Delta EtherCAT EcNavi User Guide

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1 Industrial Automation Headquarters Delta Electronics, Inc. Taoyuan Technology Center No.18, Xinglong Rd., Taoyuan City, Taoyuan County 33068, Taiwan TEL: / FAX: Asia Delta Electronics (Jiangsu) Ltd. Wujiang Plant Jiangxing East Road, Wujiang Economic Development Zone Wujiang City, Jiang Su Province, P.R.C TEL: / FAX: Delta Greentech (China) Co., Ltd. 238 Min-Xia Road, Pudong District, ShangHai, P.R.C TEL: / FAX: Delta Electronics (Japan), Inc. Tokyo Office Minato-ku Shibadaimon, Tokyo , Japan TEL: / FAX: Delta Electronics (Korea), Inc. 1511, Byucksan Digital Valley 6-cha, Gasan-dong, Geumcheon-gu, Seoul, Korea, TEL: / FAX: Delta Electronics Int l (S) Pte Ltd. 4 Kaki Bukit Ave 1, #05-05, Singapore TEL: / FAX: Delta Electronics (India) Pvt. Ltd. Plot No 43 Sector 35, HSIIDC Gurgaon, PIN , Haryana, India TEL : / FAX : Delta EtherCAT EcNavi User Guide Americas Delta Products Corporation (USA) Raleigh Office P.O. Box 12173,5101 Davis Drive, Research Triangle Park, NC 27709, U.S.A. TEL: / FAX: Delta Greentech (Brasil) S.A. Sao Paulo Office Rua Itapeva, 26-3 andar Edificio Itapeva One-Bela Vista São Paulo-SP-Brazil TEL: / FAX: Europe Deltronics (The Netherlands) B.V. Eindhoven Office De Witbogt 20, 5652 AG Eindhoven, The Netherlands TEL : / FAX : *We reserve the right to change the information in this manual without prior notice.

2 About this Manual User Information Please store this manual in a safe location. This manual is subject to change without notice due to the release of new products, improvements and changes in technologies or modifications to data and forms. Do not copy or reproduce any part of this manual without the written permission of Delta Electronics Co., Ltd. Version See below for EtherCAT RTX Version: Name Version Number File Version Product Version Do not use the version earlier than the version that mentioned above. Or some functions might not be supported. Trademarks Windows NT/2000/XP, Visual Studio and Visual C++ are all registered trademarks owned by Microsoft. The names of other products are only used for identification purposes and the registered trademarks remain the property of their respective owners. Technical Support and Service If you require technical support, service and related information or have any questions during the use of this product, please visit our website ( or contact us. We look forward to providing the best possible support and service for your needs.

3 Table of Contents EcNavi Introduction 介紹 1.1 Software Interface Supported List File Description 1-3 Function Introduction 功能介紹 2.1 Advanced Setting Read AutoConfig Set Master DC Time Set Slave DC Time Node ID Alias Hardware Read System Clear AutoConfig File Simulation Speed Scope Position Scope Option Error Code Power Consumption Calculation ESIC CANopen About Initial Find Slave Multi Axes Line Line Arc Arc Arc Helix Spiral Spiral Spiral Module Operation 模組 3.1 Servo Drive Cyclic Synchronous Position (CSP) Mode Cyclic Synchronous Velocity (CSV) Mode Cyclic Synchronous Torque (CST) Mode Homing Mode Profile Position (PP) Mode Profile Velocity (PV) Mode 3-9 December,

4 3.1.7 Profile Torque (PT) Mode R1-EC5500 EtherCAT to E-Bus Power Module R1-EC5621 Single Axis Pulse Output Module R1-EC60xx 16 Channels Digital Input Module R1-EC Channels Digital Output Module R1-EC Channels Analog Input Module R1-EC Channels Analog Output Module December, 2014

5 EcNavi Introduction 1.1 Software Interface Supported List File Description 1-3 December,

6 EcNavi Introduction EtherCAT EcNavi User Guide 1.1 Software Interface EcNavi is the software designed for controlling and monitoring all of EtherCAT module and servo drive. Figure 1-1 EcNavi Main Page A) Toolbar Functions include initialization, module searching and other operations. B) List of connected module Lists all master connected modules C) DC Status Displays the current DC status 1-2 December, 2014

