Delta ASRTU-EC16AP1TA - default chapter; Table of Contents

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ASRTU-EC16AP1TA Operation Manual
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ble of Contents
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Chapter 1 Preface ............................................................................................. 1-1
1.1 Explanation of Symbols in This Manual .............................................................. 1-2
1.2 Revision History ............................................................................................. 1-2
Chapter 2 Overview .......................................................................................... 2-1
2.1 Characteristics ............................................................................................... 2-2
2.2 Specifications ................................................................................................. 2-2
2.3 Extension Modules Connectable ........................................................................ 2-5
Chapter 3 Profile and Parts .............................................................................. 3-1
3.1 Profile and Dimensions .................................................................................... 3-2
3.2 Parts ............................................................................................................. 3-2
3.3 Definition of EtherCAT Port Pins ........................................................................ 3-4
3.4 Address Switches............................................................................................ 3-4
3.5 Extension Module Port ..................................................................................... 3-4
Chapter 4 Installing and Wiring ....................................................................... 4-1
4.1 Installing ASRTU-EC16AP1TA and AS Extension Modules to DIN Rail ..................... 4-2
4.2 Connecting EtherCAT Ports .............................................................................. 4-3
4.3 Wiring ........................................................................................................... 4-3
4.3.1 Power Input .............................................................................................. 4-3
4.3.2 Ground ..................................................................................................... 4-4
4.4 Input and Output Wiring .................................................................................. 4-5
4.4.1 External Input Wiring ................................................................................. 4-5
4.4.2 External Output Wiring ............................................................................... 4-6
Chapter 5 Configuring in DIADesigner-AX ........................................................ 5-1
5.1 Software Introduction ..................................................................................... 5-2
5.2 Adding ASRTU-EC16AP1TA and Right-Side Extension Modules .............................. 5-2
5.2.1 Manually Adding ASRTU-EC16AP1TA and Right-Side Extension Modules ............ 5-2
5.2.2 Using Auto Scan Function to Add ASRTU-EC16AP1TA and Right-Side Modules .... 5-6
5.3 Operation Mode Setup ..................................................................................... 5-8
5.4 PDO Configuration .......................................................................................... 5-8
5.5 Startup Parameters ....................................................................................... 5-12
5.6 EtherCAT I/O Mapping ................................................................................... 5-13
Chapter 6 Introduction of Parameters .............................................................. 6-1
6.1 Parameter List ................................................................................................ 6-3
6.2 General Objects .............................................................................................. 6-3
6.2.1 Device Type (1000h) .................................................................................. 6-3
6.2.2 Error Register (1001h) ............................................................................... 6-3
6.2.3 Device Name (1008h) ................................................................................ 6-4
6.2.4 Hardware Version (1009h) .......................................................................... 6-4
6.2.5 Software Version (100Ah) ........................................................................... 6-4
6.2.6 Identity (1018h) ........................................................................................ 6-5
6.3 PDO Mapping Objects ...................................................................................... 6-6
6.3.1 Receive PDO Mapping ................................................................................. 6-6
6.3.2 Transmit PDO Mapping ............................................................................... 6-6
6.3.3 Parameters for Right-Side Extension Modules ................................................ 6-6