RIO-574x0 User Manual - Galil Motion Control
Contents
1. Analog Output Information Records 0x00 SR RS A USINT RO 0x08 0x01 Analog output 1 UINT RO P 0x0000 0x02 Analog output 2 UINT ROP 0x0000 0x03 Analog output 3 UINT ROP 0x0000 Bits 31 3 Reserved 09008 g Analog output 4 UINT ROP 0x0000 Bits 2 0 Analog input voltage configuration for 0x05 Analog output 5 UINT ROP 0x0000 particular input Refer to 0x06 Analog output 6 UINT ROP 0x0000 Table 3 4 0x07 Analog output 7 UINT RO P 0x0000 0x08 Analog output 8 UINT ROP 0x0000 Chapter 3 EtherCAT Communications m 18 RIO 574x0 Analog Voltage Configuration 1 5 V 2 10 V 3 0 5 V 4 0 10 V Table 3 4 Analog Voltage Configuration code Communication with Galil s EtherCAT Master The DMC 500x0 EtherCAT master controller is designed to seamlessly integrate with the RIO 574x0 This section details the relevant setup commands to add the RIO 574x0 to the EtherCAT network and provides a brief description for the implementation of the commands used in the example given in Step 4 Establish Communications Between RIO 574x0 and Galil EtherCAT Master found in Chapter 2 For more information regarding setup refer to the DMC 500x0 documentation http www galil com motion controllers multi axis dmc 500x0 Note This section assumes that the user has a basic understanding and access to Galil s DMC 500x0 EtherCAT master H2. Single Flash Invalid EtherCAT Blinking configuration i a 4 200ms p b 4 200ms gt c Boot error was detected possible Flickering i a 100ms gt b EEPROM error EtherCAT Off Solid Off communication is in working condition Table 3 3 ERR LED flash pattern and description RIO 574x0 Chapter 3 EtherCAT Communications m 11 Object Dictionary index Object Dictionary mes 0x0000 OXOFFF Data Type Area 0x1000 Ox1FFF Communication Area 0x2000 Ox5FFF Manufacturer Specific Area 0x6000 OX6FFF Input Area 0x7000 OX7FFF Output Area 0x8000 0x8FFF Configuration Area 0x9000 OX9FFF Information Area OxA000 OXAFFF Diagnosis Area 0xB000 OxXBFFF Service Transfer Area 0xC000 OXEFFF Reserved Area 0xF000 OXFFFF Device Area Device Type 0x1000 0x00 Device Type UDINT MRO 0x92010000 Error Register 0x1001 0x00 Error register USINT RO 0x00 Device Name String 9 0x1008 0x00 Device Name RO RI0 57XXX Hardware Version String 4 0x1009 0x00 Hardware version RO A 00 Chapter 3 EtherCAT Communications m 12 RIO 574x0 Software Version 0x100A 0x00 Software version a RO 1 0 A Identity 0x00 Identity USINT RO 0x04 0x01 Vendor ID UDINT RO 0x99050000 0x1018 0x02 Product Code UDINT RO 0x00700500 0x03 Revision UDINT
3. Figure 3 2 Location of Rotary Switches EtherCAT LED Indicators The RUN and ERR LEDs on the RIO 574x0 shows the status of the EtherCAT communication The LED flash pattern displays the run or error state of the RIO 574x0 on the EtherCAT network RUN LED The RUN LED displays the active state of the RIO 574x0 on the EtherCAT network Use Table 3 2 below to determine the state by the LED s flash pattern Off Solid Off D Blinking i E i The RIO 574x0 is in la 4 200ms ch 4 200ms gt Pre Operational state Single i i i The RIO 574x0 is in flash al lt 200ms p lt 1000m a i o Safe Operational state A The RIO 574x0 is in SR Solds Operational state rT LPL FT The RIO 574x0 is Flickering i booting and has not a doms i ee the Init Table 3 2 RUN LED flash pattern and description Chapter 3 EtherCAT Communications m 10 RIO 574x0 ERR LED The ERR LED displays the error state of the RIO 574x0 on the EtherCAT network Use Table 3 3 below to determine the error state by the LED s flash pattern A critical communication of application controller error has occurred On Solid On An EtherCAT watchdog timeout has occurred Double Flash a 200m5 3 gt b 4t 200ms 0 200m5 3 gt dt 1000ms 3 gt e RIO 574x0 has changed the EtherCAT a lt t 200ms gt b lt _ 1000ms gt c state due to local error