7 EtherCAT EcNavi User Guide EcNavi Introduction 1.2 Supported List The following table lists the module and servo drive currently supported by EcNavi. If desire to add other servo drive, please import the xml file provided by the manufacturer. Name R1-EC5500 R1-EC5512 R1-EC5621 R1-EC60XX R1-EC7062 R1-EC8124 R1-EC9144 ASDA A2-E Description EtherCAT to E-BUS coupler E-BUS power extension module Single axis pulse output module 16 channels digital input module 16 channels digital output module 4 channels analog input module 4 channels analog output module EtherCAT Interface Servo Drive 1.3 File Description EcNavi places the required file in C:\EtherCAT. See below for further information: Name of File Folder AutoConf ESI Image Description EcNavi converts all xml file from the manufacturer to a specific format and store in this file folder. Modifications for each module and servo drive will also be stored in the corresponding files. xml files from each module and servo drive are placed here. Icons corresponding by each module and servo drive are placed in Image file folder. December,

8 EcNavi Introduction EtherCAT EcNavi User Guide (This page is intentionally left blank.) 1-4 December, 2014

9 Function Introduction 2.1 Advanced Setting Read AutoConfig Set Master DC Time Set Slave DC Time Node ID Alias Hardware Reset System Clear AutoConfig File Simulation Speed Scope Position Scope Option Error Code Power Consumption Calculate ESIC CANopen About Initial Find Slave Multi Axes Line Line Arc Arc Arc Helix Spiral Spiral Spher 2-20 December,

( Activate it before initialization) Figure 2-1 Screen of Read AutoConfig Click Set button. Users now can select the file path.

10 Function Introduction EtherCAT EcNavi User Guide 2.1 Advanced Setting Read AutoConfig To activate this function, users have to specify the setting file during initialization. ( Activate it before initialization) Figure 2-1 Screen of Read AutoConfig Click Set button. Users now can select the file path. Then, please click Finish Setting Set Master DC Time To activate this function, users have to select DC time during initialization. ( Activate it before initialization) Figure 2-2 Screen of Set Master DC Time After selecting DC Time, please click Finish Setting. 2-2 December, 2014

EtherCAT EcNavi User Guide Function Introduction 2.1.3 Set Slave DC Time Setup all slaves DC time.

4 NodelD Alias When enabling this function, a message window will pop up and ask if the user wishes to define the

11 EtherCAT EcNavi User Guide Function Introduction Set Slave DC Time Setup all slaves DC time. Save File: Saves the selected setting Figure 2-3 Screen of Set Slave DC Time NodelD Alias When enabling this function, a message window will pop up and ask if the user wishes to define the station number during initialization. ( Activate it before initialization) Check Alias to define the station number. Figure 2-4 Screen of NodeID Alias December,

Function Introduction EtherCAT EcNavi User Guide 2.2 Hardware 2.2.1 Reset System Break the connection from all Slave and disable the connection of EtherCAT. 2.2.2 Clear AutoConfig File When accessing AutoConfig file is failed, use this button to reset.

12 Function Introduction EtherCAT EcNavi User Guide 2.2 Hardware Reset System Break the connection from all Slave and disable the connection of EtherCAT Clear AutoConfig File When accessing AutoConfig file is failed, use this button to reset. 2.3 Simulation Speed Scope Use this window to monitor the speed curve of each axis. Figure 2-5 Screen of Speed Scope Select the specified axis and the displayed curve option. Click Start to start monitoring. 2-4 December, 2014

13 EtherCAT EcNavi User Guide Function Introduction Position Scope Use this window to monitor the position of each axis. Figure 2-6 Screen of Position Scope Select the specified axis and the monitoring condition. Click Start to start monitoring. 2.4 Option Error Code This window will help you find out the meaning of each error code. Figure 2-7 Screen of ErrorCode Select the error code from the drop-down list. Then, the corresponding descriptions about the error code will be displayed on the right. December,

Function Introduction EtherCAT EcNavi User Guide 2.4.2 Power Consumption Calculate Use this window to calculate the current value of each module.

expansion module is needed. 2.4.3 ESIC Use this window to define the OD Code corresponded by each module.

