QKM QD1 User manual

User Manual
QD1 IO Expansion Module
Modular & Economical
QKM Technology (Dongguan) Co., Ltd.
Document Version
V3.1.0
Issue Date
18/08/2020

Preface
Document Version V3.1.0 (2020-08-18) I
Preface
Thank you for purchasing QD1 produced by QKM!
This manual describes the notes for proper use of QD1.
Read this manual carefully before using QD1.
Keep this manual properly for future reference.
Overview
This manual provides the basic information, module composition, work principle,
installation and configuration guidance of QD1 products for users to fully understand
and use them.
Readers
This manual applies to:
Customer Engineer
Technical Support Engineer
System Configuration Engineer
Installation and Debugging Engineer
Signs and meanings
The signs in this document clearly indicate any dangers, warnings, attentions and
descriptions that may occur while users perform the operations described in this
manual; be sure to pay attention to the following signs when they appear in this
document.
The signs in this manual are described in the table below:
Sign
Description
It indicates that a dangerous situation would occur and
cause deaths or serious injuries if it is not avoided.
It indicates that a potentially dangerous situation would
occur and cause personal injuries or modules damage if it is
not avoided.
It indicates that an unpredictable situation would occur and
cause module damage, performance degradation, data loss,
etc. if it is not avoided.
It indicates the description of key information and tips of
operation skills.

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Copyright © 2020 QKM Technology (Dongguan) Co., Ltd.
All Rights Reserved.
QKM Technology (Dongguan) Co., Ltd. (hereinafter referred to as QKM) owns the
patents, copyrights and other intellectual property rights of this product and its software.
Without the written authorization of QKM, no unit or individual shall extract or copy the
contents of this document; and shall not directly or indirectly reproduce, manufacture,
process and use this product and related parts.
Trademark
is the trademark of QKM Technology (Dongguan) Co., Ltd. QKM has been
granted ownership of this trademark.
Disclaimer
QKM does not assume any direct, indirect, special or incidental loss or liability due to
improper use of this manual or product.
Notice
The contents of this document are subject to change at any time due to product upgrade
or other reasons. QKM reserves the right to change the product or specifications in this
manual without prior notice. To know the latest information of this product, please visit
QKM's website and download.
Tower A, Building 17, Headquarters 1, No. 4 Xinzhu Road, Songshan Lake High-tech
Industrial Development Zone, Dongguan City, Guangdong Province, China
Tel: [phone]
Fax: [phone]-8053
Zip code: 523808
Email: [email protected]
Website: www.qkmtech.com

Version History
Document Version V3.1.0 (2020-08-18) III
Version History
The version history contains the accumulated information on each update of the
document, and the latest version of the document includes the updates in all previous
versions of the document.
Version
Date
Content
V1.0.0
18/08/2020
The first version was officially released.

Contents
Document Version V3.1.0 (2020-08-18) V
Contents
Preface.............................................................................................................................I
Version History .............................................................................................................III
Description of Terms.................................................................................................... VIII
Chapter 1 Product Overview ...................................................................................1
1.1 Introduction of components ................................................................................2
1.1.1 Modular type.............................................................................................2
1.1.2 Economical type .......................................................................................3
1.2 Product dimensions ............................................................................................4
1.2.1 Modular type.............................................................................................4
1.2.2 Economical type .......................................................................................5
1.3 Technical parameters .........................................................................................6
1.3.1 Electrical parameters................................................................................6
1.3.2 Dimension parameters .............................................................................6
1.3.3 Installation environment ...........................................................................7
1.4 Product features .................................................................................................7
Chapter 2 Work Principle ........................................................................................8
2.1 Communication networking ................................................................................8
2.1.1 Modular type.............................................................................................9
2.1.2 Economical type .......................................................................................9
2.2 Definition of IO pins ..........................................................................................10
2.2.1 Modular type...........................................................................................10
2.2.2 Economical type .....................................................................................11
2.3 Digital input (DI)................................................................................................13
2.3.1 Modular type...........................................................................................13
2.3.2 Economical type .....................................................................................13
2.4 Digital output (DO)............................................................................................14
2.4.1 Modular type...........................................................................................14