4. 16 optoisolated digital inputs 16 optoisolated digital outputs Screw terminal connectors RIO 57420 USB micro And RJ45 EtherCAT In and Out 4 20mA 16 optoisolated digital inputs 16Bit 16 optoisolated digital outputs NO DIN 8 10V configurable analog inputs 8 10V configurable analog outputs Screw terminal connectors Table 1 1 RIO 574x0 Part Number Features and Standard Options Chapter 1 Overview m 4 RIO 574x0 CHAPTER 2 GETTING STARTED Installing the RIO 574x0 Installation of a complete operational RIO 574x0 in an EtherCAT system consists of 3 steps Step 1 Connect Power Step 2 Install Communications Software Step 3 Establish Communications Between RIO 574x0 and PC Step 4 Establish Communications Between RIO 574x0 and Galil EtherCAT Master Step 1 Connect Power The RIO 574x0 requires an external DC power supply Refer to the Pin out section for pin out location and the RIO 574x0 Specification List for voltage power requirements for the external supply WARNING Damage will occur if improper voltage is applied to the RIO Do not supply voltages larger than the indicated maximum Any emergency stop or disconnect switches should be installed on the AC input to the DC power supply Relays and or other switches should not be installed on the DC line between the Galil and the Power supply WARNING Do not apply or cut power to the DC side of the power supply When powering on
5. configuration PDO PDO messages are used for the deterministic time sensitive portions of communication on the EtherCAT network Unlike an SDO message PDO messages do not have a reply Because of this PDO messages must be configured prior to use There are two types of PDO messages Transmit PDO TPDO and Receive PDO RPDO The TPDO message transmits object data from slave to master and cannot write any object data The RPDO messages allow the slave to receive and write object data sent by the master Chapter 3 EtherCAT Communications m 8 RIO 574x0 EtherCAT State Machine For each RIO 574x0 on an EtherCAT network a state machine is implemented shown below in Figure 3 1 The EtherCAT master controls the RIO 574x0 state machine ED MAGAS d 0 Operational Figure 3 1 RIO 574x0 State Machine The state determines what type of communication is valid between the EtherCAT master and slave This is shown below in Table 3 1 No SDO kl No PDO SDO messages valid Pre Operational No PDO SDO messages valid PDO messages valid Safe Operational Digital and Analog Inputs are readable Digital and Analog Output commands are ignored SDO messages valid Operational PDO messages valid Table 3 1 EtherCAT communication validity RIO 574x0 Chapter 3 EtherCAT Communications m 9 Station ID The two rotary switches are used to set the station ID in hexadecimal AAR AAR
6. desired Banks of inputs can be wired as either active high or low Connecting Vs to the Input Common will configure the inputs for active low as current will flow through the diode when the inputs are pulled to the isolated ground Connecting the isolated ground to the Input Common will configure the inputs for active high as current will flow through the diode when the inputs are pulled up to Vs 3 3V 5 24vDC 1 10 8 1 2 IO 16 9 CPL 5 24VDC RETURN Figure 4 1 Optoisolated digital input schematic active low wiring Electrical Specifications Refer to the RIO 574x0 Specification List in the Appendix for electrical specifications Input Common Jumpers The input common jumpers provide the flexibility of using the RIO 574x0 s internal 5V reference as the power supply for a particular bank s inputs This will bypass optoisolation and is not recommended for field use Galil recommends that the input common jumpers only be used for testing when an external power supply is not available Do not connect any power to the Input Common pins OPnA when the Input I WARNING Common jumpers are installed damage will occur to the unit Chapter 4 O m 24 RIO 574x0 Each bank requires 2 jumpers to be correctly wired To install place one jumper on the location marked nA and one on nB where n is the bank number To activate an input with the input common jumpers installed short the i
7. m Operating Temperature 0 70 deg C m Humidity 20 95 RH non condensing RIO 574x0 Specification List m 2 Mechanical m No DIN 4 00 x 4 25 x 1 09 inches an RIO 57420 EtherCAT GALIL MOTION CONTROL MADE IN USA RIO 574x0 Specification List m 3 Standard 4 24 x 4 81 x 2 35 inches KLE EE pe MM G PWR RUN ERR oe 1 EEE EE 100 P BIEL S 102 GALL RIO 57420 mmm EtherCAT TT GALIL MOTION CONTROL MADE INUSA SRFSSSSESESFSSSSESSSS RIO 574x0 Specification List m 4
