M-system MECHATROLINK R7K4FML3-6-DAC32B User manual

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 1 / 11

INSTRUCTION MANUAL

BEFORE USE ....

Thank you for choosing M-System. Before use, please check

contents of the package you received as outlined below.

If you have any problems or questions with the product,

please contact M-System’s Sales Ofﬁce or representatives.

■PACKAGE INCLUDES:

Discrete I/O module ............................................................(1)

DIN rail mounter slider......................................................(2)

■MODEL NO.

Conﬁrm Model No. marking on the product to be exactly

what you ordered.

■INSTRUCTION MANUAL

This manual describes necessary points of caution when

you use this product, including installation, connection and

basic maintenance procedures.

POINTS OF CAUTION

■CONFORMITY WITH EU DIRECTIVES

• The equipment must be mounted inside the instrument

panel of a metal enclosure.

• The actual installation environments such as panel con-

ﬁgurations, connected devices, connected wires, may af-

fect the protection level of this unit when it is integrated

in a panel system. The user may have to review the CE

requirements in regard to the whole system and employ

additional protective measures to ensure the CE conform-

ity.

■POWER INPUT RATING & OPERATIONAL RANGE

• Locate the power input rating marked on the product and

conﬁrm its operational range as indicated below:

24V DC rating: 24V ±10%, ≤ 100mA

■GENERAL PRECAUTIONS

• Before you remove the unit or mount it, turn off the power

supply and I/O signal for safety.

• Before you remove the terminal block or mount it, make

sure to turn off the power supply and I/O signal for safety.

• DO NOT set the switches on the module while the power

is supplied. The switches are used only for maintenance

without the power.

■ENVIRONMENT

• Indoor use.

• When heavy dust or metal particles are present in the

air, install the unit inside proper housing with sufﬁcient

ventilation.

• Do not install the unit where it is subjected to continuous

vibration. Do not subject the unit to physical impact.

• Environmental temperature must be within -10 to +55°C

(14 to 131°F) with relative humidity within 30 to 90% RH

in order to ensure adequate life span and operation.

■WIRING

• Do not install cables close to noise sources (relay drive

cable, high frequency line, etc.).

• Do not bind these cables together with those in which

noises are present. Do not install them in the same duct.

• Be sure to close the terminal cover for safety.

■AND ....

• The unit is designed to function as soon as power is sup-

plied, however, a warm up for 10 minutes is required for

satisfying complete performance described in the data

sheet.

MECHATROLINK I/O MODULE

(NPN/PNP discrete input & PNP transistor output, 16 points each,

screw terminal block, MECHATROLINK- III use)

MODEL

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 2 / 11

COMPONENT IDENTIFICATION

4567

123

28 29 30 31

20 21 2219

33 34 35 36

25 26 27

10 11 12 13

2341

15 16 17 18

789

SA1

×10

SA2

×1

234

PWR LNK2CON

LNK1

ERR

LNK1 LNK2

MECHATROLINK

Connector

Station Address Setting

Rotary SW

Status Indicator LED

Operating Mode Setting DIP SW (SW1)

Discrete I/O Status Indicator LED

Power Supply Terminals I/O Terminals

■STATUS INDICATOR LED

ID COLOR FUNCTION

PWR Green Turns on when the internal power

is supplied normally.

ERR Red Turns on at MECHATROLINK-III

communication error

CON Green Turns on at MECHATROLINK-III

connection is established

LNK1 Green Turns on at MECHATROLINK-III

LNK1 is established

LNK2 Green Turns on at MECHATROLINK-III

LNK2 is established

■STATION ADDRESS

Station Address is selected between 03H and EFH in hexa-

decimal.

The SA1 switch determines the MSD, while the SA2 switch

does the LSD of the address.

(Factory setting: 03H)

Station Address Setting (LSD)

Station Address Setting (MSD)

■OPERATING MODE

(*) Factory setting

• Read Rate (SW1-1, 1-2, 1-3)

SW1-1 SW1-2 SW1-3 READ RATE

OFF OFF OFF ≤ 10 msec. (*)

ON OFF OFF ≤ 1 msec.

OFF ON OFF ≤ 5 msec.

ON ON OFF ≤ 20 msec.

OFF OFF ON ≤ 50 msec.

