TPM 207-D533-NN User manual

TPM 207-D533-NN User Manual
1
207-D533-NN
User Manual
Version: V1.0 2019 Nov. 12
To properly use the product, read this manual thoroughly is necessary.
Part No.: 81-18D533-010

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2
Revision History
Date
Revision
Description
2019/11/12
1.0
Document creation.

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© Copyright 2019 TPM
The product, including the product itself, the accessories, the software, the manual and the software
description in it, without the permission of TPM Inc. (“TPM”), is not allowed to be reproduced, transmitted,
transcribed, stored in a retrieval system, or translated into any language in any form or by any means, except
the documentation kept by the purchaser for backup purposes.
The names of products and corporations appearing in this manual may or may not be registered trademarks,
and may or may not have copyrights of their respective companies. These names should be used only for
identification or explanation, and to the owners’ benefit, should not be infringed without any intention.
The product’s name and version number are both printed on the product itself. Released manual visions for
each product design are represented by the digit before and after the period of the manual vision number.
Manual updates are represented by the third digit in the manual vision number.
Trademark
◼Windows 7/8/10, Visual Studio are registered trademarks of Microsoft.
◼Beckhoff®, TwinCAT®, EtherCAT®, Safety over EtherCAT®, TwinSAFE®are registered trademarks of
and licensed by Beckhoff Automation GmbH.

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Electrical safely
◼To prevent electrical shock hazard, disconnect the power cable from the electrical outlet before relocating
the system.
◼When adding or removing devices to or from the system, ensure that the power cables for the devices are
unplugged before the signal cables are connected. Disconnect all power cables from the existing system
before you add a device.
◼Before connecting or removing signal cables from motherboard, ensure that all power cables are
unplugged.
◼Seek professional assistance before using an adapter or extension card. These devices could interrupt the
grounding circuit.
◼Make sure that your power supply is set to the voltage available in your area.
◼If the power supply is broken, contact a qualified service technician or your retailer.
Operational safely
◼Please carefully read all the manuals that came with the package, before installing the new device.
◼Before use the product, ensure all cables are correctly connected and the power cables are not damaged. If
the power cables are detected damaged, contact the dealer immediately.
◼To avoid short circuits, keep paper clips, screws, and staples away from connectors, slots, sockets and
circuitry.
◼Avoid dust, humidity, and temperature extremes. Do not place the product in any area where it may
become wet.
◼If you encounter technical problems with the product, contact a qualified service technician or the dealer.

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Contents
CONTENTS........................................................................................................................................................................................ 5
1. ETHERCAT INTRODUCTION ............................................................................................................................................. 7
1.1 INTRODUCTION........................................................................................................................................................................... 7
1.2 SYSTEM CONFIGURATIONS ............................................................................................................................................................ 8
1.3 DATA TRANSITION ....................................................................................................................................................................... 8
1.4 ETHERCAT TOOL: TWINCAT......................................................................................................................................................... 9
2. PRODUCT OVERVIEW ................................................................................................................................................... 10
2.1 NAMING RULE.......................................................................................................................................................................... 10
2.2 DIMENSION ............................................................................................................................................................................. 10
2.3 207-D533-NN SPECIFICATIONS.................................................................................................................................................. 11
2.4 CONNECTION ........................................................................................................................................................................... 12
2.4.1 Switch Description...................................................................................................................................... 12
2.4.2 LED Description .........................................................................................................................................13
2.4.3 EtherCAT Communication..........................................................................................................................16
2.4.4 Power Connector.........................................................................................................................................17
2.4.5 207-D533-NN – Pin Definition...................................................................................................................18
2.5 SIGNAL CIRCUIT ........................................................................................................................................................................ 21
3. TWINCAT 3 OPERATION................................................................................................................................................ 22
3.1 INSTALL THE ESI DEVICE DESCRIPTION........................................................................................................................................... 22
3.2 CREATE THE ETHERCAT DEVICE ................................................................................................................................................... 23
3.3 SCAN THE ETHERCAT DEVICE ...................................................................................................................................................... 25
4. ETHERCAT BASIC INFORMATION................................................................................................................................... 32
4.1 SYMBOLS AND ABBREVIATIONS .................................................................................................................................................... 32
4.2 DATA TYPES ............................................................................................................................................................................. 33
4.3 SPECIFICATION LIST.................................................................................................................................................................... 34
4.4 ESM (ETHERCAT STATE MACHINE).............................................................................................................................................. 35
5. PROCESS DATA OBJECTS (PDOS) ................................................................................................................................... 37
5.1 TXPDO LIST [SLAVE TRANSMITS DATA TO MASTER]......................................................................................................................... 37
5.1.1 48-Ch. Digital Inputs (6000h) .....................................................................................................................37
5.2 RXPDO LIST [MASTER TRANSMITS DATA TO SLAVE]......................................................................................................................... 38
5.2.1 48-Ch. Digital Outputs (7000h) ..................................................................................................................38
6. SERVICE DATA OBJECTS (SDOS)..................................................................................................................................... 39