8. to spend time one on one with an Applications engineer to ask additional questions or discuss individual applications For more information on upcoming training seminars visit http www galil com learn classes Appendix m 28 RIO 574x0 Warranty All products manufactured by Galil Motion Control are warranted against defects in material and workmanship The warranty period for all products is 18 months except for motors and power supplies which have a 1 year warranty In the event of any defects in material or workmanship Galil Motion Control will at its sole option repair or replace the defective product covered by this warranty without charge To obtain warranty service the defective product must be returned within 30 days of the expiration of the applicable warranty period to Galil Motion Control properly packaged and with transportation and insurance prepaid We will re reship at our expense only to destinations in the United States Any defect in materials or workmanship determined by Galil Motion Control to be attributable to customer alteration modification negligence or misuse is not covered by this warranty EXCEPT AS SET FORTH ABOVE GALIL MOTION CONTROL WILL MAKE NO WARRANTIES EITHER EXPRESSED OR IMPLIED WITH RESPECT TO SUCH PRODUCTS AND SHALL NOT BE LIABLE OR RESPONSIBLE FOR ANY INCIDENTAL OR CONSEQUENTIAL DAMAGES COPYRIGHT 2015 The software code contained in this Galil product is protected by copyright an
9. typically due to additional features or certain bug fixes To download firmware to the RIO 574x0 connect over USB with Galil Software use the download firmware selection for that software and point to the appropriate hex file For hex file downloads release notes and RSS feed subscriptions refer to http www galil com downloads firmware Note If firmware download fails refer to the Upgrade Jumper section in the Troubleshooting chapter Master Reset and Upgrade Jumpers Master Reset Jumper When a master reset is performed the module is brought back to factory default settings Any settings burned in with BN will be lost To perform a master reset locate the MR jumper pins and follow the procedure listed below Power down the RIO 574x0 Install a jumper on the MR pins Power on the RIO 574x0 Wait for the red ERR light to turn off this may take a few seconds Power down RIO 574x0 and remove jumper IPUNE Upgrade Jumper The upgrade jumper can be used to download firmware if previous download attempt was unsuccessful The upgrade jumper is not required for firmware download However if firmware download is not successful e g if power is cut before download is complete then the upgrade jumper must be used to properly download firmware To do so perform the following items the the procedure listed below Power down the RIO 574x0 Install a jumper on the UG pins and power RIO 574x0 on the red ERR light should be on
10. 00 0x1C33 0x06 Calc and copy time UDINT RO 0x00000000 0x08 Get cycle time UINT RW 0x0000 0x09 Delay time UDINT RO 0x00000000 Ox0A Sync0 cycle time UDINT RW 0x00000000 0x0B SM Event missed UINT RO 0x0000 OxOC Cycle time too small UINT RO 0x0000 0x20 Sync error BOOL RO 00 Digital Inputs 0x00 Digital inputs USINT RO 0x01 0x6000 Digital inputs 1 through BITARR Bitwise representation of all 0x01 32 32 ROP 0x00000000 digital inputs Analog Inputs 0x00 Analog inputs USINT RO 0x08 0x01 Analog input 1 UINT ROP 0x0000 0x02 Analog input 2 UINT ROP 0x0000 0x03 Analog input 3 UINT ROP 0x0000 0x6001 0x04 Analog input 4 UINT RO P 0x0000 A Analog input value 0x05 Analog input 5 UINT ROP 0x0000 0x06 Analog input 6 UINT ROP 0x0000 0x07 Analog input 7 UINT RO P 0x0000 0x08 Analog input 8 UINT ROP 10x0000 Chapter 3 EtherCAT Communications m 16 RIO 574x0 Digital Outputs 0x00 Digital outputs USINT RO 0x01 0x7000 Digital Outputs 1 through BITARR Bitwise representation of all 0x01 32 32 RWP 0x00000000 digital outputs Analog Outputs 0x00 Analog outputs USINT RO 0x08 0x01 Analog output 1 UINT RWP 0x0000 0x02 Analog output 2 UINT RWP 0x0000 0x03 Analog output 3 UINT RWP 0x0000 0x7001 0x04 Analog output 4 UINT RWP 0x0000 Analog output value 0x05 Analog output 5 UINT RWP 0x0000 0x06 Analog o
11. 11017 The on board LED Should light on the RIO 574x0 to verify operation RIO 574x0 Chapter 2 Getting Started m 7 CHAPTER 3 ETHERCAT COMMUNICATIONS EtherCAT Overview CANopen over EtherCAT allows for fast and deterministic communication between a master and slave which is useful in the broad range of automation industries Data is accessed on the slave as objects and messages which allows for the reading and writing of those objects This chapter covers a basic understanding of communication over the EtherCAT network as well as the Object Dictionary of the RIO 574x0 For users with Galil s DMC 500x0 EtherCAT master the reader can skip to the Communication with Galil s EtherCAT Master section and use the in between sections as reference if needed Objects An object can be thought of as a piece of memory on an EtherCAT slave The slave can use the memory to perform certain tasks These objects can be readable writable or both as viewed from the EtherCAT master This is done through the different messages that are used on the EtherCAT network Messages There are two types of messages used to access the object data Service Data Object SDO and Process Data Object PDO These are briefly described in the below sections SDO SDO messages are initiated by the EtherCAT master in an outgoing message and a reply from the EtherCAT slave These messages are used in time insensitive communication portions of the system such as
