Pepperl+Fuchs ICA-8DIO4M1-G20-IO User manual

ICA-8DIO4M1-G20-IO
Motor Control Module with
Standard Process Data
Manual

With regard to the supply of products, the current issue of the following document is applicable: The
General Terms of Delivery for Products and Services of the Electrical ndustry, published by the Central
Association of the Electrical ndustry (Zentralverband Elektrotechnik und Elektroindustrie (ZVE ) e.V.)
in its most recent version as well as the supplementary clause: "Expanded reservation of proprietor-
ship"
Worldwide
Pepperl+Fuchs Group
Lilienthalstr. 200
68307 Mannheim
Germany
Phone: [phone] - 0
E-mail: [e-mail]
orth American Headquarters
Pepperl+Fuchs nc.
1600 Enterprise Parkway
Twinsburg, Ohio 44087
USA
Phone: [phone]
E-mail: [e-mail]
Asia Headquarters
Pepperl+Fuchs Pte. Ltd.
P+F Building
18 Ayer Rajah Crescent
Singapore 139942
Phone: [phone]
E-mail: [e-mail]
https://www.pepperl-fuchs.com

3
CA-8D O4M1-G20- O
Contents
2021-02
1 Introduction................................................................................................................ 5
1.1 Content of this Document............................................................................. 5
1.2 Target Group, Personnel ............................................................................... 5
1.3 Symbols Used ................................................................................................ 5
1.4 General Safety Information........................................................................... 6
1.5 Konformitätserklärung .................................................................................. 6
2 Product Description .................................................................................................. 8
2.1 Use and Application ...................................................................................... 8
2.2 Housing.........................................................................................................10
2.3 LED Indicators ............................................................................................. 10
2.4 Interfaces and Connections ....................................................................... 12
2.5 IO-Link Interface Properties .......................................................................13
2.6 Braking Energy Power Feedback ...............................................................13
3 Installation................................................................................................................14
3.1 Storage and Transportation ........................................................................14
3.2 Unpacking ....................................................................................................14
3.3 Mounting.......................................................................................................14
3.4 Connecting the Auxiliary Current Flat Cable ............................................ 14
3.5 Connecting Motors and Sensors ...............................................................17
4 IO-Link Process Data...............................................................................................18
4.1 Input Process Data Structure .....................................................................18
4.2 Output Process Data Structure ..................................................................19
5 IO-Link Parameters..................................................................................................22
5.1 Device-Specific Operating/Configuration Parameters.............................22
5.2 Device Parameters....................................................................................... 27
5.3 Standard Configuration Parameters..........................................................28
5.4 Specific Device Information........................................................................ 29
5.5 Operating Monitor........................................................................................ 29
5.6 Diagnostics .................................................................................................. 30
5.7 Device-Specific Commands........................................................................33
0.1ICA-8DIO4M1-

CA-8D O4M1-G20- O
Contents
4
2021-02
6 Repair and Servicing ...............................................................................................34
7 Appendix...................................................................................................................35
7.1 Event Codes .................................................................................................35
7.2 Error Codes ..................................................................................................36
7.3 ASCII table ....................................................................................................37

CA-8D O4M1-G20- O
ntroduction
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5
1 Introduction
1.1 Content of this Document
This document contains information required to use the product in the relevant phases of the
product life cycle. This may include information on the following:
•Product identification
•Delivery, transport, and storage
•Mounting and installation
•Commissioning and operation
•Maintenance and repair
•Troubleshooting
•Dismounting
•Disposal
The documentation comprises the following parts:
•This document
•Datasheet
n addition, the documentation may comprise the following parts, if applicable:
•EU-type examination certificate
•EU declaration of conformity
•Attestation of conformity
•Certificates
•Control drawings
•nstruction manual
•Other documents
1.2 Target Group, Personnel
Responsibility for planning, assembly, commissioning, operation, maintenance, and dismount-
ing lies with the plant operator.
Only appropriately trained and qualified personnel may carry out mounting, installation, com-
missioning, operation, maintenance, and dismounting of the product. The personnel must have
read and understood the instruction manual and the further documentation.
Prior to using the product make yourself familiar with it. Read the document carefully.
1.3 Symbols Used
This document contains symbols for the identification of warning messages and of informative
messages.
ote
For full information on the product, refer to the further documentation on the nternet at
www.pepperl-fuchs.com.
Table 1.1 CA-8D O4M1-G20- O

