M-system EtherCAT R7I4DECT-1-PA8A User manual

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 1 / 11
INSTRUCTION MANUAL
BEFORE USE ....
Thank you for choosing M-System. Before use, please check
contents of the package you received as outlined below.
If you have any problems or questions with the product,
please contact M-System’s Sales Office or representatives.
■PACKAGE INCLUDES:
High-speed totalized pulse input module ..........................(1)
Surface mounter slider .......................................................(2)
■MODEL NO.
Confirm Model No. marking on the product to be exactly
what you ordered.
■INSTRUCTION MANUAL
This manual describes necessary points of caution when
you use this product, including installation, connection and
basic maintenance procedures.
■ESI FILES
ESI files are downloadable at M-System’s website (http://
www.m-system.co.jp/).
POINTS OF CAUTION
■CONFORMITY WITH EU DIRECTIVE
• The equipment must be mounted inside the instrument
panel of a metal enclosure.
• The actual installation environments such as panel con-
figurations, connected devices, connected wires, may af-
fect the protection level of this unit when it is integrated
in a panel system. The user may have to review the CE
requirements in regard to the whole system and employ
additional protective measures to ensure the CE conform-
ity.
■POWER INPUT RATING & OPERATIONAL RANGE
• Locate the power input rating marked on the product and
confirm its operational range as indicated below:
24V DC rating: 24V ±10%, approx. 50mA
■GENERAL PRECAUTIONS
• Before you remove the unit or mount it, turn off the power
supply and input signal for safety.
■ENVIRONMENT
• Indoor use.
• When heavy dust or metal particles are present in the
air, install the unit inside proper housing with sufficient
ventilation.
• Do not install the unit where it is subjected to continuous
vibration. Do not subject the unit to physical impact.
• Environmental temperature must be within -10 to +55°C
(14 to 131°F) with relative humidity within 30 to 90% RH
in order to ensure adequate life span and operation.
■WIRING
• Do not install cables close to noise sources (relay drive
cable, high frequency line, etc.).
• Do not bind these cables together with those in which
noises are present. Do not install them in the same duct.
■AND ....
• The unit is designed to function as soon as power is sup-
plied, however, a warm up for 10 minutes is required for
satisfying complete performance described in the data
sheet.
EtherCAT I/O MODULE
(high-speed totalized pulse input, 8 points, e-CON connector)
MODEL
R7I4DECT-1-PA8A
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 2 / 11
COMPONENT IDENTIFICATION
■FRONT VIEW
Fixed Address Setting Rotary SW
Reset Input Connector
Status Indicator LEDs
RJ-45 Modular jack for
EtherCAT communication
PC Configurator Jack
ECT OUTECT IN
CNFG.
X16
Dev. ID
PWR
RUN
ERR
L/A IN
L/A OUT
PI7PI6PI5PI4
PI0PI1 PI2PI3
1
4
1
4
INPUT
X1
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
Pulse Input Terminals
RST
PI0 PI1 PI2 PI3 PI4 PI5 PI6 PI7 RST
Pulse Input
Status Indicator
LEDs
Reset Input
Status Indicator
LED
Terminals for
power supply &
sensor excitation
■STATUS INDICATOR LED
ID FUNCTION COLOR STAT U S
Power Internal power Green Off Error
On Normal
RUN Device state Green
Off INIT
Blinking PRE-OPERATIONAL
Single Flash SAFE-OPERATIONAL
On OPERATIONAL
ERR Error Red
Off No error
Blinking Invalid Configuration
Single Flash Local error
Double Flash Process data watchdog timeout/
EtherCAT watchdog timeout
On Application controller failure
L/A IN IN port status Green
Off No Link
Flickering Link and activity
On Link without activity
L/A OUT OUT port status Green
Off No Link
Flickering Link and activity
On Link without activity
Blinking 200ms-On, 200ms-Off
Single flash 200ms-On, 1000ms-Off
Double flash 200ms-On, 200ms-Off, 200ms-On, 1000ms-Off
Flickering 50ms-On, 50ms-Off
■FIXED ADDRESS SETTING ROTARY SW (ID selector)
Fixed address 1 to 255 can be set using the two rotary switches each marked 0 to F in combination.
When fixed address is not used, set the switches to 0.
Settable range: 0 to 255
Factory default: 0
Fixed Address Setting (x1)
Fixed Address Setting (x16)
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F
0
1
2
3
4
5
6
7
8
9
A
B
C
D
E
F