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6.1 STATION ALIAS (4000H)............................................................................................................................................................. 40
6.1.1 Device Addressing ...................................................................................................................................... 41
6.2 OUTPUT PORT AUTO RESET SETTING (4001H)............................................................................................................................... 44
6.3 RETAIN VARIABLE OPERATION (4005H)........................................................................................................................................ 45
6.4 SAVE PARAMETERS (1010H)....................................................................................................................................................... 46
6.5 RESTORE DEFAULT PARAMETERS (1011H)..................................................................................................................................... 46

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1.EtherCAT Introduction
1.1 Introduction
EtherCAT® is an ultra-high-speed serial communication system. This technology is widely applied in factory
and machinery automation industries. EtherCAT® is real-time down to the I/O level. The transmission rate of
EtherCAT® is 2 x 100 Mbit/s, which makes it the fastest ethernet. Each EtherCAT® slave device reads and
writes the data by the function of "on the fly". One can extract or insert bits or bytes without suspending the
system. Each EtherCAT® segment can connect up to 65,535 nodes. With 100BASE-TX, the distance between
two nodes is up to 100M with EtherCAT®. With 100BASE-FX (fiber optics), the distance between two nodes
is longer than 100M.
Precise synchronization is one of the features of EtherCAT®. The Distributed Clocks (DC) can adjust the
time of Master and Slaves to achieve the synchronization. The time of synchronization is less than 1μs.
EtherCAT® also leads to lower solution costs because of the low-cost slave controller with FPGA, small
volume with EtherCAT® instead of IPC, and so on. EtherCAT® is IEC, ISO, and SEMI standard protocol.
The slave controller can provide interoperability. The master stacks are suitable for various Real-time
Operating System (RTOS).

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1.2 System Configurations
1.3 Data Transition

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1.4 EtherCAT Tool: TwinCAT
TwinCAT® is the EtherCAT® tool which is developed by Beckhoff. The TwinCAT® (The Windows Control
and Automation Technology) automation suite forms the core of the control system. The TwinCAT® software
system turns almost any PC-based system into a real-time control with multiple PLC, NC, CNC and/or robotics
runtime systems.
All TPM modules can be tested with TwinCAT® easily. With the RJ45 cable, EtherCAT® Master and
EtherCAT® slaves can connect to achieve the control system. EZE-xxx model names will be displayed on
TwinCAT® for users to operate system conveniently. Carrier specific model name will not be listed.

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2.Product Overview
2.1 Naming Rule
2
0
7
-
D
5
3
3
-
N
N
EtherCAT Plug-in
module
Digital
EtherCAT
series
48 DI
48 DO
NPN type
Input
NPN type
Output
2.2 Dimension
P0 P1 R E
E
I
N
E
O
T
122 mm
123mm

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2.3 207-D533-NN Specifications
EtherCAT
Serial interface
Fast Ethernet, Full-Duplex
Distributed Clock
1ms
Cable type
CAT5 UTP/STP Ethernet cable
Surge protection
10KV
Transmission speed
100 Mbps
Communication type
DC
Digital I/O
I/O isolation voltage
3750Vrms
Input type
NPN type
Input impendence
5.6KΩ/0.5W
Input current
±5mA (Max)
Digital input
48-channel
Output type
NPN open collector Darlington
transistors
Digital output
48-channel
Max. Current 100mA per Ch.
Response Time
On to Off about 50μs,
Off to On about 10μs
Over Current Protection
1A (max) for each port (8-channel)
General
Power input
24VDC±10%
Power consumption
6W typical
Working temperature
0 to 60°C
Size
L122 x W123 x H104 mm

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2.4 Connection
P0 P1 R E
E
I
N
E
O
T
CN3
CN4
CN1
CN2
CN5
CN6
CN7
CN8
CN9
CN10
CN11
CN12
CN13
CN14
2.4.1 Switch Description
1
123456 78
A0 A1 A2 A3 A4 A5 A6 A7 SW1
1
1 2 3 4 5 6 7 8
Note that node number = 128*A7 + 64*A6 + 32*A5 + 16*A4 + 8*A3 + 4*A2 + 2*A1 + 1*A0
Default values are all off.
Label
Function
CN1
Power Connector for Module
CN2
Power Connector for External
CN3~CN8
Input Signal Connector
CN9~CN14
Output Signal Connector
EIN
EtherCAT Communication IN
EOUT
EtherCAT Communication OUT
Pin
Label
On
Off
1
A7
1
0
2
A6
1
0
3
A5
1
0
4
A4
1
0
5
A3
1
0
6
A2
1
0
7
A1
1
0
8
A0
1
0