12. 60 0x08 Sub index 008 UDINT RO 0x10070160 0x09 Sub index 009 UDINT RO 0x10080160 Sync Manager Type 0x00 Sync Manager Type 0x04 0x01 Sub index 001 RO 0x01 0x1C00 0x02 Sub index 002 RO 0x02 0x03 Sub index 003 RO 0x03 0x04 Sub index 004 RO 0x04 Chapter 3 EtherCAT Communications m 14 RIO 574x0 Sync Manager 2 Assignment Sync Manager 2 Ox1C12 SR assignment SS 0x01 Sub index 001 RO 0x0016 Sync Manager 3 Assignment Sync Manager 3 0x1C13 SR assignment pe 0x01 Sub index 001 RO 0x001A SM Output Parameter 0x00 SM output parameter USINT RO 0x20 0x01 Synchronization type UINT RW 0x0100 0x02 Cycle time UDINT RO 0x00000000 0x04 ee types ur po 0x0780 0x05 Minimum cycle time UDINT RO 0x00000000 Ox1C32 0x06 Calc and copy time UDINT RO 0x00000000 0x08 Get cycle time UINT RW 0x0000 0x09 Delay time UDINT RO 0x00000000 Ox0A SyncO cycle time UDINT RW 0x00000000 0x0B SM Event missed UINT RO 0x0000 OxOC Cycle time too small UINT RO 0x0000 0x20 Sync error BOOL RO 00 RIO 574x0 Chapter 3 EtherCAT Communications m 15 SM Input Parameter 0x00 SM input parameter USINT RO 0x20 0x01 Synchronization type UINT RW 0x2200 0x02 Cycle time UDINT RO 0x00000000 0x04 SR aen types NT po 0x0780 0x05 Minimum cycle time UDINT RO 0x000000
13. Connect to Galil Software using USB Download firmware using Galil Software Power down RIO 574x0 and remove jumper MRONP RIO 574x0 Chapter 5 Troubleshooting m 27 APPENDIX Galil Software Terminal Application Software The following list are current generation Galil software packages that support the RIO 574x0 1 GalilSuite Terminal and firmware download tools supported only 2 GalilTools Terminal and firmware download tools supported only Note Because the RIO 574x0 does not support a data record or program space the only supported tool for both GalilTools and GalilTools Lite is the terminal For more information regarding Galil software packages refer to Galil s website http www galil com downloads software API Library Support The following is the current generation Galil API libraries that support the RIO 574x0 gclib Note gclib only supports the following functions with the RIO 574x0 gOpen gClose gCommand and gFirmwareDownload For more information regarding Galil API libraries refer to Galil s website http www galil com downloads api Training Seminars Galil offers two day product training seminars approximately every quarter This technical training provides an overview of Galil products a description of system elements tuning motion programming software troubleshooting and hands on labs with actual hardware On the afternoon of the second day there is an opportunity
14. D AAA En 23 MAOGA aaa aaa s a a od 26 Chapter 5 Troubleshooting DEE 27 Firmware DOWN IO ad DEE 27 Master Reset and Upgrade Jumpers use 27 Ne 28 Er ESS ERE EE MER NE frente ne rape need tert a aa 28 HE ae fe SINE Ss SES AADAM AE dee 28 VO El 29 RIO 5700 Specification E E 1 RIO 574x0 Contents m 3 CHAPTER 1 OVERVIEW Introduction Derived from the same fundamentals used in building Galil motion controllers the RIO 574x0 is a remote EtherCAT UO slave module that conveniently interfaces with Galil EtherCAT master controllers on the EtherCAT network The purpose of an RIO 574x0 board is to offer remote I O for an EtherCAT system The RIO 574x0 has a USB port for I O configuration and troubleshooting In an EtherCAT system the RIO 574x0 responds to an EtherCAT master such as the DMC 50000 through the EtherCAT ports There is no application code on the actual RIO 574x0 all application code should be on the EtherCAT master Part Numbering Overview The RIO 574x0 has different base models with the option for additional standard options Table 1 1 below describes the RIO 574x0 and its options For in depth details regarding the standard options see the RIO 574x0 Specification List in the Appendix For full part number information of the RIO 574x0 product line see the RIO 574x0 part number generator http www galil com order part number generator rio 574x0 RIO 57410 USB micro And RJ45 EtherCAT In and Out NO DIN