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 3 / 11
■POWER SUPPLY AND SENSOR EXCITATION
Cable connector: TFMC1,5 / 5-STF-3,5
(Phoenix Contact) (comes with the unit)
Applicable wire size: 0.2 − 1.5 mm2
Stripped length: 10 mm
Recommended solderless terminal
• AI0,25−10YE 0.25 mm2(Phoenix Contact)
• AI0,34−10TQ 0.34 mm2(Phoenix Contact)
• AI0,5−10WH 0.5 mm2(Phoenix Contact)
• AI0,75−10GY 0.75 mm2(Phoenix Contact)
• A1−10 1.0 mm2(Phoenix Contact)
• A1,5−10 1.5 mm2(Phoenix Contact)
1
2
3
4
5
PIN
No. ID FUNCTION
1 PWR+ Power Supply
2 PWR– Power Supply
3 FE Functional earth
4 SNSR.EXC+ Sensor excitation
5 SNSR.EXC– Sensor excitation
Note: The number marked on the connector is irrelevant to the
pin number of the unit.
Perform wiring according to this instruction manual.
■PULSE INPUT TERMINAL ASSIGNMENTS
• e-CON connector
Recommended cable connector: 37104-( )-000FL
(3M Company) (does not come with the unit)
(Specify wire size instead of ( ); refer to manufacturer’s spec-
ifications for details.)
1
4
PI0 PI1 PI2 PI3 PI4 PI5 PI6 PI7
PIN No. ID FUNCTION PIN No. ID FUNCTION
PI0 1 +24V 24V DC PI4 1 +24V 24V DC
2 NC Unused 2 NC Unused
3 GND 0V 3 GND 0V
4 PI0 Pulse Input 0 4 PI4 Pulse Input 4
PI1 1 +24V 24V DC PI5 1 +24V 24V DC
2 NC Unused 2 NC Unused
3 GND 0V 3 GND 0V
4 PI1 Pulse Input 1 4 PI5 Pulse Input 5
PI2 1 +24V 24V DC PI6 1 +24V 24V DC
2 NC Unused 2 NC Unused
3 GND 0V 3 GND 0V
4 PI2 Pulse Input 2 4 PI6 Pulse Input 6
PI3 1 +24V 24V DC PI7 1 +24V 24V DC
2 NC Unused 2 NC Unused
3 GND 0V 3 GND 0V
4 PI3 Pulse Input 3 4 PI7 Pulse Input 7
■RESET INPUT TERMINAL ASSIGNMENTS
1
4
RST
PIN No. ID FUNCTION
RST
1 +24V 24V DC
2 NC Unused
3 GND 0V
4 RST Reset Input

