ii
6.4 Local Parameters Objects ................................................................................ 6-7
6.4.1 RTU Parameter (3000h) .............................................................................. 6-7
6.4.1.1 Switch ID (3000:01h) ...................................................................................... 6-7
6.4.1.2 Control Word (3000:02h) ................................................................................. 6-7
6.4.1.3 Digital Output (3000:03h) ................................................................................ 6-9
6.4.1.4 Digital Input (3000:04h) .................................................................................. 6-9
6.4.1.5 Digital Input Filter Time (3000:05h ~ 3000:0Ch) ................................................ 6-9
6.4.1.6 Right IO Refresh Time (3000: 0Dh) ................................................................... 6-9
6.4.1.7 COMlost_RTU_Output (3000:0Eh) .................................................................... 6-10
6.4.2 Counter Channel 1 Operation (3001h) ........................................................ 6-10
6.4.2.1 Counter Channel 1 Command (3001: 01h) ........................................................ 6-10
6.4.2.2 Counter channel 1 InputMode (3001: 02h) ........................................................ 6-11
6.4.2.3 Counter Channel 1 CountDirection (3001: 04h) .................................................. 6-13
6.4.2.4 Counter Channel 1 AB-Phase FrequencyMode (3001: 05h) .................................. 6-13
6.4.2.5 Counter Channel 1 Present CounterValue (3001: 06h) ........................................ 6-13
6.4.2.6 Counter Channel 1 TriggerMode (3001: 07h) ..................................................... 6-13
6.4.2.7 Counter Channel 1 ErrorCode (3001: 08h) ........................................................ 6-14
6.4.2.8 Counter Channel 1 Status (3001: 09h) ............................................................. 6-14
6.4.3 Counter Channel 2 Operation (3003h) ........................................................ 6-14
6.4.4 Pulse Output Channel 1 Operation (3005h) ................................................. 6-15
6.4.4.1 Pulse Output Channel 1 Command (3005: 01h) ................................................. 6-15
6.4.4.2 Pulse Output Channel 1 MotionMode (3005: 02h) ............................................... 6-16
6.4.4.3 Pulse Output Channel 1 Status (3005:04h) ....................................................... 6-18
6.4.4.4 Pulse Output Channel 1 CurrentPulses (3005: 05h) ............................................ 6-18
6.4.4.5 Pulse Output Channel 1 TargetPulse (3005: 06h) ............................................... 6-19
6.4.4.6 Pulse Output Channel 1 TargetFrequency (3005: 07h) ........................................ 6-19
6.4.4.7 Pulse Output Channel 1 Acceleration Time (3005: 08h) ....................................... 6-19
6.4.4.8 Pulse Output Channel 1 Deceleration Time (3005: 09h) ...................................... 6-20
6.4.4.9 Pulse Output Channel 1 OutputMode (3005: 0Ah) .............................................. 6-20
6.4.4.10 Pulse Output Channel 1 OutputDirection (3005: 0Bh) ..................................... 6-21
6.4.4.11 Pulse Output Channel 1 Actual MotionMode (3005: 0Ch) ................................. 6-22
6.4.4.12 Pulse Otput Channel 1 ActualFrequency (3005: 0Eh) ...................................... 6-22
6.4.5 Pulse Output Channel 2 Operation (3006h) ................................................. 6-22
6.4.6 COMlost_DOmodule_Outputs (2100h~2107h) ............................................. 6-23
6.4.7 COMlost_AOmodule_Outputs (2120h~2127h) ............................................. 6-24
6.5 Module Config Objects .................................................................................. 6-28
6.5.1 Configured Module ID List (F030h) ............................................................. 6-28
6.5.2 Detected Module ID List (F050h) ............................................................... 6-28
Chapter 7 Application Examples ....................................................................... 7-1
7.1 Using DELTA AX3 Series CPU with ASRTU-EC16AP1TA ......................................... 7-4
7.2 Using ASRTU-EC16AP1TA’s High-Speed Counting and Pulse Output ..................... 7-10
Chapter 8 Error Diagnosis and Trouble-shooting .............................................. 8-1
8.1 LED Indicator Diagnosis .................................................................................. 8-2
8.2 Status Indication Diagnosis .............................................................................. 8-3
Appendix A Accessories for EtherCAT Communication ........................................ A-1
A.1 Accessories for EtherCAT Communication .......................................................... A-2
Appendix B Online Firmware Upgrade ................................................................ B-1
B.1 Online Firmware Upgrade ................................................................................ B-2
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