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CA-8D O4M1-G20- O
ntroduction
Warning Messages
You will find warning messages, whenever dangers may arise from your actions. t is mandatory
that you observe these warning messages for your personal safety and in order to avoid prop-
erty damage.
Depending on the risk level, the warning messages are displayed in descending order as fol-
lows:
Informative Symbols
Action
This symbol indicates a paragraph with instructions. You are prompted to perform an action or
a sequence of actions.
1.4 General Safety Information
Responsibility for planning, assembly, commissioning, operation, maintenance, and dismount-
ing lies with the plant operator.
nstallation and commissioning of all devices may be performed only by trained and qualified
personnel.
t is dangerous for the user to carry out modifications and/or repairs and doing so will void the
warranty and exclude the manufacturer from any liability. n the event of any serious errors, stop
using the device. Secure the device against unintended operation. To have the device repaired,
return it to your local Pepperl+Fuchs representative or your sales center.
1.5 Declaration of Conformity
This product was developed and manufactured in line with the applicable European standards
and directives.
Danger!
This symbol indicates an imminent danger.
Non-observance will result in personal injury or death.
Warning!
This symbol indicates a possible fault or danger.
Non-observance may cause personal injury or serious property damage.
Caution!
This symbol indicates a possible fault.
Non-observance could interrupt the device and any connected systems and plants, or result in
their complete failure.
ote
This symbol brings important information to your attention.
ote
Disposal
Electronic waste is hazardous. When disposing of the equipment, observe the current statutory
requirements in the respective country of use, as well as local regulations.

CA-8D O4M1-G20- O
ntroduction
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7
The product manufacturer, Pepperl+Fuchs Group, 68307 Mannheim, Germany, has a certified
quality assurance system that conforms to SO 9001.
ote
A declaration of conformity can be requested from the manufacturer.
ISO9001

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CA-8D O4M1-G20- O
Product Description
2 Product Description
2.1 Use and Application
General
The CA-8D O4M1-G20- O* roller motor control module is an O-Link connection module for
controlling up to four 24 V DC roller motors. The module enables process-specific control of
features including the following on the connected roller motors:
•Direction of rotation
•Speed
•Start and stop ramps
The module is ideally suited for implementing complex conveying tasks. The module is opti-
mized for nterroll EC310 roller motors but can also be used for compatible DC motors, e.g.,
Rulmeca BL3.
Digital Inputs and Outputs
To be able to optimally control the roller motor rollers based on conditions in the field environ-
ment (e.g., switching signal of a light barrier), the module has 8 freely configurable digital
inputs/outputs (PNP). The input characteristic of the inputs corresponds to type 3 in accor-
dance with EN 61131-2. The outputs are resistant to short circuits and overloading.
The module and the digital inputs/outputs are supplied via O-Link. Each sensor power supply
can be loaded with 200 mA.
For details regarding connection, see chapter 3.5.
Counters
The module has a counter input for connecting an incremental rotary encoder. You can connect
a single- or dual-input rotary encoder with a counting frequency of up to 10 kHz.
•A single-input rotary encoder is connected to O1.
•A dual-input rotary encoder is connected to O1 and O2, and takes the direction of rota-
tion into account.
Roller Motors
The roller motors are supplied with power via an external auxiliary voltage. The auxiliary volt-
age is supplied to the roller motor control module via a flat cable.
•The permissible auxiliary voltage is 18 V to 30 V.
•The maximum continuous current load for each roller motor is 2.5 A.
•For each roller motor, a maximum current load of 5 A is permitted briefly (< 2 s).
f a roller motor is connected to a motor output, the output must be configured accordingly. The
following statuses are transmitted via the process data:
•Roller motor fault
•Fusing
•Switching on and off
ote
nverting the input channels affects the counter. f the counting direction is to be reversed for a
dual-input rotary encoder, one of the two inputs must be inverted.
The counting function has no effect on how inputs are processed at O1 and O2. The input
filters are not taken into account for the counting function.
Table 2.1 CA-8D O4M1-G20- O