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 4 / 11
PC CONFIGURATOR
The following parameter items can be configured with the PC configurator software (model: R7CFG).
Refer to the users manual of the software for detailed operations.
■CHANNEL INDIVIDUAL SETTING
PARAMETER SETTING RANGE DEFAULT
Unused channels Invalid (checked),
Valid (unchecked)
Valid
Maximum accumulated pulse count 1 to 4294967295 4294967295
Overflow reset value 0 or 1 0
Preset pulse count 0 to max. accumulated pulse count 0
■CHANNEL BATCH SETTING
PARAMETER SETTING RANGE DEFAULT
Edge direction for counting pulses Falling edge (DI-ON),
Rising edge (DI-OFF)
Falling edge (DI-ON)
Edge direction for resetting pulse
count by reset terminal
Falling edge (DI-ON),
Rising edge (DI-OFF)
Falling edge (DI-ON)
Enabling or disabling pulse count
reset by reset terminal
Enable or Disable Disable
Enabling or disabling pulse count
reset / preset by master
Enable or Disable Disable
MOUNTING INSTRUCTIONS
■DIN RAIL MOUNTING (PARALLEL)
• Mounting the unit
1) Hook the upper hook at the rear side of the base onto the
DIN rail.
2) Push the lower part of the unit in the direction of the ar-
row until the base is firmly fixed to the DIN rail.
1
2
• Removing the unit
1) Push down the slider using a minus screwdriver.
2) Pull out the lower part of the unit.
3) Remove the upper part of the unit from the DIN rail.
1
2
3
■WALL MOUNTING
1) Insert the two DIN rail mounter sliders until they click
once, as shown below.
11
2) Mount the unit with M4 screws referring to the “MOUNT-
ING REQUIREMENTS unit: mm (inch)” on page 6.
(Torque: 1.4 N∙m)

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 5 / 11
TERMINAL CONNECTIONS
Connect the unit as in the diagram below.
■EXTERNAL DIMENSIONS unit: mm (inch)
41 (1.61)
165 (6.50)
172 (6.77)
186 (7.32)
DIN rail
( 35mm wide)
50 (1.97)
3.5
(.14)
5
(.20)
4 (.16)
2-4.3 (.17) dia
4 (.16) deep
■CONNECTION DIAGRAM
Note: In order to improve EMC performance, bond the FE terminal to ground.
Caution: FE terminal is NOT a protective conductor terminal.
SNSR.EXC+
SNSR.EXC–
FE
PWR–
PWR+
1
2
4
5
3
POWER SUPPLY (IN)
SENCOR EXCITATION (IN)
SNSR.EXC+
SNSR.EXC–
FE
PWR–
PWR+
1
2
4
5
3
POWER SUPPLY (OUT)
ENCOR EXCITATION (OUT)
PI0
GND
NC
GND
NC
+24V
PULSE INPUT PI0
1
2
4
3
PI7
+24V 1
2
4
3
PULSE INPUT PI7
GND
NC
RST
+24V 1
2
4
3
RESET INPUT
RJ-45 Modular Jack
RJ-45 Modular Jack EtherCAT (IN)
EtherCAT (OUT)
USB Connector
CONFIGURATION CONNECTOR
Detecting
Circuit
Detecting
Circuit
Detecting
Circuit
·
·
·
·
·
·
·
·
·
·

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 6 / 11
MOUNTING REQUIREMENTS unit: mm (inch)
175 (6.89)
2−M4
EtherCAT SPECIFICATIONS
■Modular Device Prole
R7I4DECT-1-PA8A complies with the Modular Device Profile (MDP) standard, ETG.5001.1 of the EtherCAT standard.
Be sure that the master supports the MDP standard.
■Fixed address
R7I4DECT supports Explicit Device Identification by allowing setting of fixed address using the fixed address setting rotary
switches (ID selector).
The fixed address can be set to be 1 to 255.
When fixed address is not used, set the ID selector to 0.
When the power is turned on with the ID selector set to other than 0, the designated address is written in the resistor 0x0012
of ESC (EtherCAT Slave Controller) when R7I4DECT starts up.
■Data Conguration
Data are configured in accordance with the EtherCAT Modular Device Profile (MDP) specifications as shown below.
Table 1: Data Conguration
OBJECT ADDRESS CONTENT
Input Area Objects 0x6000 Input data
Output Area Objects 0x7000 Output data
PDO Mapping Objects (TxPDO) 0x1A00 Input data list
PDO Mapping Objects (RxPDO) 0x1600 Output data list
PDO Assign (IN) 0x1C13 Input data transmission order
PDO Assign (OUT) 0x1C12 Output data transmission order
Sync Manager Type 0x1C00 Sync manager type
Sync Manager Parameter Objects 0x1C32, 0x1C33 Sync mode
Device Type 0x1000 Device type
Error Register 0x1001 Error register
Manufacturer Device Name 0x1008 Device name
Manufacturer Hardware Version 0x1009 Hardware version
Manufacturer Software Version 0x100A Software version
Identity Objects 0x1018 Vendor information

