Delta R2-EC 004 Series User manual

www.deltaww.com
Digitized Automation for a Changing World
*We reserve the right to change the information in this catalogue without prior notice.
Industrial Automation Headquarters
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Delta EtherCAT Remote I/O Module
R2-ECx004 User Manual
DELTA_IA-IPC_R2-ECx004_UM_EN_20221111

i
Preface
Thank you for purchasing this product. This user manual provides information about the R2-ECx004
EtherCAT remote control digital I/O expansion module.
This manual includes:
Product inspection and model explanation
Specifications and product interface
Wiring and installation
CiA 401 Device Profile
Object Dictionary
SDO abort codes
Product features of the EtherCAT remote control expansion module:
The R2-ECx004 distributed I/O module supports the EtherCAT (Ethernet Control Automation
Technology) communication protocol, which makes this module a high-performance remote I/O
bus system.
The digital input port(s) of this module supports reading the status of the NPN type and PNP type
loads, and the digital output port(s) supports NPN type loads.
The module can read and control the remote digital signal status of the master and acquire the
load status (within 1 ms) of multiple slave modules through the EtherCAT communication.
The EtherCAT series product line consists of modules of various functions and features, which
meet different remote automation control requirements. This product is the optimal integration
platform for multi-point I/O control. It is easy to assemble with better stability and scalability. This
is the one and only choice for industrial upgrading.
How to use this user manual:
Use this user manual as a reference when installing, setting up, using, and maintaining the
R2-ECx004 EtherCAT remote control digital I/O expansion module.
Delta technical services:
Please consult your DELTA equipment distributors or DELTA Customer Service Center if you
encounter any problems.
EtherCAT® is registered trademark and patented technology, licensed by Beckhoff Automation GmbH,
Germany.

ii
Safety Precautions
1. Perform wiring in accordance with the descriptions of connection ports and ensure to properly ground the
system.
2. When applying power to the module, do not disassemble the module, change the wiring, or touch the
power supply to prevent electric shock.
Pay special attention to the following safety precautions at all times during installation, wiring, and operation
of the product.
The symbols of “DANGER”, “WARNING”, and “STOP” indicate:
Danger. May cause severe or fatal injuries to personnel if the instructions are not
followed.
WARNING
Warning. May cause moderate injury to personnel, or lead to severe damage or even
malfunction of the product if the instructions are not followed.
STOP
Absolutely prohibited activities. May cause serious damage or even malfunction of the
product if the instructions are not followed.
Installation
It is recommended that you install this module in a suitable electrical control panel and
make sure the ambient temperature is lower than 60°C (140°F).
Do not place the product in an environment containing oil mist, salt mist, and dust.
Do not use the product in an environment containing flammable and explosive gases.
The electric arc generated when you switch the relay On or Off might ignite the gases.
Wiring
The wires used for wiring should be UL-compliant with the following specification.
Wire gauge: 26 - 18 AWG; temperature rating: > 105°C (221°F); material: copper.
To prevent electric shock, make sure to cut off the power to the module and the common
input / output points before removing the module or the connected wires.
This product uses DC power only. Do not use AC power for the product.
Operation
WARNING
This product is for industrial automation and other related applications. For your safety, the
instructions for installation and operation in this manual should be observed.
Wipe clean with dry cloth to keep the product from humidity.
Use the power adapters that comply with the power supply requirements of UL 61010-1,
UL 61010-2-201, or UL 62368-1 for this product.
The power for the module and the common input / output points should be two independent
power supplies and within the rated voltage. If you are uncertain of the voltage in your area,
contact local electrical technicians.
Do not attempt to disassemble or repair the module yourself if a malfunction occurs.
Contact Delta or the distributor for technical support.