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2.4.2 LED Description
◆DIO LED Indicator
P0 P1 R E
◆Module LED Indicator
P0 P1 R E
E R P 1 P0
LED
Description
Pn0 ~ Pn7 - Green
DI Port(n) Bit0 ~ Bit7, n = 0 ~ 5
Pn0 ~ Pn7 - Red
DO Port(n) Bit0 ~ Bit7, n = 6 ~ 11
LED
Description
E - Red
Error Communication
R - Green
In Normal Communication
P1 - Yellow
DC 5V Supply for Module Internal
P0 - Yellow
DC 24V Input for Module Internal
PWR
DC 24V Input for Module Internal

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There are four patterns below indicating the LED status besides ON and OFF.
Pattern 1: Flickering
50ms 50ms
Pattern 2: Blinking
200ms
200ms
Pattern 3: Single flash
200ms
Pattern 4: Double flash
200ms
200ms
200ms
1000ms

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Run Indicator
Run Indicator indicates the ESM (EtherCAT® State Machine) status. LED lights in green.
LED Status
Meaning
OFF
ESM: In INIT state
Blinking
ESM: In Pre-operational state
Single Flash
ESM: In Safe-operational state
ON
ESM: Operation state
Error Indicator
Error Indicator indicates an alarm defined in the AL Status Code. LED Lights in red.
LED Status
Meaning
OFF
No occurrence of alarms defined in the AL status code
Blinking
Communication setup error
Single flash
Synchronous event error
Double flash
Application watchdog timeout
Flickering
Initialization error
ON
PDI error

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2.4.3 EtherCAT Communication
◆Communication IN and OUT
E
I
N
1
1
E
O
U
T
IN
OUT
◆Ethernet LED Status
P0 P1 R E
E
I
N
E
O
T
No.
Description
1
TX+
2
TX-
3
RX+
4
-
5
-
6
RX-
7
-
8
-
LED
Description
Green
Speed indicator:
Green on – Operating as a 100/1000-Mbps
connection.
Off – Operating as a 10-Mbps connection.
Orange
Link/Activity indicator:
Blinking – There is activity on this port.
Off – No link is established.

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2.4.4 Power Connector
◆CN1 – Module Power Connector
P0 P1 R E
13
◆CN2 – External Power Connector
P0 P1 R E
E
I
N
E
O
T
16
Pin
Label
Description
1
24VS
DC 24V Input
for module internal
2
GNDS
DC 24V ground
for module internal
3
FG
Field ground
Pin
Label
Description
1
24V
DC 24V
2
GND
DC 24V ground
3
FG
Field ground
4
24V
DC 24V
5
GND
DC 24V ground
6
FG
Field ground
* Max. 8A input current each DC 24V contact.

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2.4.5 207-D533-NN – Pin Definition
◆Digital Input Port0 ~ Port3
P0 P1 R E
CN3
CN4 CN6
CN5
CN3 - I0
CN5 – I2
Pin
Label
Function
Pin
Label
Function
1
24V
DC 24V
1
24V
DC 24V
2
24V
DC 24V
2
24V
DC 24V
3
00
Port#0 Bit0 Input
3
20
Port#2 Bit0 Input
4
01
Port#0 Bit1 Input
4
21
Port#2 Bit1 Input
5
02
Port#0 Bit2 Input
5
22
Port#2 Bit2 Input
6
03
Port#0 Bit3 Input
6
23
Port#2 Bit3 Input
7
04
Port#0 Bit4 Input
7
24
Port#2 Bit4 Input
8
05
Port#0 Bit5 Input
8
25
Port#2 Bit5 Input
9
06
Port#0 Bit6 Input
9
26
Port#2 Bit6 Input
10
07
Port#0 Bit7 Input
10
27
Port#2 Bit7 Input
11
GND
DC 24V Ground
11
GND
DC 24V Ground
12
GND
DC 24V Ground
12
GND
DC 24V Ground
CN4 – I1
CN6- I3
Pin
Label
Function
Pin
Label
Function
1
24V
DC 24V
1
24V
DC 24V
2
24V
DC 24V
2
24V
DC 24V
3
10
Port#1 Bit0 Input
3
30
Port#3 Bit0 Input
4
11
Port#1 Bit1 Input
4
31
Port#3 Bit1 Input
5
12
Port#1 Bit2 Input
5
32
Port#3 Bit2 Input
6
13
Port#1 Bit3 Input
6
33
Port#3 Bit3 Input
7
14
Port#1 Bit4 Input
7
34
Port#3 Bit4 Input
8
15
Port#1 Bit5 Input
8
35
Port#3 Bit5 Input
9
16
Port#1 Bit6 Input
9
36
Port#3 Bit6 Input
10
17
Port#1 Bit7 Input
10
37
Port#3 Bit7 Input
11
GND
DC 24V Ground
11
GND
DC 24V Ground
12
GND
DC 24V Ground
12
GND
DC 24V Ground