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 7 / 11
■EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated only in the SAFEOP or OP state, and RxPDO (output configuration data) is
updated only in the OP state.
The RUN LED turns on only in the OP state and input and output data are updated, while only input data is updated in the
PREOP state.
■EtherCAT Diagnostics
• AL Status Code
When the slave (R7I4DECT) fails to receive a request from the master or when there is a problem with the slave during nor-
mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.
The error codes that R7I4DECT uses are as shown below.
Table 2: Error Codes of AL Status Code
CODE ERROR
0x0000 No error
0x0011 Invalid requested state change
0x0012 Unknown requested state
0x0013 BOOT state not supported
0x0016 Invalid MailBox configuration (PREOP)
0x0017 Invalid SyncManager configuration
0x001B SyncManager Watchdog Timeout
0x001D Invalid Output Configuration
0x001E Invalid Input Configuration
0x001F Invalid Watchdog Configuration
0x0029 FreeRun needs 3 Buffer mode
• SDO Abort Code
When the master attempts to access the object dictionary via SDO, if the slave (R7I4DECT) fails to receive SDO messages for
any reason, R7I4DECT sends an error code (SDO Abort Code) to the master and denies its access.
The following error codes are used.
Table 3: Error Codes of SDO Abort Code
CODE ERROR
0x05030000 Toggle bit not changed
0x05040001 Client/Server command specifier not valid or unknown
0x05040005 Out of memory
0x06010000 Unsupported access to an object
0x06010002 Attempt to a read-only object
0x06020000 The object does not exist in the object directory
0x06070010 Data type does not match, length of service parameter does not match
0x06090011 Sub-index does not exist
0x08000020 Data cannot be transferred or stored to the application
0x08000022 Data cannot be transferred or stored to the application because of the present device state

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 8 / 11
OBJECT DICTIONARY (DATA DESCRIPTION)
■Input Area Objects (Input Data Area: 0x6000, 0x6001)
Input data is allocated to object 0x6000.
Sub-Indexes correspond to channel numbers.
■Output Area Objects (Output Data Area: 0x7000)
Reset/Preset Command is allocated to object 0x7000.
Table 4: Sub-Index Conguration By Module Type
MODULE TYPE INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
Totalized pulse input,
8 points
0x6000 0 UINT8 8 RO 8 Number of items
1 UINT32 32 RO 0x0000000 to 0xFFFFFFFF First point input data
2 UINT32 32 RO 0x0000000 to 0xFFFFFFFF Second point input data
: : : : : :
8 UINT32 32 RO 0x0000000 to 0xFFFFFFFF 8th point input data
Reset / Preset
Command
0x7000 0 UINT8 8 RO 3 Number of items
1 UINT16 16 RW 0x0000 to 0xFFFF Reset request
2 UINT16 16 RW 0x0000 to 0xFFFF Preset request
3 UINT32 32 RW 0x0000000 to 0xFFFFFFFF Preset value
■PDO Mapping Objects (Data List: 0x1600, 0x1A00)
• Objects 0x1600, 0x1A00
Output data list (RxPDO) and Input data list (TxPDO) are allocated to 0x1600 and 0x1A00, respectively.
In the data of RxPDO and TxPDO, index, sub-index, and the number of bit of each object which is referred to, are stored.
For input data, each object with the address starting with 0x6000 is referred to.
For output data, each object with the address starting with 0x7000 is referred to.
Table 5: Object Conguration For Output Data List And Input Data List
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1600
(RxPDO)
0 UINT8 8 RO 3 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for referenced object
bb: Sub-Index for referenced object
cc: Number of bits for referenced object
2 UINT32 32 RO
3 UINT32 32 RO
0x1A00
(TxPDO)
0 UINT8 8 RO 8 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for referenced object
bb: Sub-Index for referenced object
cc: Number of bits for referenced object
2 UINT32 32 RO
: : : :
8 UINT32 32 RO
■PDO Assign Objects (Data Transmission Order, Output: 0x1C12, Input: 0x1C13)
An allocation list for RxPDO and an allocation list for TxPDO are allocated to 0x1C12 and 0x1C13, respectively.
The indexes stored in 0x1C12 and 0x1C13 are placed in the order they are actually transmitted via PDO.
Table 6: Object Conguration For PDO Allocation Lists
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1C12 0 UINT8 8 RO 2 Number of items
1 UINT16 16 RO 0x1600 Output data
0x1C13 0 UINT8 8 RO 3 Number of items
1 UINT16 16 RO 0x1A00 Input data