Table of Contents
Product Inspection and Model Explanation
1.1 Product inspection····························································································1-2
1.2 Model explanation ····························································································1-2
Specifications and Product Interface
2.1 Electrical specifications ·····················································································2-2
2.2 Product diagram and dimensions ·········································································2-3
2.2.1 Product diagram ······················································································2-3
2.2.2 Outer dimensions ····················································································2-4
2.3 Description and illustration of product interface ·······················································2-5
2.4 Description of connection ports and indicators ························································2-6
2.4.1 R2-ECx004 IO Port 0················································································2-6
2.4.2 R2-ECx004 IO Port 1················································································2-8
2.4.3 R2-ECx004 power port············································································2-10
2.4.4 EtherCAT communication port and indicators ··············································· 2-11
2.4.5 R2-ECx004 IO indicators ·········································································2-12
2.4.6 R2-ECx004 module status indicators ·························································2-15
Wiring and Installation
3.1 Input port wiring example ···················································································3-2
3.2 Output port wiring example·················································································3-4
3.3 System structure example ··················································································3-5
3.4 Installation ······································································································3-6
3.4.1 Installation in the electrical control panel ·······················································3-6
3.4.2 Wiring requirements ·················································································3-8
CiA 401 Device Profile
4.1 DO operation method ························································································4-2
4.1.1 Related objects ·······················································································4-3
1
2
3
4

Object Dictionary
5.1 Object list ·······································································································5-3
5.2 General Objects ·······························································································5-4
5.2.1 Device Type (1000h) ················································································5-4
5.2.2 Error Register (1001h) ··············································································5-4
5.2.3 Manufacturer Device Name (1008h)·····························································5-5
5.2.4 Manufacturer Software Version (100Ah)························································5-5
5.2.5 Identity Object (1018h)··············································································5-6
5.3 PDO Mapping Objects·······················································································5-7
5.3.1 Receive PDO Mapping (1600h) ··································································5-7
5.3.2 Receive PDO Mapping 2 (1601h) ································································5-8
5.3.3 Transmit PDO Mapping (1A00h) ·································································5-9
5.3.4 Transmit PDO Mapping 2 (1A01h) ·······························································5-9
5.4 Sync Manager Communication Objects·······························································5-10
5.4.1 Sync Manager Communication Type (1C00h) ··············································5-10
5.4.2 Sync Manager PDO Assignment (1C12h, 1C13h) ·········································5-10
5.4.3 Sync Manager Synchronization (1C32h, 1C33h)··········································· 5-11
5.5 Manufacturer Specific Objects···········································································5-12
5.5.1 Read DO Actual Value (2000h) ·································································5-12
5.5.2 Allow DO State Change (2001h) ·······························································5-13
5.5.3 DI Filter Range (2002h)···········································································5-14
5.5.4 Input Event Enable (2010h)······································································5-14
5.5.5 Clear Input Event (2011h) ········································································5-15
5.5.6 Input Event Value (2012h) ·······································································5-15
5.5.7 Timestamp Initial Time Setting (2020h) ·······················································5-16
5.5.8 Timestamp Enable (2021h) ······································································5-16
5.5.9 Clear Timestamp Value (2022h) ································································5-16
5.5.10 DI Timestamp Counter and Pass Time FIFO (2030h to 204Fh)·······················5-17
5.5.11 DO Timestamp Counter and Pass Time FIFO (2050h to 206Fh) ·····················5-18
5.5.12 DI Input Bounce Counter and Pass Time FIFO (2070h to 208Fh)····················5-19
5.6 Device Control·······························································································5-20
5.6.1 Read Input (8-bit) (6000h)········································································5-20
5.6.2 DO Setting Value (6200h) ········································································5-21
5.6.3 DO Error Mode Enable (6206h) ································································5-22
5.6.4 DO Error Mode Setting Value (6207h) ························································5-23
5.6.5 DO Filter Mask (6208h) ···········································································5-24
5

SDO Abort Codes
6.1 SDO abort codes ·····························································································6-2
6

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1-1
Product Inspection and
Model Explanation
This chapter includes the product inspection and model explanation of the R2-ECx004
series products. Read this chapter first to get an overall understanding of the products
before use.
000
1.1 Product inspection ·············································································1-2
1.2 Model explanation ·············································································1-2