ON OFF ON ≤ 70 msec.

OFF ON ON ≤ 100 msec.

ON ON ON ≤ 200 msec.

• Output at The Loss of Communication (SW1-4)

SW1-4 OUTPUT AT THE LOSS OF COMMUNICATION

OFF Reset the output (turned off)

ON Hold the output (*)

(maintains the last data received normally)

■DISCRETE I/O STATUS INDICATOR LED

LED green indicators shows the signal status.

ON : LED ON

OFF : LED OFF

■POWER SUPPLY TERMINAL ASSIGNMENT

567

123

24V

NC NC FE

1. NC

2. NC

3. FE

4. NC

5. NC

6. +24V

7. 0V

Functional earth

Power supply (24V DC)

Power supply (0V)

■POWER SUPPLY TERMINAL ASSIGNMENT

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 3 / 11

■I/O TERMINAL ASSIGNMENT

X6 X8

16 17 18

78 9

X11 X13 X15

X10 X12

COM

12 13

X3 X5

X2 X4 X14

NO. ID FUNCTION NO. ID FUNCTION

1 COM Common 10 COM Common

2 X0 Input 0 11 X1 Input 1

3 X2 Input 2 12 X3 Input 3

4 X4 Input 4 13 X5 Input 5

5 X6 Input 6 14 X7 Input 7

6 X8 Input 8 15 X9 Input 9

7 X10 Input 10 16 X11 Input 11

8 X12 Input 12 17 X13 Input 13

9 X14 Input 14 18 X15 Input 15

23 24

Y6 Y8

34 35 36

25 26 27

Y11 Y13 Y15

Y10 Y12

19 20

V+

30 31

21 22

Y3 Y5

Y2 Y4 Y14

NO. ID FUNCTION NO. ID FUNCTION

19 V– Out. Common 28 V+ External excitation

20 Y0 Output 0 29 Y1 Output 1

21 Y2 Output 2 30 Y3 Output 3

22 Y4 Output 4 31 Y5 Output 5

23 Y6 Output 6 32 Y7 Output 7

24 Y8 Output 8 33 Y9 Output 9

25 Y10 Output 10 34 Y11 Output 11

26 Y12 Output 12 35 Y13 Output 13

27 Y14 Output 14 36 Y15 Output 15

MOUNTING INSTRUCTIONS

■DIN RAIL MOUNTING

• Mounting

1) Set the upper hook at the rear side of the unit on the DIN

rail.

2) Push in the lower.

• Dismounting

1) Push down the DIN rail mounter slider with tip of a mi-

nus screwdriver.

2) Pull the lower of the unit.

3) Remove the upper hook of the unit from the DIN rail.

■SURFACE MOUNTING

1) Insert the two DIN rail mounter sliders until it clicks

once, as shown below.

2) Mount the unit with M4 screws referring the Mounting

Requirements. (Torque: 1.4 N·m)

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 4 / 11

TERMINAL CONNECTIONS

Connect the unit as in the diagram below.

■EXTERNAL DIMENSIONS unit: mm (inch)

DIN RAIL

35mm wide

[4 (.16)]

50 (1.97)

3.5 (.14)5(.2)

210 (8.27)

220 (8.66)

235 (9.25)

47 (1.85)

45 (1.77)

36−M3 SCREW

TERMINALS FOR I/O

7−M3 SCREW

TERMINALS FOR POWER

4.3 dia.

4 deep

1.17 dia.

.16 deep)

4567

123

28 29 30 31

20 21 2219

33 34 35 36

25 26 27

10 11 12 13

2341

15 16 17 18

789

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 5 / 11

■CONNECTION DIAGRAM

Note: In order to improve EMC performance, bond the FE

terminal to ground.

Caution: FE terminal is NOT a protective conductor terminal.

V+

Y15

＋−

COM

X10

X12

X14

X15

X11

X13

24V DC

3FE

■ Input Connection Examples

MECHATROLINK

CONNECTOR

MECHATROLINK

CONNECTOR

*MECHATROLINK connectors are internally connected.

The network cable can be connected to either one.