CA-8D O4M1-G20- O
Product Description
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9
•Direction of rotation
•SpeedDifferent Functions Based on ODD91
•Start/stop ramps1
The output at pin 2 is resistant to overloading and short circuits. The roller motor supply is pro-
tected by a fuse.
The speed is expressed as a percentage. The output voltage for controlling the roller motor
speed is output between the configurable limits. The lower limit corresponds to 0 % of the max-
imum speed, the upper limit corresponds to 100 % of the maximum speed.
For details regarding connection, see chapter 3.5.
Braking Function
You can use the process data to activate a brake for each roller motor. An activated brake
causes the analog velocity output to be lowered to 0 V after reaching the lower limit. For some
roller motors, this is mandatory to activate the brake function. This setting has no effect on
nterroll EC310 roller motors, as these roller motors always brake.
Start/Stop Ramps
The configurable ramp duration defines the time from stationary (0 %) to maximum speed
(100 %), or from maximum speed to stationary. When the terminal velocity is lower, the ramp
duration is shorter.
General IO-Link Information
O-Link is a standardized point-to-point O technology ( EC 61131-9) between an O-Link mas-
ter that controls communication and an O-Link device that acquires or executes process val-
ues at the lowest sensor/actuator level. n addition to transmitting process data, O-Link also
provides access to detailed identification, diagnostic and parameter data of the respective O-
Link device.
O-Link uses unshielded 3- or 5-wire cables with a maximum length of 20 meters between the
O-Link master and O-Link device, and enables transfer rates of 4.8 kbit/s (COM1), 38.4 kbit/s
(COM2), or 230.4 kbit/s (COM3). The O-Link interface is backward compatible with the
24 V /O signals specified in EC 61131-2.
Different Functions Based on IODD
The module has two different process data structures - Standard (STD) and Extended (EXT).
Which structure is used depends on the O-Link device D that is set. While the standard pro-
cess data image assigns 8 bytes of input data and 6 bytes of output data, the extended process
data image uses 8 bytes of input data and 18 bytes of output data. n addition to the functions of
the standard process data image, the extended process data image enables control of the
start/stop ramps and continuous, real-time adjustment of the roller motor speed via the process
data.
1. Depending on the selected process data structure, see "Different Functions Based on ODD" on page 9
Tip
f a motor output is not configured for a roller motor, pin 2 of the corresponding output can be
used as a digital power output, which is supplied from the auxiliary voltage PWR. A separate bit
for controlling the power output is available in the process data.

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CA-8D O4M1-G20- O
Product Description
For detailed information on the structure and assignment of the process data image, see chap-
ter 4.
2.2 Housing
The housing is made entirely of plastic, except for the hinge pins for the hinge cable guide.
The housing consists of the following main components:
•a mounting base with integrated electronics
•a folding guide cage as a cable guide for the AS- nterface flat cable
Figure 2.1 Housing dimensions
2.3 LED Indicators
Figure 2.2 LED indicators
Tip
You can download the corresponding manual for each version from our website www.pepperl-
fuchs.com.
100
120
122
135.5
16.6
15
27.5
54
24V Power
M1 M2 IO1 IO2 IO3 IO4 IO5 IO6 IO7 IO8 M3 M4
MOT1
MOT2
MOT3
MOT4
IO1/2
IO3/4
IO-Link
IO5/6
IO7/8
-
+
PWR-ERR IOL-ERR
ote
The LEDs on the inputs and outputs indicate the physical state of the respective channel. You
can find the invertible logical state of a channel in the process data.