Product Inspection and Model Explanation R2-ECx004 User Manual
1-2
1
1.1 Product inspection
Check the following after you receive the product.
1. Packaging: check if the shipping carton is intact.
2. Bubble wrap: the bubble wrap is used to protect the product from collision. Check if the
stickers are securely attached to the bubble wrap.
3. R2-ECx004: check if the product appearance is intact.
4. Instruction sheet: check if an instruction sheet is included.
1.2 Model explanation
(1) E C
-(3) (4)
R 2-x0
(2) 04
(5)
No.
Item
Description
(1)
Product type
R
Remote I/O series
(2)
Product category
2
Board type (distributed I/O system)
(3)
Bus type
EC
EtherCAT
(4)
Module type
00
Mixed I/O module
10
Input module
20
Output module
(5)
Module subtype
04
24 VDC / 32-CH

2-1
Specifications and
Product Interface
This chapter introduces the specifications of the R2-ECx004 series products, including
electrical specifications, product diagram, dimensional drawings, and definitions of the
connection ports and indicators.
000
2.1 Electrical specifications ·······································································2-2
2.2 Product diagram and dimensions ··························································2-3
2.2.1 Product diagram··········································································2-3
2.2.2 Outer dimensions ········································································2-4
2.3 Description and illustration of product interface ········································2-5
2.4 Description of connection ports and indicators ·········································2-6
2.4.1 R2-ECx004 IO Port 0 ···································································2-6
2.4.2 R2-ECx004 IO Port 1 ···································································2-8
2.4.3 R2-ECx004 power port ······························································· 2-10
2.4.4 EtherCAT communication port and indicators····································2-11
2.4.5 R2-ECx004 IO indicators····························································· 2-12
2.4.6 R2-ECx004 module status indicators ············································· 2-15

Specifications and Product Interface R2-ECx004 User Manual
2-2
2
2.1 Electrical specifications
Item
R2-EC0004
R2-EC1004
R2-EC2004
Power
24 VDC, -15% to +20%
Module input
current
< 1A
Digital input /
output
Digital input
Digital output
Digital input
Digital output
Isolation type
Optical coupling
Optical coupling
Optical coupling
Optical coupling
Signal type
Sink / Source
Sink
Sink / Source
Sink
Number of I/O
points
16-CH
16-CH
32-CH
32-CH
I/O maximum
operating power
24 VDC @ 5.1 mA
200 mA per CH
24 VDC @ 5.1 mA
200 mA per CH
I/O rated input
power
24 VDC
24 VDC
24 VDC
24 VDC
Operating
frequency
≤ 1 kHz
≤ 1 kHz
≤ 1 kHz
≤ 1 kHz
Operation time
(OFF > ON)
300 µs
85 µs
300 µs
85 µs
Release time
(ON > OFF)
300 µs
110 µs
300 µs
110 µs
Outer
dimensions
52.5 x 74.8 x 88.0 mm (W x H x D)
Weight
0.25 kg (0.55 lbs)
Permissible
atmospheric
pressure
Operation: 1,013 to 795 hPa
(approx. 0 m to 2,000 m / 0 ft. to 6,560 ft. above sea level)
Storage: 1,013 to 660 hPa
(approx. 0 m to 3,500 m / 0 ft. to 11,400 ft. above sea level)
Operating
environment
Operating temperature: -20°C to +60°C (-4°F to +140°F)
Storage temperature: -40°C to +70°C (-40°F to +158°F)
Mounting type
DIN rail mounting
Vibration
resistance /
Shock resistance
Conforms to EN 60068-2-6 / EN 60068-2-27/29
Electromagnetic
compatibility /
Noise immunity
ESD (IEC 61131-2, IEC 61000-4-2)
EFT (IEC 61131-2, IEC 61000-4-4)
RS (IEC 61131-2, IEC 61000-4-3)
IP rating
IP20
Approvals