PNP Connection

COM

–+

X15

NPN Connection

COM

–+

X15

COM

V–

V+

Y18

Y20

Y22

Y24

Y26

Y28

Y30

Y17

Y31

Y19

Y21

Y23

Y25

Y27

Y29

Y16

■ Output Connection Examples

MOUNTING REQUIREMENTS unit: mm (inch)

220 (8.66)

2–M4

WIRING INSTRUCTIONS

■TORQUE

Wiring screw for separable terminal: 0.5 N∙m

Fixing screw for separable terminal: 0.5 N∙m

■SOLDERLESS TERMINAL

Refer to the drawing below for recommended ring tongue

terminal size. Spade tongue type is also applicable.

Applicable wire size: 0.25 to 1.65 mm2(AWG 22 to 16)

Recommended manufacturer: Japan Solderless Terminal

MFG. Co., Ltd, Nichifu Co., Ltd

6 (.24) max

3.3 (.13) max

mm (inch)

■HOW TO UNMOUNT THE SEPARABLE TERMINAL

The separable terminal of the unit is 2 piece constructions.

It is possible to remove the terminal by loosening two screws

of terminal alternately.

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 6 / 11

MECHATROLINK-III COMMUNICATION

Transmission cycle: 125 µsec., 250 µsec., 500 µsec., 1 – 64 msec. (with 1 msec. increments)

Communication cycle: 125 µsec. through 64 msec.

Applicable prole: Standard I/O proﬁle (cyclic communication)

Event-driven communication acquiring ID proﬁle (event-driven communication)

Transmission bytes: 16 bytes

Station address: 03H through EFH (set with rotary switches)

Cyclic communication: Available

Event-driven communication: Available

Slave monitoring: None

MECHATROLINK-III RELATED COMMANDS

Commands available with this unit are the following.

PROFILE COMMAND CODE FUNCTION

Common command NOP 00H No operation command

ID_RD 03H Read ID command

CONFIG 04H Setup device command

ALM_RD 05H Read alarm or warning command

ALM_CLR 06H Clear alarm or warning command

CONNECT 0EH Establish connection command

DISCONNECT 0FH Release connection command

Standard I/O proﬁle DATA_RWA 20H Transmit I/O data

• NOP (00H)

Does nothing except sending back current status

BYTE COMMAND RESPONSE REMARKS

0 NOP (00H) NOP (00H) No operation command

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

≥ 4 00H 00H Reserve

• ID_RD (03H)

Reads the product ID.

BYTE COMMAND RESPONSE REMARKS

0 ID_RD (03H) ID_RD (03H) Read ID command

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

4 ID_CODE ID_CODE Refer to ID_CODE

5 OFFSET OFFSET OFFSET: designates the place to read data

6 SIZE SIZE SIZE: specify the size of data to read

≥ 8 00H ID Product’s ID

• CONFIG (04H)

No parameter to set for this unit. Immediately response with completion.

BYTE COMMAND RESPONSE REMARKS

0 CONFIG (04H) CONFIG (04H) Setup device command

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

4 00H 00H Recalculation of parameters and set up. Other than 00H is

not supported.

≥ 5 00H 00H Reserve

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 7 / 11

• ALM_RD (05H)

Reads alarm or warning

BYTE COMMAND RESPONSE REMARKS

0 ALM_RD (05H) ALM_RD (05H) Read alarm or warning command

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

4 0000H 0000H Read current alarm or warning.

12 points max. (2 bytes in 8th to 31st byte)

Other than 0000H is not available.

6 0000H 0000H 0

≥ 8 00H 00H 0

• ALM_CLR (06H)

Clears alarm or warning

BYTE COMMAND RESPONSE REMARKS

0 ALM_CLR (06H) ALM_CLR (06H) Clear alarm or warning command

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

4 0000H 0000H Clear current alarm or warning. Other than 0000H is not

available.

≥ 6 00H 00H Reserve

• CONNECT (0EH)

Starts communication with master station.

BYTE COMMAND RESPONSE REMARKS

0 CONNECT (0EH) CONNECT (0EH) Establish connection command

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

4 30H 30H MECHATROLINK application layer: 30H

5 00H 00H Communication mode: Asynchronous, single transmission,

subcommand disabled

6 COM_TIME COM_TIME Communication cycle: Multiple of transmission cycle.

E.g. Transmission cycle: 0.5 msec., communication cycle: 2

msec. Set 4 (=2/0.5)

7 30H or 01H 30H or 01H Proﬁle type

30H: Standard I/O proﬁle

01H: Event-driven communication acquiring ID proﬁle

≥ 8 00H 00H Reserve

• DISCONNECT (0FH)

Stops communication with master station.