CA-8D O4M1-G20- O
Product Description
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11
LEDs IO1 – IO8
LEDs M1 – M4
Flashing Pattern for Device Identification
n the field, a device can be identified by a flashing pattern. The flashing pattern is activated via
parameter index (127). All LEDs flash in the following pattern:
Figure 2.3 Flashing pattern for device identification
Status Function
Off nput/output not active
Yellow lit up nput/output active
All LEDs flashing red1
Yellow unchanged
1. Long off, short on
No communication with O-Link master
State of the input/output
Red lit up Overload or short circuit of the output or supply
Red LEDs illuminating in sequence No valid firmware or firmware update active
Status Function
Off Motor is not running/output is not active
Yellow Motor is running/output active (high)
Red Overload or short circuit at the output (also during motor
operation)
Red flashing Motor fault (only during motor operation)
Red/yellow flashing Motor supply fuse faulty (only during motor operation)
MOT3 & MOT4 flashing red alter-
nately Motor controller is running, but no communication with O-Link controller
•O-Link supply not present or firmware update active
•PWR supply present
MOT1 & MOT2 flashing yellow alter-
nately O-Link controller is running, no communication with motor controller
•O-Link supply present
•PWR supply not present
MOT3 & MOT4 flashing red No valid firmware in the motor controller
Erroneous firmware update
ote
The LEDs MOT1, MOT2, and O1 to O8 are supplied from O-Link; the LEDs MOT3 and MOT4
are supplied from PWR.
ote
When all LEDs are in the "off" state, a heartbeat (1.9 s off/0.1 s on) is output via all yellow motor
LEDs to signal the general operational readiness of the module. The heartbeat always begins
with a full "off" phase.
T
2 s
1 s
0

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CA-8D O4M1-G20- O
Product Description
2.4 Interfaces and Connections
Flat Cable Specification
The motor control module is compatible with the AS- nterface standard cable in accordance
with EC 62026-2.
The following AS- nterface cable types are available with "UL Recognized" approval:
AS-Interface Cable Types with UL Approval
Input/Output Connections
The sensors and motors are connected to the motor control module via cables with round M8
connectors:
•Sensors: socket, 4-pin
•Motors: socket, 5-pin
Motor Supply from Auxiliary Voltage
The motors are supplied with power directly from the external auxiliary voltage PWR and this
cannot be switched. The voltage is always present at contacts 1 and 3 of the 5-pin M8 connec-
tor.
Pepperl+Fuchs
Designation Color
Sheathing/Wire
Insulation Material
Cross Sec-
tion UL "Cable Style" Approval
VAZ-FK-R-BK Black TPE/TPE 2 x 1.5 mm²2103
VAZ-FK-PUR-BK Black PUR(TMPU)/TPM 2 x 1.5 mm²20549
VAZ-FK-PUR-BK-
2,5MM Black PUR 2 x 2.5 mm²20549 10493
Warning!
Observe the maximum permitted operating temperature of the cable !
The maximum permitted operating temperature of the AS- nterface flat cable connected to the
module must be at least 80° C.

CA-8D O4M1-G20- O
Product Description
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13
Plug Assignment
2.5 IO-Link Interface Properties
2.6 Braking Energy Power Feedback
The module can conduct electrical energy generated by the roller motor. Note the following
maximum values.
Connection For Connector Plug Type/Assignment
nputs/outputs Input: LF004-GS1-A in accordance with
EC/EN 61076-2-104
M8, 4-pin, socket, union nut, A-coded
Matching female connector: LM004-Gx1-A or similar
1: V+ sensor supply
2: O2, O4, O6, O8
3: V- sensor supply
4: O1, O3, O5, O7
Motor Motor: NF005-SS1-B in accordance with
EC/EN 61076-2-104
M8, 5-pin, socket, snap-locking, B-coded
Matching female connector: NM005-Sx1-B or similar
1: MOT+ motor supply
2: D R/OUT direction of rotation
3: MOT- (=PWR-) motor supply
4: ERROR motor fault
5: SPEED velocity signal
O-Link IO-Link: LM type
in accordance with EN 61076-2-101
M12, 4-pin, plug, screw-locking, A-coded
Matching female connector: LF type or similar
1: L+
2: n.c.
3: L-
4: Q/C
3 1
4 2
3 1
4 2
5
1
3
4
2
O-Link protocol: V1.1
COM mode: COM 3
M N cycle time: 1 ms
Process data length: 8 byte input data/6 byte output data
S O mode: Not supported
Port type: Type A
Device D: 0x0F0402
Vendor D: 0x01
Maximum current 4 A per motor
Maximum generated voltage 35 V DC