R2-ECx004 User Manual Specifications and Product Interface
2-3
2
2.2 Product diagram and dimensions
The R2-ECx004 series products are digital input and digital output modules. The input modules
support DC sink / source output devices. The output modules use NPN transistor circuits,
supporting connection to 24 VDC loads.
2.2.1 Product diagram
Figure 2.2.1.1 Front view of R2-ECx004

Specifications and Product Interface R2-ECx004 User Manual
2-4
2
2.2.2 Outer dimensions
94.72
(3.73)
74.8
(2.94)
52.5
(2.07)
88
(3.46)
Unit: mm (inch)

R2-ECx004 User Manual Specifications and Product Interface
2-5
2
2.3 Description and illustration of product interface
The following describes the product interface of the R2-ECx004 series models.
(1)
( )2
(3)
( )4
(5)
(6)
(7) (8) (9) ( )10
No.
Description
(1)
EtherCAT input port (connection status indicator included)
(2)
Module power port
(3)
EtherCAT output port (connection status indicator included)
(4)
Module power indicator (PWR)
(5)
Module communication indicator (RUN)
(6)
Module error indicator (ERR)
(7)
GPIO Port 0
Input port
R2-EC0004, R2-EC1004
Output port
R2-EC2004
(8)
GPIO Port 0 status indicators
(9)
GPIO Port 1
Input port
R2-EC1004
Output port
R2-EC0004, R2-EC2004
(10)
GPIO Port 1 status indicators

Specifications and Product Interface R2-ECx004 User Manual
2-6
2
2.4 Description of connection ports and indicators
2.4.1 R2-ECx004 IO Port 0
Definitions of Port 0 for R2-EC0004 and R2-EC1004 models are as follows.
S/S
S/S
0
2
4
6
8
10
12
14
S/S
1
3
5
7
9
11
13
15
16DI-DC
PORT0
Pin
Description
Pin
Description
S/S*
Common input point
-
Reserved (no connection)
S/S*
Common input point
S/S*
Common input point
0
1st input of Port 0
1
2nd input of Port 0
2
3rd input of Port 0
3
4th input of Port 0
4
5th input of Port 0
5
6th input of Port 0
6
7th input of Port 0
7
8th input of Port 0
8
9th input of Port 0
9
10th input of Port 0
10
11th input of Port 0
11
12th input of Port 0
12
13th input of Port 0
13
14th input of Port 0
14
15th input of Port 0
15
16th input of Port 0
Note: S/S is the common input point for connecting the NPN type or PNP type load. When an NPN type
load is connected, S/S functions as Vcc. When a PNP type load is connected, S/S functions as GND.
WARNING
Follow the instructions for power supply and wiring to prevent any danger.
Use two independent 24 VDC power supplies for the module and the common input /
output points to ensure proper operation.
Use 26 - 18 AWG wires for wiring.

R2-ECx004 User Manual Specifications and Product Interface
2-7
2
Definitions of Port 0 for R2-EC2004 models are as follows.
C0
0
2
4
6
C0
8
10
12
14
16DO-DT
PORT0
C0
1
3
5
7
C0
9
11
13
15
Pin
Description
Pin
Description
C0
Common output point
C0
Common output point
0
1st output of Port 0
1
2nd output of Port 0
2
3rd output of Port 0
3
4th output of Port 0
4
5th output of Port 0
5
6th output of Port 0
6
7th output of Port 0
7
8th output of Port 0
C0
Common output point
C0
Common output point
8
9th output of Port 0
9
10th output of Port 0
10
11th output of Port 0
11
12th output of Port 0
12
13th output of Port 0
13
14th output of Port 0
14
15th output of Port 0
15
16th output of Port 0
Note: C0 is the common output point for connecting the NPN type load. When an NPN type load is
connected, C0 functions as GND.
WARNING
Follow the instructions for power supply and wiring to prevent any danger.
Use two independent 24 VDC power supplies for the module and the common input /
output points to ensure proper operation.
Use 26 - 18 AWG wires for wiring.