15. RO 0x01000000 0x04 Serial Number UDINT RO 0x01000000 Error Settings 0x00 Error Settings USINT RO 0x02 Ox10F1 0x01 Local Error Reaction UDINT RW 0x01000000 0x02 Sync Error Counter Limit UINT RW 0x0400 Diagnosis History 0x00 Diagnosis History USINT RO 0x05 0x01 Maximum Messages USINT M RO 0x02 Newest Message USINT MRO 0x00 kar ne oe USINT MRW 0x00 0x04 New Message Available BOOL M ROP 00 0x05 Flags UINT M RW 10x0000 RIO 574x0 Chapter 3 EtherCAT Communications m 13 Output Mapping 0x00 Output Mapping 0 USINT RO 0x09 0x01 Sub index 001 UDINT RO 0x20010070 0x02 Sub index 002 UDINT RO 0x10010170 0x03 Sub index 003 UDINT RO 0x10020170 ox1600 204 Sub index 004 UDINT RO 0x10030170 0x05 Sub index 005 UDINT RO 0x10040170 0x06 Sub index 006 UDINT RO 0x10050170 0x07 Sub index 007 UDINT RO 0x10060170 0x08 Sub index 008 UDINT RO 0x10070170 0x09 Sub index 009 UDINT RO 0x10080170 Input Mapping 0x00 Input Mapping 0 USINT RO 0x09 0x01 Sub index 001 UDINT RO 0x20010060 0x02 Sub index 002 UDINT RO 0x10010160 0x03 Sub index 003 UDINT RO 0x10020160 AG 0x04 Sub index 004 UDINT RO 0x10030160 0x05 Sub index 005 UDINT RO 0x10040160 0x06 Sub index 006 UDINT RO 0x10050160 0x07 Sub index 007 UDINT RO 0x100601
16. USER MANUAL RIO 57 4x0 Manual Revision 1 0b Galil Motion Control Inc 270 Technology Way Rocklin California 916 626 0101 support galilmc com galil com 12 2015 erCAT Using This Manual The user manual provides information for proper operation of the RIO 574x0 EtherCAT slave A separate supplemental manual the Command Reference contains detailed descriptions of the commands available for use with this EtherCAT slave It is recommended that the user download the latest version of the Command Reference and User Manual from the Galil Website http www galil com downloads manuals and data sheets EtherCAT is registered trademark and patented technology licensed by Beckhoff Automation GmbH Germany Using This Manual m 2 RIO 574x0 CONTENTS Table of Contents Using EE ER ED EENE aE Bob RAR 2 GE EE E A a A 3 Chapter 1 NEE 4 Hg ti gage Tea 170 PA EN t UU 4 Part Numbering Overview eebe EES Dee 4 Chapter 2 Getting Started wwwwnrrernnannneenneen 5 Installing NER S Bee GAS ae 5 Chapter 3 Ether CAT Gommunmeahans uuuuaatusmnansieoknninkjpndvvjjvikvtieivhen viden ikt inkade 8 EtherCAT EEN deed Gedeelt acte 8 EtherCAT State Machine eger 9 SEA ORD 2 SS ARE OE SN ea 10 EtherCAT LED MM AICAtOFS MA 10 Object DICHON eeben egener Erd GENEE Eed 12 Communication with Galil s EtherCAT Master 19 Chapter 4 NO a aaa ala lalia EE EEE EE 21 PINOUT E 21 Digital W
17. ardware Setup Use the EtherCAT In and Out ports to connect the RIO 574x0 to the EtherCAT network of the DMC 500x0 All slave modules should be connected in series with standard CAT5 cables The positional order of the slave modules does not matter from the perspective of the EtherCAT master EtherCAT Network Setup When connected to the DMC 500x0 the EH command will report the hardware position station ID vendor ID and product code The position and station ID will vary depending on the positional order of the slaves and the slave s rotary switches respectively The vendor ID and product code depend on the manufacturer and particular product of the slave module The following table shows the vendor ID and product code for the RIO 574x0 0x99050000 0x00700500 RIO 574x0 Chapter 3 EtherCAT Communications m 19 The IO command is used to assign an RIO 574x0 module as an EtherCAT I O slave on the network Either the position or station ID of the RIO 574x0 can be used with the IO command Once assigned with IO the EtherCAT network is brought up with EU 1 The following section provides a complete list of reguired steps to configure an EtherCAT network using the DMC 500x0 This list includes steps needed when the EtherCAT network is a combination of I O modules and EtherCAT drives Initializing and Configuring an EtherCAT Network The following steps are required to configure and initialize an EtherCAT network The EtherCAT network must