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CA-8D O4M1-G20- O
nstallation
3 Installation
3.1 Storage and Transportation
Keep the original packaging. Always store and transport the device in the original packaging.
Store the device in a clean and dry environment. The permitted ambient conditions must be
considered, see datasheet.
3.2 Unpacking
Check the product for damage while unpacking. n the event of damage to the product, inform
the post office or parcel service and notify the supplier.
Retain the original packaging in case the device must be stored or shipped again at a later
date.
Should you have any questions, please contact Pepperl+Fuchs.
3.3 Mounting
Mount the device with both brackets (1) on a solid, continuous surface.
Figure 3.1 Mounting brackets (1)
3.4 Connecting the Auxiliary Current Flat Cable
The motor control module is connected to the PWR auxiliary voltage supply via the black flat
cable. The permissible auxiliary voltage is 18 V to 30 V.
The contact between the motor control module and flat cables is established via two metal
piercing pins and uses insulation piercing technology. The flat cable is routed through a cable
guide with hinges. When closed, the cable guide is locked by a locking bracket and can be
opened again without tools.
Flat-profile cables are narrow on top (with visibly offset profile edge) and wide underneath (pro-
file edge not visible). The cable guide allows the flat cables to be inserted on either side,
enabling flat cables that are already laid in cable ducts to be connected flexibly. However, it is
important to ensure that the profile edge always points toward the motor control module. The
mechanical reverse polarity protection prevents the cable guide from closing completely if the
flat cable is inserted incorrectly.
1
Caution!
f a flat cable is inserted incorrectly, the motor control module will not work.
f the flat cable is inserted in the cable guide in the wrong direction, the voltage is inverted. The
motor control module will not work. However, the internal electrical reverse polarity protection
protects it from damage.
Table 3.1 CA-8D O4M1-G20- O

CA-8D O4M1-G20- O
nstallation
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Connecting the Flat Cable on the arrow Side
The profile edge is visible from above.
1. Open the cable guide by pushing the locking bracket (1) slightly to the side.
2. nsert the black PWR flat cable with the profile edge (3) pointing toward the motor control
module into the lower guide (see the "24V Power" marking on the module).
3. Make sure that the profile edges of the flat cable are beneath the corresponding reverse
polarity protection (2).
4. Close the cable guide. t must engage securely in the locking bracket (1).
The metal piercing pins touch the stranded wires in the flat cable.
Figure 3.2 Connecting the flat cable on the narrow side
Warning!
Damage to contacts
Only connect or disconnect the module connections when the module is de–energized. Other-
wise, the connections can be damaged.
Tip
Use the mounting aid VAZ-G20-MH to facilitate closing the cable guide.
24V Power
1
2
3

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CA-8D O4M1-G20- O
nstallation
Connecting the Flat Cable on the Wide Side
The profile edge is not visible from above. For clarity in the figure below, a dotted line rep-
resents where the edge would be.
1. Open the cable guide by pushing the locking bracket (1) slightly to the side.
2. nsert the black PWR flat cable with the profile edge (2) pointing toward the motor control
module into the lower guide (see the "24V Power" marking on the module).
3. Close the cable guide. t must engage securely in the locking bracket (1).
The profile edge (2) of the flat cable is above the two reverse polarity protection diodes. The
metal piercing pins touch the stranded wires in the flat cable.
Figure 3.3 Connecting the flat cable on the wide side (profile edge shown as dotted line)
Flat Cable Inserted Incorrectly
The figure below shows an example where the flat cable has been inserted incorrectly. The pro-
file edge (2) does not point toward the motor control module, so the flat cable is inserted with
reverse polarity. The flat cable is curved and positioned above the reverse polarity protection
(1), which means that the cable guide cannot be closed completely (mechanical reverse polar-
ity protection).
Tip
Use the mounting aid VAZ-G20-MH to facilitate closing the cable guide.
24V Power
1
2

CA-8D O4M1-G20- O
nstallation
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Figure 3.4 Flat cable inserted incorrectly (profile edge shown as dotted line)
3.5 Connecting Motors and Sensors
O-Link, the inputs and outputs, and the motors are connected via standard round plug connec-
tors.
Figure 3.5 Connection wiring diagram for motors and sensors
1
2
V-
PWR+
PWR-
L+
C/Q
n.c.
L-
1
4
2
3
1
4
2
3
IO1...8
1
2
4
5
3
FUSE 5 A
IO1/2, IO3/4, IO5/6, IO7/8
V+
IO1,3,5,7
IO2,4,6,8
MOT1 ... MOT4
MOT+
DIR/OUT
ERROR
SPEED
MOT-
3 1
4 2
M3 1
4 2
5
M3...4
M1...2
PWR
IO-Link
1
3
4
2
Warning!
Damage to contacts
Only connect or disconnect the module connections when the module is de–energized. Other-
wise, the connections can be damaged.

