M-system R7ML-DC16D User manual

R7ML-DC16D

P. 1 / 10

EM-7805-X Rev.1

PNP TRANSISTOR OUTPUT MODULE, 16 points

(MECHATROLINK-I/ -II, short circuit protection) MODEL

R7ML-DC16D

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 output module .............................................. (1)

■MODEL NO.

Conﬁrm that the model number described on the product is

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 DIRECTIVE

•Use MECHATROLINK-II network cable with core (Yasu-

kawa Controls Model JEPEC-W6003-x-E) or equivalent

for the network.

•Be sure to earth FG terminal.

•The actual installation environments such as panel con-

ﬁgurations, connected devices and connected wires may

affect the protection level of this unit when it is integrat-

ed 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 CE conformity.

■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%, approx. 85mA

■GENERAL PRECAUTIONS

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

supply and input signal for safety.

■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 0 to 55°C (32

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.

•FG terminal is NOT a protective conductor terminal.

■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.

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SENTRONIC AG

R7ML-DC16D

P. 2 / 10

EM-7805-X Rev.1

COMPONENT IDENTIFICATION

ERR RD

RUN SD

PWR X10 X1

STATION ADD. B. RATE

CNFG.

12345678

0123456789ABCDEF

4567

123

10 11 12 13

2341

15 16 17 18

7896

MECHATROLINK Setting Rotary SW

MECHATROLINK

Connector

Station Address Setting

Rotary SW

Status Indicator LED

Operating Mode Setting DIP SW (SW1)

PC Configurator Jack

Discrete Output Status Indicator LED

Power Supply Terminals

MECHATROLINK Connector

Output Terminals

■LEFT SIDE VIEW

■FRONT VIEW

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R7ML-DC16D

P. 3 / 10

EM-7805-X Rev.1

■STATUS INDICATOR LED

ID COLOR FUNCTION

PWR Green

Turns on when the internal 5V is supplied

normally.

RUN Green Turns on in normal communications

conditions.

ERR Red Turns on in no communication or setting

error.

SD Green Turns on when the module is transmit-

ting.

RD Green Turns on when the module is receiving.

■STATION ADDRESS

Station Address is selected between 60H and 7FH (Intel-

ligent I/O) in hexadecimal. (Certain numbers may not be

selectable depending on the master types. Refer to the in-

struction manual of the master unit.)

The left switch determines the MSD, while the right switch

does the LSD of the address.

(Factory setting: 60H)

Station Address Setting (LSD)

Station Address Setting (MSD)

■MECHATROLINK MODE

Choose MECHATROLINK-I or -II, and the data size. Posi-

tions 2, 4 through 9 are unused.

(Factory setting: 1)

MECHATROLINK Setting

0 : MECHATROLINK-II (32-byte mode)

1 : MECHATROLINK-II (17- byte mode)

3 : MECHATROLINK-I (17- byte mode)

■EXTENSION MODULE

Combinations with any extension module is selectable.

■OPERATING MODE

(*) Factory setting

• Extension (SW1-1, 1-2)

SW1-1 SW1-2 Extension

OFF OFF No extension (*)

ON OFF Discrete input, 8 or 16 points

OFF ON Discrete output, 8 or 16 points

• 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)

Caution ! - SW1-3, 1-5, 1-6, 1-7, 1-8 are unused. Be sure to turn

off unused ones.

■DISCRETE OUTPUT STATUS INDICATOR LED

Discrete output modules have LED indicators showing out-

put signal status.

Contact ON : LED ON

Contact OFF : LED OFF

■POWER SUPPLY TERMINAL ASSIGNMENT

+24V

NO. ID FUNCTION, NOTES

1 NC ----

2 NC ----

3 FG FG

4 NC ----

5 NC ----

6 +24V Power input (24V DC)

7 0V Power input (0V)

■OUTPUT TERMINAL ASSIGNMENT

+24 V

0 V

NO. ID FUNCTION NO. ID FUNTION

1 0V 0V 10 +24V

24V DC (common)

2 Y0 Output 0 11 Y1 Output 1

3 Y2 Output 2 12 Y3 Output 3

4 Y4 Output 4 13 Y5 Output 5

5 Y6 Output 6 14 Y7 Output 7

6 Y8 Output 8 15 Y9 Output 9

7YA Output 10 16 YB Output 11

8 YC Output 12 17 YD Output 13

9 YE Output 14 18 YF Output 15

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SENTRONIC AG

R7ML-DC16D

P. 4 / 10

EM-7805-X Rev.1

EXTERNAL DIMENSIONS unit: mm (inch)

4567

123

10 11 12 13

2341

15 16 17 18

789

30 (1.18) [5 (.20)]

(.12)

5.5 (.22)

DIN RAIL

35mm wide

54 (2.13)

17 (.66)

50 (1.97) 18.5 (.73)

115 (4.53)3 (.12)

7–M3 SCREW

TERMINALS for POWER

18–M3 SCREW

TERMINALS for OUTPUT

6 (.24) 6 (.24)

75 (2.95)

CONNECTION DIAGRAM

Connect the unit as in the diagram below.