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◆Digital Input Port4 ~ Port5
◆Digital Output Port6 ~ Port7
P0 P1 R E
CN7
CN8
CN9
CN10
CN7 – I4
CN9 – Q0
Pin
Label
Function
Pin
Label
Function
1
24V
DC 24V
1
24V
DC 24V
2
24V
DC 24V
2
24V
DC 24V
3
40
Port#4 Bit0 Input
3
00
Port#6 Bit0 Output
4
41
Port#4 Bit1 Input
4
01
Port#6 Bit1 Output
5
42
Port#4 Bit2 Input
5
02
Port#6 Bit2 Output
6
43
Port#4 Bit3 Input
6
03
Port#6 Bit3 Output
7
44
Port#4 Bit4 Input
7
04
Port#6 Bit4 Output
8
45
Port#4 Bit5 Input
8
05
Port#6 Bit5 Output
9
46
Port#4 Bit6 Input
9
06
Port#6 Bit6 Output
10
47
Port#4 Bit7 Input
10
07
Port#6 Bit7 Output
11
GND
DC 24V Ground
11
GND
DC 24V Ground
12
GND
DC 24V Ground
12
GND
DC 24V Ground
CN8 – I5
CN10- Q1
Pin
Label
Function
Pin
Label
Function
1
24V
DC 24V
1
24V
DC 24V
2
24V
DC 24V
2
24V
DC 24V
3
50
Port#5 Bit0 Input
3
10
Port#7 Bit0 Output
4
51
Port#5 Bit1 Input
4
11
Port#7 Bit1 Output
5
52
Port#5 Bit2 Input
5
12
Port#7 Bit2 Output
6
53
Port#5 Bit3 Input
6
13
Port#7 Bit3 Output
7
54
Port#5 Bit4 Input
7
14
Port#7 Bit4 Output
8
55
Port#5 Bit5 Input
8
15
Port#7 Bit5 Output
9
56
Port#5 Bit6 Input
9
16
Port#7 Bit6 Output
10
57
Port#5 Bit7 Input
10
17
Port#7 Bit7 Output
11
GND
DC 24V Ground
11
GND
DC 24V Ground
12
GND
DC 24V Ground
12
GND
DC 24V Ground

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◆Digital Output Port8 ~ Port11
P0 P1 R E
CN11
CN12
CN13
CN14
CN11 – Q2
CN13 – Q4
Pin
Label
Function
Pin
Label
Function
1
24V
DC 24V
1
24V
DC 24V
2
24V
DC 24V
2
24V
DC 24V
3
20
Port#8 Bit0 Output
3
40
Port#10 Bit0 Output
4
21
Port#8 Bit1 Output
4
41
Port#10 Bit1 Output
5
22
Port#8 Bit2 Output
5
42
Port#10 Bit2 Output
6
23
Port#8 Bit3 Output
6
43
Port#10 Bit3 Output
7
24
Port#8 Bit4 Output
7
44
Port#10 Bit4 Output
8
25
Port#8 Bit5 Output
8
45
Port#10 Bit5 Output
9
26
Port#8 Bit6 Output
9
46
Port#10 Bit6 Output
10
27
Port#8 Bit7 Output
10
47
Port#10 Bit7 Output
11
GND
DC 24V Ground
11
GND
DC 24V Ground
12
GND
DC 24V Ground
12
GND
DC 24V Ground
CN12 – Q3
CN14- Q5
Pin
Label
Function
Pin
Label
Function
1
24V
DC 24V
1
24V
DC 24V
2
24V
DC 24V
2
24V
DC 24V
3
30
Port#9 Bit0 Output
3
50
Port#11 Bit0 Output
4
31
Port#9 Bit1 Output
4
51
Port#11 Bit1 Output
5
32
Port#9 Bit2 Output
5
52
Port#11 Bit2 Output
6
33
Port#9 Bit3 Output
6
53
Port#11 Bit3 Output
7
34
Port#9 Bit4 Output
7
54
Port#11 Bit4 Output
8
35
Port#9 Bit5 Output
8
55
Port#11 Bit5 Output
9
36
Port#9 Bit6 Output
9
56
Port#11 Bit6 Output
10
37
Port#9 Bit7 Output
10
57
Port#11 Bit7 Output
11
GND
DC 24V Ground
11
GND
DC 24V Ground
12
GND
DC 24V Ground
12
GND
DC 24V Ground