18. d must not be reproduced or disassembled in any form without prior written consent of Galil Motion Control Inc RIO 574x0 Appendix m 29 RIO 574x0 Specification List Overview Power External External Optoisolated Digital Inputs 16 16 Optoisolated Digital Outputs 16 16 Analog Inputs None 8 Analog Outputs None 8 Available Standard Options None EE 16Bit 4 20mA 4 20mA Analog inputs 16Bit 16 Bit resolution for Analog Inputs and Outputs Communication m USB Mini for configuration only m RJ45 EtherCAT In Out RIO 574x0 Specification List m 1 IJO Max Supply Voltage V 24 24 Opto isolated Digital Min Supply Voltage V 12 12 Outputs Max Current per Output 500 500 A MA Internal Impedance Q 2 2k 2 2k Max Current per Input MA 11 11 Opto isolated Digital Recommended minimum 5 5 i Inputs voltage to activate input V Recommended maximum 24 24 voltage to active input V Configurable Voltage 0 5 Ranges V 0 10 5 i Analog Outputs 219 Resolution 12 bit 16 bit 16Bit Max Current Output mA 4 i sink source Configurable Voltage 0 5 Ranges V 0 10 5 10 Analog Inputs Resolution 12 bit 16 bit 16Bit Input Impedance 2 42k Unipolar 0 5V 0 10V 475 4 20mA Input Impedance Q Bipolar 31k 5V 10V 475 4 20mA Power External input VDC 9 48 Environmental
19. f true optoisolation is desired To supply power to a bank of outputs connect V of the isolated power supply to the bank s output power and the reference of the isolated power supply to the bank s output ground The output s load should be connected from the digital output to the bank s output ground Refer to the digital output schematic shown below in Figure 4 2 OUTPUT 3 3V 3 3V POWER 3 10 24 17 10 32 25 OPnB OUTPUT RFTIIRN Figure 4 2 Optoisolated digital output schematic RIO 574x0 Chapter 4 I O m 25 Electrical Specifications Refer to the RIO 574x0 Specification List in the Appendix for electrical specifications Note These outputs are capable of driving inductive loads such as solenoids or relays Analog I O This section applies to certain RIO 574x0 modules that support analog I O Refer to Table 1 1 for a list of base models that support analog I O Analog Inputs The RIO 574x0 can have a number of analog inputs When connected via USB these inputs can be read individually using the command AN Similarly when configured on an EtherCAT network with a Galil EtherCAT master the inputs can be read individually using the same GAN command Analog inputs have a configurable voltage range that is set using the AQ command There are four different voltage ranges possible with these inputs 0 5V 0 10V 5V or 10V Refer to the AQ command in the command reference for
20. first be brought down if it is currently running EU 0 Ensure the axes to be exchanged are in an MO state when using EtherCAT drives Set the axis with an EtherCAT MT setting when using EtherCAT drives Use the EH command to determine what EtherCAT slaves are available on the network Use EX and I0 to assign EtherCAT axes and EtherCAT I O slaves respectively with the EtherCAT drives I O modules Issue EU 1 to bring up the network and exchange the local axes for EtherCAT axes and maps EtherCAT I O modules to I O slaves IR ONE G i Chapter 3 EtherCAT Communications m 20 RIO 574x0 CHAPTER 4 I O Pin out Each RIO 574x0 has a collection of analog and digital I O Refer to Table 1 1 for the type and quantity of I O available with a particular RIO 574x0 part number All connectors used on the RIO 574x0 are screw terminal The exact pin out is labeled on the silk screen of the module The following table provides a description for each terminal label Note Digital inputs and outputs are labeled as I O points 1 32 The I O are not user configurable the first 16 are inputs and the last 16 are outputs Contact Galil if a different I O configuration is required RIO 574x0 Chapter 4 I O m 21 Label Description Label Description OP1A Input Common Bank 1 OP3A Output Power Bank 3 101 Digital I O 1 Input 1017 D
21. igital UO 17 Output 102 Digital I O 2 Input 1018 Digital I O 18 Output 103 Digital I O 3 Input 1019 Digital I O 19 Output 104 Digital I O 4 Input 1020 Digital I O 20 Output 105 Digital I O 5 Input 1021 Digital I O 21 Output 106 Digital I O 6 Input 1022 Digital I O 22 Output 107 Digital I O 7 Input 1023 Digital I O 23 Output 108 Digital 1 O 8 Input 1024 Digital I O 24 Output OP1B Input Reference Ground Bank1 OP3B Output GND Bank 3 OP2A Input Common Bank 2 OP4A Output Power Bank 4 109 Digital I O 9 Input 1025 Digital I O 25 Output 1010 Digital I O 10 Input 1026 Digital I O 26 Output 1011 Digital I O 11 Input 1027 Digital I O 27 Output 1012 Digital I O 12 Input 1028 Digital I O 28 Output 1013 Digital I O 13 Input 1029 Digital I O 29 Output 1014 Digital I O 14 Input 1030 Digital UO 30 Output 1015 Digital UO 15 Input 1031 Digital I O 31 Output 1016 Digital I O 16 Input 1032 Digital I O 32 Output OP2B Input Reference Ground Bank2 OP4B Output GND Bank 4 All Analog Input 1 AOL Analog Output 1 Al2 Analog Input 2 AO2 Analog Output 2 AI3 Analog Input 3 AO3 Analog Output 3 Al4 Analog Input 4 AO4 Analog Output 4 Al5 Analog Input 5 AO5 Analog Output 5 AI6 Analog Input 6 AO6 Analog Output 6 Al7 Analog Input 7 AO7 Analog Output 7 AI8 Analog Input 8 AO8 Analog Output 8 AGND Analog Ground AGND Analog Ground 12 12V Output Reference GND Digital Ground 12 12V Output Reference 9 48 Power Supp