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2.4.2 Economical type .....................................................................................14
2.5 Description of LEDs..........................................................................................15
2.5.1 Modular QD1 ..........................................................................................15
2.5.2 Economical QD1 ....................................................................................16
Chapter 3 Product Installation ...............................................................................18
3.1 Preparation before installation..........................................................................18
3.2 Installation of modular QD1 ..............................................................................18
3.2.1 Installation of guide ................................................................................18
3.2.2 Installation of communication cable........................................................18
3.2.3 Installation of power wire........................................................................20
3.3 Installation of economical QD1.........................................................................20
3.3.1 Installation of motherboard.....................................................................20
3.3.2 Installation of daughterboards ................................................................21
3.3.3 Installation of communication cable........................................................22
3.3.4 Installation of power wire........................................................................24
3.4 Check after installation .....................................................................................25
Chapter 4 Configuration before Use......................................................................26
4.1 Initialization configuration .................................................................................26
4.1.1 IP address configuration.........................................................................26
4.1.2 IP address check....................................................................................28
4.2 Configuration for connection to robot................................................................28
4.2.1 Network connection................................................................................28
4.2.2 Configuration for connection to Web Server...........................................29
4.2.3 Web Interface IO control.........................................................................31
4.2.4 Call QD1 instruction in GDE ...................................................................32
4.3 Configuration for connection to PC...................................................................32
4.3.1 PC configuration.....................................................................................32
4.3.2 File load configuration ............................................................................33

Contents
Document Version V3.1.0 (2020-08-18) VII
4.4 Dynamic library configuration ...........................................................................47
Appendix A FAQ ............................................................................................................49

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Description of Terms
The special terms in this manual are described as follows:
Term
Description
QKM
Quotient Kinematics Machine
QD1
QKM Digital Input and Output
GDE
Guidance Development Environment
IO
Input & output
DI
Digital intput
DO
Digital output
LED
Light Emitting Diode
LAN
Local Area Network
DHCP
Dynamic Host Configuration Protocol

Chapter 1 Product Overview
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Chapter 1 Product Overview
QD1 indicates a compact remote digital IO module independently developed by
QKM, and can transmit more optocoupler-isolated signals to main controller; it has
multiple IO channels to support bus expansion.
QD1 supports Modbus TCP commonly used in the industry. Main controller can
access and control each IO channel upon connection to QD1 with network cable. QD1
module has dual RJ45 network ports with native routing and forwarding function, and
can be flexibly and freely networked with main controller via cascade communication or
daisy chain topology.
QD1 product series includes modular type of 32 In/32 Out, modular type and
economical type of 16 In/16 Out, as shown in Figure 1-1, Figure 1-2 andFigure 1-3:
Figure 1-1 Modular QD1 (32 In/32 Out)
Figure 1-2 Modular QD1 (16 In/16 Out)

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Figure 1-3 Economical QD1
1.1 Introduction of components
1.1.1 Modular type
The components of modular QD1 are detailed in Figure 1-4. Modular QD1 (16 In/16
Out) has the same power interface and network ports as modular QD1 (32 In/32 Out).
Figure 1-4 Components of modular QD1
Work LED
(green)
Power
interface
Input
Output
LED for I/O
port status

Chapter 1 Product Overview
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Figure 1-5 Back view of modular QD1 (32 In/32 Out)
1.1.2 Economical type
Economical QD1 consists of a motherboard and a daughterboard with components
detailed in Figure 1-6 and Figure 1-7:
Figure 1-6 Motherboard of economical QD1
LAN1/LAN2
Communication port
Power interface
Fuse
IO interface
PE
RJ45 port
LED

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Figure 1-7 Daughterboard of economical QD1
1.2 Product dimensions
1.2.1 Modular type
Figure 1-8 Dimensions of modular QD1 (32 In/32 Out) (unit: mm)

