ERROR values are loaded Command Modbus CODE xbab xbcd x5cnn x5dnn x5enn x6bac xca COMMAND Save in FLASH Load DEFAULT Force Preset of counters corresponding to bits nn. (Preset value is in registers ) Force Reset of counters corresponding to bits nn Force reset bit overflow (COUNTER_OVERFLOW) corresponding to bits nn DIP Read Reset Module

24 Coil Registers ADDRESS REGISTER TYPE ACCESS DEFAULT INPUT Input INPUT Input 3 INPUT3 Input3 4 INPUT4 Input4 5 INPUT5 Input5 6 INPUT6 Input6 7 INPUT7 Input7 8 INPUT8 Input8 9 INPUT9 Input9 INPUT Input INPUT Input INPUT Input 3 INPUT3 Input3 4 INPUT4 Input4 5 INPUT5 Input5 6 INPUT6 Input6 7 OUTPUT Output RAM R/W 8 OUTPUT Output RAM R/W 9 OUTPUT3 Output3 RAM R/W OUTPUT4 Output4 RAM R/W OUTPUT5 Output5 RAM R/W OUTPUT6 Output6 RAM R/W 3 OUTPUT7 Output7 RAM R/W 4 OUTPUT8 Output8 RAM R/W