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

Caution: FE terminal is NOT a protective conductor terminal.

24V DC

EXTENSION CONNECTOR

■ Output Connection Example

9YE

8YC

7YA

6Y8

5Y6

4Y4

3Y2

+24V

+24V –

MECHATROLINK

CONNECTOR

MECHATROLINK

CONNECTOR

*MECHATROLINK connectors are internally connected.

The network cable can be connected to either one.

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SENTRONIC AG

R7ML-DC16D

P. 5 / 10

EM-7805-X Rev.1

WIRING INSTRUCTIONS

■SCREW TERMINAL

Torque : 0.5 N·m

■SOLDERLESS TERMINAL mm (inch)

Refer to the drawing below for recommended ring tongue

terminal size. Spade tongue type is also applicable. Solder-

less terminal:

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)

MECHATROLINK CONNECTION

■MECHATROLINK CONNECTION

SRD

–

SLD

Master

termi-

nator

termi-

nator

* Terminator

Be sure to connect the terminating resistors to the unit at both ends of transmission line.

Use the terminating resistor dedicated for MECHATROLINK: Model JEPMC-W6022, Yaskawa Controls Co., Ltd.

Certain types of Master units may have incorporated terminating resistors. Consult the instruction manual for the Master.

SRD

–

SLD

SRD

–

SLD

Slave

SRD

–

SLD

SRD

–

SLD

Slave

SRD

–

SLD

MECHATROLINK

Cable

MECHATROLINK

Cable

* *

MECHATROLINK COMMUNICATION

■MECHATROLINK-I

Baud rate: 4 Mbps

Transmission distance: 50 m max.

Distance between stations: 30 cm min.

Transmission media: MECHATROLINK cable (Model JEPMC-W6003-x-E, Yaskawa Controls Co., Ltd.)

Max. number of slaves: 15 (The maximum number of slaves might change depending on the master unit. Refer to the manual

of the master unit)

Transmission cycle: 2 msec. (ﬁxed)

Data length: 17 byte

■MECHATROLINK-II

Baud rate: 10 Mbps

Transmission distance: 50 m max.

Distance between stations: 50 cm min.

Transmission media: MECHATROLINK cable (Model JEPMC-W6003-x-E, Yaskawa Controls Co., Ltd.)

Max. number of slaves: 30 (The maximum number of slaves might change depending on the master unit. Refer to the manual

of the master unit)

Transmission cycle: 0.5 msec., 1 msec., 1.5 msec., 2 msec., 4 msec., 8 msec.

Data length: 17 bytes / 32 bytes selectable (Must choose identical data size for all stations on one network)

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SENTRONIC AG

R7ML-DC16D

P. 6 / 10

EM-7805-X Rev.1

MECHATROLINK RELATED COMMANDS

■MECHATROLINK DATA LINK LAYER COMMAND DESCRIPTIONS

The R7ML, Intelligent I/O, performs the connection-type communications according to MECHATROLINK protocol.

The following tables explain Data Link Layer Commands supported by the R7ML.

• MDS Command (04H) Data Format

Byte COMMAND RESPONSE REMARKS

0 MDS (04H) S (0) (90H) Message Data Search (MDS) Command: Read the ID from the slave station

S (0): Response to MDS

1 0 ID1 (00H)

2 0 ID2 (80H) Intelligent I/O speciﬁed

3 0 0

4 0 0

5 0 0

6 0 0

7 0 0

8 0 0

9 0 0

10 0 0

11 0 0

12 0 0

13 0 0

14 0 0

15 0 0

16 0 0

Byte 17 through 31 are always 0 in the 32-byte mode.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the 17-

byte mode.

• CDRW Command (03H) Data Format

Byte COMMAND RESPONSE REMARKS

0 CDRW

(03H)

ACK

(01H)

Cyclic Data Read/Write (CDRW) Command: Link transmission

Acknowledge (ACK): Positive response to CDRW

1 CMD RCMD CMD: Application Layer Command

RCMD: Response to Application Layer Command

Byte 2 through 16 depend upon the Application Layer Command type.

Byte 17 through 31 depend upon the Application Layer Command type.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK- II in the 17-

byte mode.

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R7ML-DC16D

P. 7 / 10

EM-7805-X Rev.1

■MECHATROLINK APPLICATION LAYER COMMAND DESCRIPTIONS

The following tables explain Application Layer Commands supported by the R7ML.