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 9 / 11
■Sync Manager Type (0x1C00)
Sync Manager Type is allocated to object 0x1C00 based on the EtherCAT specification.
Table 7: Object Conguration For Sync Manager Type
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1C00 0 UINT8 8 RO 4 Number of items
1 UINT8 8 RO 1 Mailbox Write
2 UINT8 8 RO 2 Mailbox Read
3 UINT8 8 RO 3 Process Output Data
4 UINT8 8 RO 4 Process Input Data
■Sync Manager Parameter Objects (0x1C32, 0x1C33)
In R7I4DECT, objects 0x1C32 and 0x1C33 do not exist, as the value of Sync Manager Parameter is fixed.
R7I4DECT supports Free Run mode only as the Sync mode.
Note that Distributed Clock (DC) mode is not supported.
■Device Type (0x1000)
The device type of this unit is allocated to object 0x1000. The device type is 5001.
Table 8: Object Conguration For Device Type
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1000 UINT32 32 RO 5001 Device type
■Error Register (0x1001)
R7I4DECT does not use Object 0x1001.
■Manufacturer Device Name (0x1008)
The device name is allocated to object 0x1008 in String form.
Table 9: Object Conguration For Device Name
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1008 STRING 32 RO R7I4DECT-1-PA8A Model number
■Manufacturer Hardware Version (0x1009)
The hardware device version of this unit is allocated to object 0x1009 in String form.
The format of version is “n.nn.”
Table 10: Object Conguration For Hardware Version
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1009 STRING 32 RO n.nn Hardware version
■Manufacturer Software Version (0x100A)
The software version of this unit is allocated to object 0x100A in String form.
The format of version is “n.nn.”
Table 11: Object Conguration For Software Version
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x100A STRING 32 RO n.nn Software version

R7I4DECT-1-PA8A
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: [phone] Fax: [phone] E-mail: [e-mail]
EM-7779-F Rev.1 P. 10 / 11
■Identity Object (Vendor information: 0x1018)
Vendor information is allocated to object 0x1018.
While the vendor ID and product code are fixed, the revision number is incremented by one at each major version up of the
software.
A unique serial number is allocated to each product.
A serial number consists of 8 digits, starting with two alpha-numeral characters followed by six numeral characters.
The serial number is expressed as 32-bit data divided into 6-bit, 6-bit, and 20-bit groups, with the first two characters con-
verted into 6-bit values.
6 BITS 6 BITS 20 BITS
1st digit 2nd digit 3rd to 8th digits (000000 to 999999)
CHARACTER VALUE
0 0
1 1
: :
9 9
A 10
B 11
: :
Z 35
Table 12: Object Conguration For Vendor Information
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1018 0 UINT8 8 RO 4 Number of items
1 UINT32 32 RO 0x0000060C Vendor ID
2 UINT32 32 RO 0x52370083 Product code
3 UINT32 32 RO n Revision number
4 UINT32 32 RO 0 to n Serial number