22. ly Input 5 5V Output Reference GND Digital Ground Chapter 4 I O m 22 RIO 574x0 Digital I O All digital UO for the RIO 574x0 are optoisolated and set up in banks of 8 I O points Each digital I O point has a dedicated on board LED to visually display its active state Digital Inputs The RIO 574x0 has a number of optoisolated digital inputs refer to Table 1 1 for number of inputs per model When connected via USB these inputs can be read individually using the command GIN or in banks using the command TI When configured on an EtherCAT network with a Galil EtherCAT master the inputs can be read individually using the command GIN or as a series of inputs using the command RR Each bank of inputs has its own common reference To activate an input apply a voltage in the range of 5 24 VDC to a digital input and its common reference Refer to Table 4 1 for a list of input commons for the RIO 574x0 model RIO Model Bank 1 IO 8 1 Bank 2 10 16 9 RIO 57410 RIO 57420 OP1A OP2A Table 4 1 List of Input Commons for each bank given RIO 574x0 base model RIO 574x0 Chapter 4 I O m 23 Wiring the Digital Inputs To take full advantage of optoisolation an isolated power supply should be used to provide the voltage at the input common connection Connecting the ground of the isolated power supply to the ground of the module will bypass optoisolation and is not recommended if true optoisolation is
23. more details Wiring the Analog Inputs The analog inputs are measured in reference to Analog Ground Analog Ground is the same voltage potential as the RIO 574x0 s Digital Ground only on a separate ground plane to minimize noise Electrical Specifications Refer to the RIO 574x0 Specification List in the Appendix for electrical specifications Analog Outputs The RIO 574x0 can have a number of analog outputs When connected via USB these outputs can be set individually using the command AO and read with the command AO Similarly when configured on an EtherCAT network with a Galil EtherCAT master the inputs can be set individually using the same AO command and read with AO Analog outputs have a configurable voltage range that is set using the DQ command There are four different voltage ranges possible with these outputs 0 5V 0 10V 5V or 10V Refer to the DQ command in the command reference for more details Wiring the Analog Outputs The analog outputs are measured in reference to Analog Ground Analog Ground is the same voltage potential as the RIO 574x0 s Digital Ground only on a separate ground plane to minimize noise Electrical Specifications Refer to the RIO 574x0 Specification List in the Appendix for electrical specifications Chapter 4 I O m 26 RIO 574x0 CHAPTER 5 TROUBLESHOOTING Firmware Download Occasionally the RIO 574x0 s firmware may need to be upgraded while the unit is in the field
24. nput to its input reference ground labeled OPnB Digital Outputs The RIO 574x0 has a number of optoisolated digital outputs refer to Table 1 1 for number of inputs per model When connected via USB these outputs can be set and cleared individually using the commands SB and CB or in banks using the command OP The state of the outputs can similarly be read individually using GOUT or in banks using _OPn When configured on an EtherCAT network with a Galil EtherCAT master the outputs can be set and cleared individually using the commands SB and CB or as a series of outputs using the command SR The state of the outputs can be read individually using OUT Each bank of outputs has its own common power and reference To provide power to the digital outputs the user must supply power to the bank s output power and output ground connections Refer to Table 4 2 for a list of input commons for the RIO 574x0 model Bank 3 10 24 17 Bank 4 10 32 25 RIO Model Output Power Output Ground Output Power Output Ground RIO 57410 RIO 57420 OP3A OP3B OP4A OP4B Table 4 2 List of Output Power Connections for each bank given RIO 574x0 base model Wiring the Digital Outputs To take full advantage of optoisolation an isolated power supply should be used to provide power for the digital outputs Connecting the ground of the isolated power supply to the ground of the module will bypass optoisolation and is not recommended i