• NOP Command (00H) Data Format

Byte COMMAND RESPONSE REMARKS

0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission

Acknowledge (ACK): Positive response to CDRW

1 NOP (00H) NOP (00H) No Operation (NOP) Command: Nothing is performed.

2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”

3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

5 0 0

6 0 0

7 0 0

8 0 0

9 0 0

10 0 0

11 0 0

12 0 0

13 0 0

14 0 0

15 0 0

16 0 0

Byte 17 through 31 are always 0 in the 32-byte mode.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the 17-

byte mode.

• ID_RD Command (03H) Ddata Format

Byte COMMAND RESPONSE REMARKS

0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission

Acknowledge (ACK): Positive response to CDRW

1 ID_RD (03H) ID_RD (03H) Read ID (ID_RD) Command: Read out the device ID

2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”

3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

5 DEVICE_

CODE

DEVICE_

CODE

Speciﬁes the device code

00H: Product’s model number

0FH: Vendor code

6 OFFSET OFFSET Indicates where to start reading in the speciﬁed device ID

7 SIZE SIZE Number of byte counts to read

8 0 ID1 ASCII or binary data

9 0 ID2 ASCII or binary data

10 0 ID3 ASCII or binary data

11 0 ID4 ASCII or binary data

12 0 ID5 ASCII or binary data

13 0 ID6 ASCII or binary data

14 0 ID7 ASCII or binary data

15 0 ID8 ASCII or binary data

16 0 0

Byte 17 through 31 are always 0 in the 32-byte mode.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the 17-

byte mode.

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R7ML-DC16D

P. 8 / 10

EM-7805-X Rev.1

• CONNECT Command (0EH) Data Format

Byte COMMAND RESPONSE REMARKS

0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission

Acknowledge (ACK): Positive response to CDRW

1 CONNECT

(0EH)

CONNECT

(0EH)

Establish Connection (CONNECT) Command: Requests to establish

connection to MECHATROLINK

2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”

3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

5 VER VER Application Layer version number

10H: MECHATROLINK-I

21H: MECHATROLINK-II

6 COM_MODE COM_MODE Communication mode

00H: 17-byte mode

80H: 32-byte mode

7 COM_TIME COM_TIME Communication cycle (milliseconds)

MECHATROLINK-I: Multiples of two (2)

MECHATROLINK-II: Integral multiples of the transmission cycle

8 0 0

9 0 0

10 0 0

11 0 0

12 0 0

13 0 0

14 0 0

15 0 0

16 0 0

Byte 17 through 31 are always 0 in the 32-byte mode.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the

17-byte mode.

• DISCONNECT Command (0FH) Data Format

Byte COMMAND RESPONSE REMARKS

0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission

Acknowledge (ACK): Positive response to CDRW

1 DISCONNECT

(0FH)

DISCONNECT

(0FH)

Release Connection (DISCONNECT) Command: Requests to release

connection to MECHATROLINK

2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”

3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

5 0 0

6 0 0

7 0 0

8 0 0

9 0 0

10 0 0

11 0 0

12 0 0

13 0 0

14 0 0

15 0 0

16 0 0

Byte 17 through 31 are always 0 in the 32-byte mode.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the

17-byte mode.

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SENTRONIC AG

R7ML-DC16D

P. 9 / 10

EM-7805-X Rev.1

• DATA_RWA Command (50H) Data Format

Byte COMMAND RESPONSE REMARKS

0 CDRW (03H) ACK (01H) Cyclic Data Read/Write (CDRW) Command: Link transmission

Acknowledge (ACK): Positive response to CDRW

1 DATA_RWA

(50H)

DATA_RWA

(50H)

Data Read/Write_A (DATA_RWA) Command: Refreshes I/O data

2 0 ALARM Error code: See “MECHATROLINK DATA DESCRIPTIONS”

3 0 STATUS1 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

4 0 STATUS2 Status code: See “MECHATROLINK DATA DESCRIPTIONS”

5 CH1 OUT LO CH1 IN LO CHx OUT: Output data: See “MECHATROLINK DATA DESCRIPTIONS”

CHx IN: Input data: See “MECHATROLINK DATA DESCRIPTIONS”

6 CH1 OUT HI CH1 IN HI

7 CH2 OUT LO CH2 IN LO

8 CH2 OUT HI CH2 IN HI

9 CH3 OUT LO CH3 IN LO

10 CH3 OUT HI CH3 IN HI

11 CH4 OUT LO CH4 IN LO

12 CH4 OUT HI CH4 IN HI

13 EXT OUT LO EXT IN LO EXT OUT: Extension output data: See “MECHATROLINK DATA DESCRIPTIONS”

EXT IN: Extension input data: See “MECHATROLINK DATA DESCRIPTIONS”

14 EXT OUT HI EXT IN HI

15 0 STATUS LO R7ML status: See “MECHATROLINK DATA DESCRIPTIONS”

16 0 STATUS HI

Byte 17 through 31 are always 0 in the 32-byte mode.