BYTE COMMAND RESPONSE REMARKS

0 DISCONNECT (0FH) DISCONNECT (0FH) Release connection command

≥ 1 00H 00H Reserve

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 8 / 11

• DATA_RWA (20H)

Transmits I/O data to master station. Data allocation is following.

Data size is 16 bytes.

BYTE COMMAND RESPONSE REMARKS

0 DATA_RWA (20H) DATA_RWA (20H) Transmit I/O data

1 00H 00H Not used

2 CMD_CTRL CMD_STAT Refer to CMD_CTRL/CMD_STAT.

4 CH0 OUT LO CH0 IN LO CHx OUT: Output data: See ‘Output Data’ of ‘I/O DATA’

CHx IN: Input data: See ‘Input Data’ of ‘I/O DATA’

5 CH0 OUT HI CH0 IN HI

6 CH1 OUT LO CH1 IN LO

7 CH1 OUT HI CH1 IN HI

8 CH2 OUT LO CH2 IN LO

9 CH2 OUT HI CH2 IN HI

10 CH3 OUT LO CH3 IN LO

11 CH3 OUT HI CH3 IN HI

12 00H 00H Not used

13 00H 00H Not used

14 00H 00H Not used

15 00H 00H Not used

[ I/O DATA ]

• Input data

Input data to be sent from the slave to the master are set in the response.

With output data read back.

CH0 IN LO CH0 data low 8 bits Bit 0 through 7 of input data are set

CH0 IN HI CH0 data high 8 bits Bit 8 through 15 of input data are set

CH1 IN LO CH1 data low 8 bits Bit 0 through 7 of the data, which reads back the output data, are set

CH1 IN HI CH1 data high 8 bits Bit 8 through 15 of the data, which reads back the output data, are set

CH2 IN LO CH2 data low 8 bits Not used

CH2 IN HI CH2 data high 8 bits Not used

CH3 IN LO CH3 data low 8 bits Not used

CH3 IN HI CH3 data high 8 bits Not used

Without output data read back (with option code /NR)

CH0 IN LO CH0 data low 8 bits Bit 0 through 7 of input data are set

CH0 IN HI CH0 data high 8 bits Bit 8 through 15 of input data are set

CH1 IN LO CH1 data low 8 bits Not used

CH1 IN HI CH1 data high 8 bits Not used

CH2 IN LO CH2 data low 8 bits Not used

CH2 IN HI CH2 data high 8 bits Not used

CH3 IN LO CH3 data low 8 bits Not used

CH3 IN HI CH3 data high 8 bits Not used

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 9 / 11

• Output data

Output data to be sent from the master to the slave are set in the command. Unused with input module.

With output data read back.

CH0 OUT LO CH0 data low 8 bits Not used

CH0 OUT HI CH0 data high 8 bits Not used

CH1 OUT LO CH1 data low 8 bits Bit 0 through 7 of the output data are set

CH1 OUT HI CH1 data high 8 bits Bit 8 through 15 of the output data are set

CH2 OUT LO CH2 data low 8 bits Not used

CH2 OUT HI CH2 data high 8 bits Not used

CH3 OUT LO CH3 data low 8 bits Not used

CH3 OUT HI CH3 data high 8 bits Not used

Without output data read back (with option code /NR)

CH0 OUT LO CH0 data low 8 bits Bit 0 through 7 of the output data are set

CH0 OUT HI CH0 data high 8 bits Bit 8 through 15 of the output data are set

CH1 OUT LO CH1 data low 8 bits Not used

CH1 OUT HI CH1 data high 8 bits Not used

CH2 OUT LO CH2 data low 8 bits Not used

CH2 OUT HI CH2 data high 8 bits Not used

CH3 OUT LO CH3 data low 8 bits Not used

CH3 OUT HI CH3 data high 8 bits Not used

CMD_CTRL

CMD_CTRL command area is following.