Specifications and Product Interface R2-ECx004 User Manual
2-8
2
2.4.2 R2-ECx004 IO Port 1
Definitions of Port 1 for R2-EC0004 and R2-EC2004 models are as follows.
C0
0
2
4
6
C0
8
10
12
14
16DO-DT
PORT1
C0
1
3
5
7
C0
9
11
13
15
Pin
Description
Pin
Description
C0
Common output point
C0
Common output point
0
1st output of Port 1
1
2nd output of Port 1
2
3rd output of Port 1
3
4th output of Port 1
4
5th output of Port 1
5
6th output of Port 1
6
7th output of Port 1
7
8th output of Port 1
C0
Common output point
C0
Common output point
8
9th output of Port 1
9
10th output of Port 1
10
11th output of Port 1
11
12th output of Port 1
12
13th output of Port 1
13
14th output of Port 1
14
15th output of Port 1
15
16th output of Port 1
Note: C0 is the common output point for connecting the NPN type load. When an NPN type load is
connected, C0 functions as GND.
WARNING
Follow the instructions for power supply and wiring to prevent any danger.
Use two independent 24 VDC power supplies for the module and the common input /
output points for proper operation.
Use 26 - 18 AWG wires for wiring.

R2-ECx004 User Manual Specifications and Product Interface
2-9
2
Definitions of Port 1 for R2-EC1004 models are as follows.
16DI-DC
PORT1
S/S
S/S
0
2
4
6
8
10
12
14
S/S
1
3
5
7
9
11
13
15
Pin
Description
Pin
Description
S/S*
Common input point
-
Reserved (no connection)
S/S*
Common input point
S/S*
Common input point
0
1st input of Port 1
1
2nd input of Port 1
2
3rd input of Port 1
3
4th input of Port 1
4
5th input of Port 1
5
6th input of Port 1
6
7th input of Port 1
7
8th input of Port 1
8
9th input of Port 1
9
10th input of Port 1
10
11th input of Port 1
11
12th input of Port 1
12
13th input of Port 1
13
14th input of Port 1
14
15th input of Port 1
15
16th input of Port 1
Note: S/S is the common input point for connecting to the NPN type or PNP type load. When an NPN type
load is connected, S/S functions as Vcc. When a PNP type load is connected, S/S functions as GND.
WARNING
Follow the instructions for power supply and wiring to prevent any danger.
Use two independent 24 VDC power supplies for the module and the common input /
output points for proper operation.
Use 26 - 18 AWG wires for wiring.

Specifications and Product Interface R2-ECx004 User Manual
2-10
2
2.4.3 R2-ECx004 power port
Definitions of the power port for the R2-ECx004 series models are as follows.
24V
GND
FG
FG
Pin
Description
Note
24V
Module external power of 24 VDC
Range of error: -15% to +20%
GND
Ground for module external power
-
FG
Functional ground
-
WARNING
Follow the instructions for power supply and wiring to prevent any danger.
Use two independent 24 VDC power supplies for the module and the common input /
output points for proper operation.
Use 26 - 18 AWG wires for wiring.

R2-ECx004 User Manual Specifications and Product Interface
2-11
2
2.4.4 EtherCAT communication ports and indicators
Definitions of the communication ports and LED indicators for the R2-ECx004 series models are
as follows.
Green
Green
(IN)
(OUT)
The LED indicators for the communication ports (RJ-45) are green, which indicate the EtherCAT
communication connection status.
Indicator status
Description
Note
OFF
EtherCAT connection is not established.
Off
ON
EtherCAT connection is established but no data transmission.
Solid on
Blinking
EtherCAT connection is established and data is in transmission.
Flashing
WARNING
Follow the instructions for power supply and wiring to prevent any danger.
Use two independent 24 VDC power supplies for the module and the common input /
output points for proper operation.
Use 26 - 18 AWG wires for wiring.
This manual suits for next models
3
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