Chapter 1 Product Overview
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Figure 1-9 Dimensions of modular QD1 (16 In/16 Out) (unit: mm)
1.2.2 Economical type
Figure 1-10 Dimensions of QD1 motherboard (unit: mm)
Figure 1-11 Dimensions of QD1 daughterboard (unit: mm)

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1.3 Technical parameters
1.3.1 Electrical parameters
Table 1-1 QD1 electrical parameters
Item
Modular type
Economical type
Rated input
voltage
24 V d.c. (20.4~28.8 V d.c.)
24 V d.c. (20.4~28.8 V d.c.)
Interface type
RJ45 (two)
RJ45 (two)
Interface
speed
10/100 M adaptive
10/100 M adaptive
Input channel
32 Input/16 Input
16 Input
(up to 128 Input)
Output
channel
32 Output/16 Output
16 Output
(up to 128 Output)
Input mode
Default: NPN
Customized: PNP
Default: NPN
Customized: PNP
Input signal
"0"
0~5 V
0~5 V
Input signal
"1"
15~28 V
15~28 V
Output mode
NPN mode
NPN mode
Output drive
capability
200 mA (continuous)
200 mA (continuous)
1.3.2 Dimension parameters
Table 1-2 Dimension parameters of QD1 product (unit: mm)
Item
Modular type
(32 In/32 Out)
Modular type
(16 In/16 Out)
Economical type
Dimensions
110(W)*260(L)*140(H)
110(W)*180(L)*140(H)
85(W)*83(L)*30(H)

Chapter 1 Product Overview
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1.3.3 Installation environment
Install the product in an environment that meets the following conditions to exploit
/maintain its performance and use it safely.
Table 1-3 QD1 working environment parameters
1.4 Product features
⚫Multibus - supports Modbus TCP and multiple Ethernet bus protocols after
upgrade;
⚫Flexible expansion - supports multi-slave-station cascading topology;
⚫Stable and reliable - with IO channels completely isolated from the system,
strong resistance to interference, power protection and IO LEDs;
⚫High integration - small size with high integration.
Installation
environment
Remark
Working
temperature
0℃ ~ +55℃
Storage
temperature
-40℃ ~ -70℃
Maximum relative
humidity
＜95% (without condensation)
Altitude
＜2,000 m
Atmospheric
pressure
800 kPa ~ 110 kPa
Operating
environment
The equipment is suitable for use in environments at
pollution level 2 or below, with only non-conductive
pollution under normal circumstances and occasionally
temporary conductivity caused by condensation.

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Chapter 2 Work Principle
QD1 products communicate as slave stations with master stations (such as
computers, controllers, etc.) via Modbus TCP. You can load library functions and header
files from folder into program using Microsoft Visual Studio and call related functions to
read and write QD1.
QD1 supports two data types: DI and DO.
DI is a discrete input, in which each address corresponds to one data bit, and users
can only read its status, but cannot modify it.
DO is a coil output, in which each address corresponds to one data bit, and users
can set, reset, and read back its status.
2.1 Communication networking
QD1 supports Modbus TCP protocol communication. Main controller can access
and control each IO channel upon connection to QD1 with network cable; QD1 module
has dual RJ45 ports and native routing & forwarding function for free forwarding at
10/100 M network, and can flexibly communicate with main controller via cascade
communication or daisy chain topology. The diagrams of typical networking and free
networking are shown in Figure 2-1 andFigure 2-2, respectively:

Chapter 2 Work Principle
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2.1.1 Modular type
Figure 2-1 Modular QD1 networking diagram
2.1.2 Economical type
Figure 2-2 Economical QD1 networking diagram
16- or 32-channel DO
16- or 32-channel DI
Unlimited expansion

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2.2 Definition of IO pins
2.2.1 Modular type
Figure 2-3 Modular QD1 interfaces of 32 In/32 Out (top view)
Figure 2-4 Modular QD1 interfaces of 16 In/16 Out (top view)