25. or off the RIO 574x0 make sure to switch the AC side of the external power supply RIO 574x0 Chapter 2 Getting Started m 5 Step 2 Install Communications Software Install Galil Software to enable communication between the RIO 574x0 and the PC It is strongly recommended to use supported Galil software when communicating to the RIO 574x0 See the Galil Software section in the Appendix for descriptions of different Galil Softwares that support the RIO 574x0 Refer to the software s manual for a complete description for installing and connecting to Galil devices http www galil com downloads software Step 3 Establish Communications Between RIO 574x0 and PC USB A USB micro cable is required to establish a connection between the RIO 574x0 and the PC Use the supported Galil software mentioned in Step 2 to connect The USB connection is used for RIO 574x0 configuration system diagnostics and troubleshooting For a more detailed discussion of system diagnostics and troubleshooting refer to Chapter 5 Troubleshooting Windows 7 Windows 8 and a select number of Linux distributions refer to the documentation of Galil Software will automatically download and install USB drivers to allow communication For Windows PCs the Found New Hardware wizard should not be prematurely canceled Note For Windows 7 machines the USB driver installation occasionally takes more than a couple minutes Once connected issue the foll
26. owing commands from the Terminal ID FL Chapter 2 Getting Started m 6 RIO 574x0 For a complete description of all RIO 574x0 commands refer to the Command Reference document mentioned in the Using This Manual section When using the USB connection to configure the RIO 574x0 the BN command should be used to burn all parameters into the module s non volitile memory Step 4 Establish Communications Between RIO 574x0 and Galil EtherCAT Master The following section will cover a basic setup with Galil s DMC 500x0 EtherCAT master controller For other EtherCAT masters refer to its setup documentation and or use Chapter 3 EtherCAT Communications for EtherCAT packet structure Using Galil EtherCAT Master This quick example will set digital output 17 on the RIO 574x0 from a DMC 500x0 over EtherCAT No hardware needs to be connected to IO 17 on the RIO the user can use the on board LEDs to confirm functionality Connect to Galil s DMC 500x0 over serial or Ethernet Connect a CAT5 cable between the DMC 500x0 s EtherCAT port and the RIO 574x0 s In EtherCAT port For this simplified procedure do not have any other EtherCAT slave device connected on the EtherCAT network Enter the following commands to the DMC 500x0 EtherCAT master EH POS ID VENDOR PRODUCT eee 99050000 00700500 IO EU 1 lt 2000 This will bring up the RIO 574x0 on the DMC 500x0 s EtherCAT network To set IO 17 on the RIO issue the following command SB
27. utput 6 UINT RWP 0x0000 0x07 Analog output 7 UINT RWP 0x0000 0x08 Analog output 8 UINT RWP 0x0000 Digital Input Information Records 0x9000 0x00 Digital input information records USINT RO 0x01 0x01 Digital inputs 1 through 32 BITARR 32 RO P 0x00000000 Bits 31 5 Reserved Bits 4 0 Number of live inputs Interpreted as number that represents the number of inputs If number is 0 the value is equivalent to 32 RIO 574x0 Chapter 3 EtherCAT Communications m 17 Analog Input Information Records 0x00 Analog input information USINT RO 0x08 records 0x01 Analog input 1 UINT RO P 0x0000 0x02 Analog input 2 UINT ROP 0x0000 0x03 Analog input 3 UINT ROP 0x0000 Bits 31 3 Reserved POPE oe Analog input 4 UINT ROP 0x0000 Bits 2 0 Analog input voltage configuration for 0x05 Analog input 5 UINT RO P 0x0000 particular input Refer to 0x06 Analog input 6 UINT ROP 0x0000 Table 3 4 0x07 Analog input 7 UINT RO P 0x0000 0x08 Analog input 8 UINT ROP 0x0000 Digital Output Information Records Digital output information records 0x00 USINT RO 0x01 Bits 31 5 Reserved EE Bits 4 0 Number of live x SE outputs Interpreted as 0x01 SE pute E rough iii RO P 0x00000000 number that represents the number of outputs If number is 0 the value is equivalent to 32
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