14 Function Introduction EtherCAT EcNavi User Guide Power Consumption Calculate Use this window to calculate the current value of each module. Figure 2-8 Screen of Power Consumption Calculate Enter the module number and the system will automatically calculate the required current value so that users could know if the additional power expansion module is needed ESIC Use this window to define the OD Code corresponded by each module. Figure 2-9 Screen of ESIC Click Load Information, the system will read the corresponding xml file from ESI file folder and regard its value as default. Then, users can define the OD code. Find the OD Code from the left list and double to add the OD Code to the list which is displayed on the right. On the other hand, double click the OC Code on the right list to remove it. When the setting is complete, click Insert OD Code and then Save File. 2-6 December, 2014

EtherCAT EcNavi User Guide Function Introduction 2.4.

Figure 2-10 Screen of CANopen SDO Figure 2-11 Screen of CANopen PDO Tx Figure 2-12

to the specified SDO address and read the current value from specified SDO address.

15 EtherCAT EcNavi User Guide Function Introduction CANopen Users can monitor and control the corresponding Slave SDO and PDO here. Figure 2-10 Screen of CANopen SDO Figure 2-11 Screen of CANopen PDO Tx Figure 2-12 Screen of CANopen PDO Rx CANopen SDO With this setting window, users can send the data to the specified SDO address and read the current value from specified SDO address. CANopen PDO Tx This window displays the current status and corresponding value of Tx OD code specified by Slave. December,

5 About This window displays the EtherCAT_DLL.dll path and version.

16 Function Introduction EtherCAT EcNavi User Guide CANopen PDO Rx This window displays the current status of Rx OD Code specified by Slave. 2.5 About This window displays the EtherCAT_DLL.dll path and version. Figure 2-13 Screen of CANopen PDO 2.6 Initial Activate the motion card and initialize the connection. Figure 2-14 Initial Screen 2-8 December, 2014

17 EtherCAT EcNavi User Guide Function Introduction 2.7 Find Slave Click Find Slave. EcNavi will start to search the connected module and list the result in the left tree view list. Figure 2-15 Result of Find Slave December,

Function Introduction EtherCAT EcNavi User Guide 2.8 Multi Axes 9 kinds of multi-axis synchronous modes are provided for multiple axes moving control. Figure 2-16 Screen of Multi Axes 1.

18 Function Introduction EtherCAT EcNavi User Guide 2.8 Multi Axes 9 kinds of multi-axis synchronous modes are provided for multiple axes moving control. Figure 2-16 Screen of Multi Axes 1. Operate Mode Moving mode selection: Each mode applies different axes number. The available parameters and axis number varies with different operate mode. 2. Velocity Profile Parameter settings for each mode 3. Operate Moving Moving controls: :Move in reverse direction :Move in forward direction :Decelerate to stop :Emergency stop Repeat:Move back and forth between current position and target position SCurve:During acceleration and decoration, it moves in S-Curve direction 2-10 December, 2014

19 EtherCAT EcNavi User Guide Function Introduction ABS:Move in absolute position 4. Information Slave Command:Specified pulse number sent by users Position:Current feedback pulse number from servo drive Speed:Servo drive s current moving speed Torque:Servo drive s current torque Buffer:Command amount that has not been executed by the system Status:Servo drive s current status :Click this button, the drive will be On; click the button again, the drive will be Off. :Clear the alarm that currently occurs :Reset the moving pulse number that is currently recorded. 5. IO Status Servo drive s current status: It uses icons to display the servo drive s status. December,

Function Introduction EtherCAT EcNavi User Guide 2.8.1 Line2 Two axes move along a straight line simultaneously.