These bytes are unavailable for MECHATROLINK-I, or MECHATROLINK-II in the

17-byte mode.

■MECHATROLINK APPLICATION LAYER DATA DESCRIPTIONS

• Alarm Error Codes

Errors detected at the slave are set at ALARM in the response and sent to the master.

ERROR CODE DESCRIPTION CLASSIFICATION

00H Normal status ----

01H Invalid Command: Command is not supported. Warning

02H Command Not Allowed: Command execution conditions are not met. Warning

03H Invalid Data: Data in the command is not correct. Warning

04H Synchronization Error Alarm

• STATUS1 Bit Allocations

Alarm/Warning classiﬁcation and status information are set at STATUS1 in the response and sent to the master.

Bit DEFINITION DESCRIPTION

0 Alarm Bit 0 : Normal, 1 : Alarm

1 Warning Bit 0 : Normal, 1 : Warning

2 Command Ready Bit 0 : Command cannot be accepted (busy), 1 : Command can be accepted (ready)

3...7 Unused ----

• STATUS2

Reserved for future use

• Input Data

Input data to be sent from the slave to the master are set in the response. With an output module, output data in the command

are repeated and sent back to the master.

ID DESCRIPTION REMARKS

CH1 IN LO CH1 data, low 8 bits R7ML-DA16: Bit 0 through 7 data are set.

R7ML-DC16x, R7ML-YS2, R7ML-YV2: Output data are repeated.

CH1 IN HI CH1 data, high 8 bits R7ML-DA16: Bit 8 through 15 data are set.

R7ML-DC16x, R7ML-YS2, R7ML-YV2: Output data are repeated.

CH2 IN LO CH2 data, low 8 bits R7ML-DA16, R7ML-DC16x: Unused

R7ML-YS2, R7ML-YV2: Output data are repeated.

CH2 IN HI CH2 data, high 8 bits R7ML-DA16, R7ML-DC16x: Unused

R7ML-YS2, R7ML-YV2: Output data are repeated.

CH3 IN LO CH3 data, low 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

CH3 IN HI CH3 data, high 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

CH4 IN LO CH4 data, low 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

CH4 IN HI CH4 data, high 8 bits R7ML-DA16, R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

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R7ML-DC16D

P. 10 / 10

EM-7805-X Rev.1

• Output Data

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

ID DESCRIPTION REMARKS

CH1 OUT CH1 data, low 8 bits R7ML-DC16x: Bit 0 through 7 data are set.

CH1 OUT HI CH1 data, high 8 bits R7ML-DC16x: Bit 8 through 15 data are set.

CH2 OUT LO CH2 data, low 8 bits R7ML-DC16x: Unused

CH2 OUT HI CH2 data, high 8 bits R7ML-DC16x: Unused

CH3 OUT LO CH3 data, low 8 bits R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

CH3 OUT HI CH3 data, high 8 bits R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

CH4 OUT LO CH4 data, low 8 bits R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

CH4 OUT HI CH4 data, high 8 bits R7ML-DC16x, R7ML-YS2, R7ML-YV2 : Unused

• Extension Input Data

Input data of the extension module to be sent from the slave to the master are set in the response. With an output extension

module, output data in the command are repeated and sent back to the master.

ID DESCRIPTION REMARKS

EXT IN LO Extension data, low 8 bits R7ML-EA16, R7ML-EA8: Bit 0 through 7 data are set.

R7ML-EC16x, R7ML-EC8x: Output data are repeated.

EXT IN HI Extension data, high 8 bits R7ML-EA16: Bit 8 through 15 data are set.

R7ML-EC16x: Output data are repeated.

R7ML-EA8, R7ML-EC8x: Unused

• Extension Output Data

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

ID DESCRIPTION REMARKS

EXT OUT LO Extension data, low 8 bits R7ML-EC16x: Bit 0 through 7 data are set.

R7ML-EC8x: Bit 0 through 7 data are set.

EXT OUT HI Extension data, high 8 bits R7ML-EC16x: Bit 8 through 15 data are set.

R7ML-EC8x: Unused

• R7ML Status Data

Status data to be sent from the slave to the master are set in the response. Refer to “I/O DATA DESCRIPTIONS.”

I/O DATA DESCRIPTION

015

0:OFF 1:ON

Output 0

Output 1

Output 2

Output 3

Output 15

Output 7

Output 8

■DISCRETE OUTPUT

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SENTRONIC AG

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