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CA-8D O4M1-G20- O
O-Link Process Data
4 IO-Link Process Data
4.1 Input Process Data Structure
The process data input by the motor control module consists of 64 bits (8 byte). The following
table provides an overview of the order and structure of the process data.
ame Long ame Data Type Length
Bit
Offset Value Function/Description
ISC - Input Signal Channel
N1 nput Signal 1 Boolean 1 bit 0 0 = low
1 = high Status of input 1
N2 nput Signal 2 Boolean 1 bit 1 0 = low
1 = high Status of input 2
N3 nput Signal 3 Boolean 1 bit 2 0 = low
1 = high Status of input 3
N4 nput Signal 4 Boolean 1 bit 3 0 = low
1 = high Status of input 4
N5 nput Signal 5 Boolean 1 bit 4 0 = low
1 = high Status of input 5
N6 nput Signal 6 Boolean 1 bit 5 0 = low
1 = high Status of input 6
N7 nput Signal 7 Boolean 1 bit 6 0 = low
1 = high Status of input 7
N8 nput Signal 8 Boolean 1 bit 7 0 = low
1 = high Status of input 8
not
assigned - - 1 byte 8 0 = low
DSC - Diagnosis Signal Channel
FUSEM1 Fuse Monitor Motor 1 Boolean 1 bit 16 0 = fuse OK
1 = fuse faulty Fuse status of motor 1
FUSEM2 Fuse Monitor Motor 2 Boolean 1 bit 17 0 = fuse OK
1 = fuse faulty Fuse status of motor 2
FUSEM3 Fuse Monitor Motor 3 Boolean 1 bit 18 0 = fuse OK
1 = fuse faulty Fuse status of motor 3
FUSEM4 Fuse Monitor Motor 4 Boolean 1 bit 19 0 = fuse OK
1 = fuse faulty Fuse status of motor 4
ERRM1 Error Monitor Motor 1 Boolean 1 bit 20 0 = no fault
1 = motor fault Fault status of motor 1
ERRM2 Error Monitor Motor 2 Boolean 1 bit 21 0 = no fault
1 = motor fault Fault status of motor 2
ERRM3 Error Monitor Motor 3 Boolean 1 bit 22 0 = no fault
1 = motor fault Fault status of motor 3
ERRM4 Error Monitor Motor 4 Boolean 1 bit 23 0 = no fault
1 = motor fault Fault status of motor 4
CNTZC Counter Zero Crossing Boolean 1 bit 24 0 = inactive
1 = active Counter sign changed since the last reset
CNTOF Counter Overflow Boolean 1 bit 25 0 = inactive
1 = active Counter overflow since the last reset
CNTUF Counter Underflow Boolean 1 bit 26 0 = inactive
1 = active Counter underflow since the last reset
Table 4.1 CA-8D O4M1-G20- O