20 Function Introduction EtherCAT EcNavi User Guide Line2 Two axes move along a straight line simultaneously. According to the position of the two axes, the system automatically adjusts the speed so that two axes can reach the target position simultaneously. Figure 2-17 Line2 Screen DistX:Target position of the first axis (pulse) DistY:Target position of the second axis (pulse) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration time (sec) 2-12 December, 2014

21 EtherCAT EcNavi User Guide Function Introduction Line3 Three axes move along a straight line simultaneously. According to the position of the three axes, the system automatically adjusts the speed so that three axes can reach the target position simultaneously. Figure 2-18 Line3 Screen DistX:Target position of the first axis (pulse) DistY:Target position of the second axis (pulse) DistZ:Target position of the third axis (pulse) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration time (sec) December,

Function Introduction EtherCAT EcNavi User Guide 2.8.3 Arc Two axes draw an arc, specify the circle center position and render the angle to form a circle.

22 Function Introduction EtherCAT EcNavi User Guide Arc Two axes draw an arc, specify the circle center position and render the angle to form a circle. Figure 2-19 Arc Screen CenX:Circle center position of X-axis (pulse) CenY:Circle center position of Y-axis (pulse) Angle:Degree (360/cir) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration (sec) TPhase2:Deceleration (sec) 2-14 December, 2014

23 EtherCAT EcNavi User Guide Function Introduction Arc2 Two axes draw an arc, specify the destination and render the angle to form a circle. Figure 2-20 Arc2 Screen EndX:Destination of X-axis (pulse) EndY:Destination of Y-axis (pulse) Angle:Degree (360/cir) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration time (sec) December,

Function Introduction EtherCAT EcNavi User Guide 2.8.5 Arc3 Two axes draw an arc, specify circle center position and destination and render the direction to form a circle.

24 Function Introduction EtherCAT EcNavi User Guide Arc3 Two axes draw an arc, specify circle center position and destination and render the direction to form a circle. Figure 2-21 Arc3 Screen CenX:Circle center position of X-axis (pulse) CenY:Circle center position of Y-axis (pulse) EndX:Destination position of X-axis (pulse) EndY:Destination position of Y-axis (pulse) Dir:Direction (cw/ccw) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration (sec) 2-16 December, 2014

25 EtherCAT EcNavi User Guide Function Introduction Helix Three axes move in a three-dimensional helix course, specify circle center, height and interval position and render the direction to form a three-dimensional helix. Figure 2-22 Helix Screen CenX:Circle center position of X-axis (pulse) CenY:Circle center position of Y-axis (pulse) Depth:Helical height (pulse) Pitch:The interval when the helix moves a pitch (pulse) Dir:Direction (cw/ccw) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration time (sec) December,

Function Introduction EtherCAT EcNavi User Guide 2.8.7 Spiral Two axes move in a spiral course, specify circle center and interval and render the angle to form a corresponding spiral.

26 Function Introduction EtherCAT EcNavi User Guide Spiral Two axes move in a spiral course, specify circle center and interval and render the angle to form a corresponding spiral. Figure 2-23 Spiral Screen DistX:Center position of X-axis (pulse) DistY:Center position of Y-axis (pulse) Inter:The relative position among the spiral (pulse) Angle:Total degree of spiral movement (360 degrees per cycle) (360/cir) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration time (sec) 2-18 December, 2014

EtherCAT EcNavi User Guide Function Introduction 2.8.

27 EtherCAT EcNavi User Guide Function Introduction Spiral2 Two axes move in a spiral course, specify circle center and destination and render the spiral moving distance and direction to form a corresponding spiral. Figure 2-24 Spiral2 Screen CenX:Center position of X-axis (pulse) CenY:Center position of Y-axis (pulse) EndX:Destination of X-axis (pulse) EndY:Destination of Y-axis (pulse) Num:Number of spiral circle (cir) Dir:Spiral moving direction (cw/ccw) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration time (sec) December,

28 Function Introduction EtherCAT EcNavi User Guide Spher Form a circle through three positions. Three positions (Starting position, first specified position and second specified position) cannot be placed at the same straight line. Figure 2-25 Spher Screen PosX1:First specified position on X-axis (pulse) PosY1:First specified position on Y-axis (pulse) PosZ1:First specified position on Z-axis (pulse) PosX2:Second specified position on X-axis (pulse) PosY2:Second specified position on Y-axis (pulse) PosZ2:Second specified position on Z-axis (pulse) StrVel:Starting speed (PPS) ConstVel:Moving speed (PPS) EndVel:End speed (PPS) TPhase1:Acceleration time (sec) TPhase2:Deceleration (sec) 2-20 December, 2014