BIT FUNCTION REMARKS

0 – 2 Reserve Not used

3 ALM_CLR 0: Clear alarm/warning disabled

1: Clear alarm/warning triggered

4 – 5 Reserve Not used

6 – 7 CMD_ID Not used in the standard I/O command proﬁle

8 – 15 Reserve Not used

CMD_STAT

CMD_STAT response area is following.

BIT FUNCTION REMARKS

0 D_ALM Not used

1 D_WAR Not used

2 CMDRDY 1: Command reception enabled

0: Other

3 ALM_CLR_CMP 1: Completion of execution of ALM_CLR

0: Other

ALM_CLR_CMP can be canceled by setting ‘0’ for ALM_CLR in CMD_CTRL command

area.

4 – 5 Reserve Not used

6 – 7 RCMD_ID Not used in the standard I/O command proﬁle

8 – 11 CMD_ALM Warning 0: Normal, 1: Invalid data

Alarm 8: Unsupported command received, 9: Invalid data, A: Command execu-

tion condition error, B: Subcommand combination error, C: Phase error

12 – 15 COMM_ALM Warning 0: Normal, 1: FCS error, 2: Command data not received, 3: Synchronous

frame not received

Alarm 8: FCS error, 9: Command data not received, A: Synchronous frame not

received, B: Synchronization time interval error, C: WDT error

R7K4FML3-6-DAC32B

5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN

Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp

EM-7773-E Rev.3 P. 10 / 11

ID_CODE

ID_CODE is following.

ID_CODE NAME SIZE

(BYTES) SUPPORT VALUE

(HEXADECIMAL) REMARKS

01H Vendor ID Code 4 Yes 0x00000021 M-SYSTEM CO., LTD.

02H Device Code 4 Yes 0x00000304 R7K4FML3-6-DAC32B

03H Device Version 4Yes Firmware version E.g. 1.00 -> 0x0064

04H Device Deﬁnition File version 4 Yes 0x00001000

05H Extended Address Setting 4Yes 0x00000001

06H Serial No. 32 Yes Unit serial

number

E.g. AB123456 -> 0x32314241

0x36353433

0x00000000

10H Proﬁle Type 1 4Yes 0x00000030 Standard I/O proﬁle

11H Proﬁle Version 1 4Yes 0x00000100

12H Proﬁle Type 2 4Yes 0x000000FF Indicates the unit does not support

13H Proﬁle Version 2 4Yes 0x00000000

14H Proﬁle Type 3 4Yes 0x000000FF Indicates the unit does not support

15H Proﬁle Version 3 4Yes 0x00000000

16H Min. Transmission Cycle 4Yes 0x000030D4 125 µsec.

17H Max. Transmission Cycle 4Yes 0x0061A800 64 msec.

18H Increments of Transmission

Cycle

4Yes 0x00000001 Available to 31.25, 62.5, 125, 250, 500 [µsec.]

& 1 – 64 [msec.] (1 msec. increments)

19H Min. Communication Cycle 4 Yes 0x000030D4 125 µsec.

1AH Max. Communication Cycle 4 Yes 0x0061A800 64 msec.

1BH Transmission Bytes 4 Ye s 0x00000002 16 Bytes

1CH Transmission Bytes

(Current Setting)

4Yes 0x00000002 16 Bytes

1DH Proﬁle Type

(Current Selection)

4Yes 0x00000001 /

0x00000030

Event-driven communication / Cyclic com-

munication

20H Supported Communication

Mode

4Yes 0x00000003 Event-driven communication / Cyclic com-

munication

21H MAC Address 4 No ----

30H List of Supported Main Com-

mands

32 Yes 0x0000C079

0x00000001

0x00000000

ALM_CLR, ALM_RD, CONFIG, ID_RD,

NOP, DISCONNECT, CONNECT,

DATA_RWA

38H List of Supported Sub Com-

mands

32 No ----

40H List of Common Parameters 32 No ----

80H Main Device Name 32 Yes 0x344B3752

0x334C4D46

0x442D362D

0x32334341

0x00000042

0x00000000

“R7K4FML3-6-DAC32B”

90H Sub Device 1 Name 4 No ----

98H Sub Device 1 Version 32 No ----

A0H Sub Device 2 Name 4 No ----

A8H Sub Device 2 Version 32 No ----

B0H Sub Device 3 Name 4 No ----

B8H Sub Device 3 Version 32 No ----

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