CA-8D O4M1-G20- O
O-Link Process Data
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19
4.2 Output Process Data Structure
The process data output by the motor control module consists of 48 bits (6 byte). The following
table provides an overview of the order and structure of the process data.
CNTREV Counting Direction
Change Boolean 1 bit 27 0 = inactive 1 = active Counting direction changed since the last
reset
MCRDY Motor Controller
Ready Boolean 1 bit 31 0 = inactive 1 = active Motor controller section supplied with power and
ready
SFD - Special Function Data
Counter Counter reading nteger (32) 4 byte 32 -2147483648
(0x80000000)
... 2147483647
(0x7FFFFFFF)
Current counter reading
Table 4.1
ame Long ame Data Type Length
Bit
Offset Value Function/Description
ame Long ame Data Type Length
Bit
Offset Value Function/Description
OCC - Output Control Channel
OUT1 Output Signal 1 Boolean 1 bit 0 0 = low
1 = high Sets digital output 1
OUT2 Output Signal 2 Boolean 1 bit 1 0 = low
1 = high Sets digital output 2
OUT3 Output Signal 3 Boolean 1 bit 2 0 = low
1 = high Sets digital output 3
OUT4 Output Signal 4 Boolean 1 bit 3 0 = low
1 = high Sets digital output 4
OUT5 Output Signal 5 Boolean 1 bit 4 0 = low
1 = high Sets digital output 5
OUT6 Output Signal 6 Boolean 1 bit 5 0 = low
1 = high Sets digital output 6
OUT7 Output Signal 7 Boolean 1 bit 6 0 = low
1 = high Sets digital output 7
OUT8 Output Signal 8 Boolean 1 bit 7 0 = low
1 = high Sets digital output 8
SFC - Special Function Control
CNTRES Counter Reset Boolean 1 bit 8 0 -> 1 = reset Resets the counter value
to 0
CNTEN Counter Enable Boolean 1 bit 9 0 = deactivated
1 = activated Enables the counter oper- ation
CNTD R Counter Direction Boolean 1 bit 10 0 = up
1 = down Sets the direction of the counter
CNTRZC Counter Reset Zero
Crossing Boolean 1 bit 11 0 -> 1 = reset Resets the counter zero- crossing flag
CNTROF Counter Reset Over-
flow Boolean 1 bit 12 0 -> 1 = reset Resets the counter over- flow flag.
CNTRUF Counter Reset Under-
flow Boolean 1 bit 13 0 -> 1 = reset Resets the counter under- flow flag.

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CA-8D O4M1-G20- O
O-Link Process Data
CNTRRE-
REV Counter Reset Direc- tion Change Boolean 1 bit 14 0 -> 1 = reset Resets the counter direc- tion change flag.
CNTPRE Counter Preset Boolean 1 bit 15 0 -> 1 = reset Sets the counter to the
configured preset value
MCC - Motor Control Channel 1
RUNC Run Motor Control Boolean 1 bit 16 0 = off
1 = on Switches motor 1 on/off
D RC Direction Control Boolean 1 bit 17 0 = left
1 = right Sets the direction of motor rotation on motor 1 to
left/right
BRKC Brake Control Boolean 1 bit 18 0 = inactive
1 = active Sets the motor brake
SPDC Speed Control Boolean 1 bit 19 0 = SPEED1
1 = SPEED2 Sets the speed on motor 1 according to the Speed
1/2 parameter.
POUTC Power Output Control Boolean 1 bit 23 0 = low
1 = high Sets the digital output (pin 2) on motor channel 1, if
configured
MCC - Motor Control Channel 2
RUNC Run Motor Control Boolean 1 bit 24 0 = off
1 = on Switches motor 2 on/off.
D RC Direction Control Boolean 1 bit 25 0 = left
1 = right Sets the direction of motor rotation on motor 2 to
left/right.
BRKC Brake Control Boolean 1 bit 26 0 = inactive
1 = active Sets the motor brake
SPDC Speed Control Boolean 1 bit 27 0 = SPEED1
1 = SPEED2 Sets the speed on motor 2 according to the Speed
1/2 parameter.
POUTC Power Output Control Boolean 1 bit 31 0 = low
1 = high Sets the digital output (pin 2) on motor channel 2, if
configured
MCC - Motor Control Channel 3
RUNC Run Motor Control Boolean 1 bit 32 0 = off
1 = on Switches motor 3 on/off.
D RC Direction Control Boolean 1 bit 33 0 = left
1 = right Sets the direction of motor rotation on motor 3 to
left/right.
BRKC Brake Control Boolean 1 bit 34 0 = inactive
1 = active Sets the motor brake
SPDC Speed Control Boolean 1 bit 35 0 = SPEED1
1 = SPEED2 Sets the speed on motor 3 according to the Speed
1/2 parameter.
POUTC Power Output Control Boolean 1 bit 39 0 = low
1 = high Sets the digital output (pin 2) on motor channel 3, if
configured
MCC - Motor Control Channel 4
RUNC Run Motor Control Boolean 1 bit 40 0 = off
1 = on Switches motor 4 on/off.
D RC Direction Control Boolean 1 bit 41 0 = left
1 = right Sets the direction of motor rotation on motor 4 to
left/right.
ame Long ame Data Type Length
Bit
Offset Value Function/Description