29 Module Operation 3.1 Servo Drive Cyclic Synchronous Position (CSP) Mode Cyclic Synchronous Velocity (CSV) Mode Cyclic Synchronous Torque (CST) Mode Homing Mode Profile Position (PP) Mode Profile Velocity (PV) Mode Profile Torque (PT) Mode R1-EC5500 EtherCAT to E-Bus Power Module R1-EC5621 Single Axis Pulse Output Module R1-EC60xx 16 Channels Digital Input Module R1-EC Channels Digital Output Module R1-EC Channels Analog Input Module R1-EC Channels Analog Output Module 3-16 December,

30 Module Operation EtherCAT EcNavi User Guide 3.1 Servo Drive This window is for all supported servo drive and enables users to directly control the drive. Figure 3-1 Screen of Servo Drive Controlling Operate Mode:Motion mode of the servo drive Velocity Profile:Motion parameters of the servo drive Advanced Velocity Profile:Advanced motion parameters Vendor:Product number Version:Firmware number Motion Information:Current status of the servo drive Target Cmd: Target position Position: Current position Speed: Current speed Torque: Current torque Buffer: Number of the remaining commands that has not been executed Status: Current status Motion IO:Servo drive status control Servo Off/On: Servo drive status Motion Done: Display the status of currently executing command Operate Moving:Servo drive s motion operation : Moves in reverse direction : Moves in forward direction 2 December, 2014

31 EtherCAT EcNavi User Guide Module Operation : Decelerate to stop : Emergency stop : Reset the target position and actual position Repeat: Move back and forth between current position and target position SCurve: During acceleration and decoration, it moves in S-Curve direction ABS: Move in absolute position Reset Alarm:Clear the alarms that currently occurs Touch Probe:Enable capture function IO Status:Current IO status of the servo drive R1-EC5621 Setting:The special function of 5621 single axis pulse output module can reverse the direction of ORG and encoder moving direction. December,

32 Module Operation EtherCAT EcNavi User Guide Cyclic Synchronous Position (CSP) Mode Velocity Profile Figure 3-2 Control Screen in CSP Mode Distance: StrVel: ConstVel: EndVel: TPhase1: TPhase2: Moving target position (Pulse) Initial moving speed (PPS) Max. moving speed (PPS) End speed (PPS) The time it takes from StartVel to ConstVel (Sec) The time it takes from ConstVel to EndVel (Sec) 4 December, 2014

33 EtherCAT EcNavi User Guide Module Operation Cyclic Synchronous Velocity (CSV) mode Figure 3-3 Control Screen in CSV Mode Velocity Profile Acc_Type: Setup acceleration type; 0: Unit is time (second); 1: Unit is acceleration (pulse number / s^2) Velocity: Target speed (PPS) TPhase1: Acceleration value: second or (pulse number / s^2) SD Stop: Time from deceleration to stop (Sec) December,

34 Module Operation EtherCAT EcNavi User Guide Cyclic Synchronous Torque (CST) mode Figure 3-4 Control Screen in CSV Mode Velocity Profile Torque: Torque value (0.1% Rate), range is from 1 to 1000 Slope: Slope (0.1% / s) SD Stop: Time from deceleration to stop (Sec) 6 December, 2014

35 EtherCAT EcNavi User Guide Module Operation Homing Mode Figure 3-5 Control Screen in Homing Mode Velocity Profile Profile: Please refer to EtherCAT Programming User Manual, Section 12.1 _ECAT_Slave_Home_Config for further information for further information about homing mode selection from 1 to 35. Offset: Home position offset (pulse) FirstVel: First speed of homing (inc/s) SecondVel: Second speed of homing (inc/s) TPhase1: Acceleration (inc/s^2) SD Stop: Deceleration to stop (inc/s^2) December,

36 Module Operation EtherCAT EcNavi User Guide Profile Position (PP) Mode PP motion mode of the servo drive Figure 3-6 Control Screen in PP Mode Velocity Profile Dist: The specified moving distance; inc represents the resolution of servo drive Please refer to the servo drive user manual. ConstVel: Moving speed (inc/s) TPhase1: Acceleration (inc/s^2) SD Stop: Deceleration (inc/s^2) Advanced Setting EndVel: MinRangeLimin: MaxRangeLimin: MinSoftLimin: MaxSoftLimin: End speed of PP mode (inc) The minimum range of relative position (inc) The maximum range of relative position (inc) The minimum range of absolute position (inc) The maximum range of absolute position (inc) 8 December, 2014

37 EtherCAT EcNavi User Guide Module Operation Profile Velocity (PV) Mode PV motion mode of the servo drive Figure 3-7 Control Screen in PV Mode Velocity Profile TargetVel: Target speed TPhase1: Acceleration (inc/s^2) SD Stop: Deceleration (inc/s^2) Advanced Setting MaxTorque: The maximum torque of PV motion; permillage: 1~1000 Window: The velocity interval (inc/s) WindowTime: Duration time (ms). When the velocity below the interval setting and exceeds the Window Time, bit10-target_reached from StatusWord is On. Threshold: The velocity interval (inc/s) Threshold Time: Duration time (ms). When the velocity is over the interval setting value and exceeds the Threshold Time, bit12-speed from Status_Word is Off. December,

Module Operation EtherCAT EcNavi User Guide 3.1.

38 Module Operation EtherCAT EcNavi User Guide Profile Torque (PT) Mode PT motion mode of the servo drive Figure 3-8 Control Screen in PT Mode Velocity Profile Torque: Target torque; permillage: 1~1000 Slope: Setup the rising slope of torque (0.1%/s) Profile: Mode setting: 0-linear variation; 1-Sin wave variation SD Stope: Deceleration (inc/s^2) Advanced Setting MaxCurrent: Setup the maximum torque of PT motion; permillage: 1~ December, 2014

39 EtherCAT EcNavi User Guide Module Operation 3.2 R1-EC5500 EtherCAT to E-Bus Coupler R1-EC5500 coupler Vendor: Product number Figure 3-9 Screen of R1-EC5500 coupler Version: Firmware version number Remain Electricity: The remaining current value December,

40 Module Operation EtherCAT EcNavi User Guide 3.3 R1-EC5621 Single Axis Pulse Output Module R1-EC5621 Single axis pulse output module Figure 3-10 Screen of R1-EC5621 single axis pulse output module The operate mode and window form operation are identical to servo drive s control. The following lists the differences: IP: Input signal mode OP: Output signal mode PEL: Inverse of the positive limit signal MEL: Inverse of the negative limit signal ORG Inverse: Inverse of the homing signal QZ Inverse: Inverse of Z-phase signal Home SP Mode: Determine if it is going to apply the special homing mode 12 December, 2014

41 EtherCAT EcNavi User Guide Module Operation 3.4 R1-EC60xx 16 Channels Digital Input Module R1-EC60xx series 16 channels digital input module Figure 3-11 Screen of R1-EC60xx16 channels DI module Vendor: Product number Version: Firmware version number X0 ~ X15: Status of each input signal December,

42 Module Operation EtherCAT EcNavi User Guide 3.5 R1-EC Channels Digital Output Module R1-EC channels digital output module Figure 3-12 Screen of R1-EC channels DO module Vendor: Product number Version: Firmware version number Y0 ~ Y15: Status of each output signal 14 December, 2014

43 EtherCAT EcNavi User Guide Module Operation 3.6 R1-EC Channels Analog Input Module R1-EC8124 series 4 channels analog input module Figure 3-13 Screen of R1-EC channels analog input module Vendor: Product number Version: Firmware version number : Start drawing : Clear the showing graph Average Mode: Select the number of times to acquire the value for average Range Mode: Setup the value acquired range for signal input Conversion Time: Setup input signal sampling rate December,

44 Module Operation EtherCAT EcNavi User Guide 3.7 R1-EC Channels Analog Output Module R1-EC9144 series 4 channels analog output module Figure 3-14 Screen of R1-EC channels analog output module Vendor: Product number Version: Firmware version number Mode: Select the output range : Enable/disable the channel : Output the selected value : Acquire the returned code 16 December, 2014

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