ND-6021 & ND-6024 User's Guide
Contents
1. 12 2 1 Software Installation eee 12 2 2 Initializing a Brand New Module sees 13 2 3 Install a New NuDAM to a Existing Network 15 2 4 Application Wiring for NuDAM 6021 sees 16 2 5 Application Wiring for NuDAM 6024 eene 17 Chapter 3 Command Set esses 18 3 1 Command and Response ssses 18 3 2 Summary of Command Set ssssseeeeee 21 3 2 Set Configuration sssessesse me 23 3 3 Read Configuration rrrnnornnrrnnvrnnrrnnernnrrnnernnrrnnerenrrnnernnn 26 3 4 Read Module Name rnnrnnnonnnnnnnornnrrnnernnrnnnernnrrnnernnrnnnerenn 27 3 5 Read Firmware Version rrrrrnnornnrrnnernnrrnnernnrrnnernnrnnnerenn 28 3 60 JROSet Status icu sou tate rt Ee bee t LE e E EE Ote en 29 3 7 Synchronized Sampling 6024 only esses 30 3 8 Read Synchronized Data 6024 only sssssse 31 3 9 Digital Input 6024 only 32 3 10 Analog Data Output aisir a a E ANA 33 3 11 4mA Offset Calibration oonrrrnnrrnnrrnnornvrrnnernrrrnnernrrrnnernnn 35 3 12 20mA Calibration eee e ridere 36 3 13 Trim Calibration sesesesee m 37 3 14 Save Power On Analog Output Value esses 38 3 15 Last Value Readback rrrnnornrrrnnornnrrnnernvrrnnernnrrnnerenrrnnerenn 392. 23 User command 0118310610 lt CR gt Response 118 lt CR gt Wem Meaning GM CanmansTending eode se Baudrateis 9600 EU 10 means a slew rate is 1 000 mA sec and checksum is disable Code Table 0 1 Analog Output Range Setting 1200 bps 2400 bps o iseops 08 38400bps Table 3 2 Baud rate setting code 24 Command Set Reserved Must to be 0 Checksum 0 disable 1 enable EASESERERERESERES pz qu es Ne Analog Output Data Unit 00 Engineering units BitCode Voltage Current 01 of Full Scale Range 0000 immediate change 10 Hexadecimal 0001 0 0625 V sec 0 125 mA sec 0010 0 125 V sec 0 250 mA sec 0011 0 250 V sec 0 500 mA sec 0100 0 500 V sec 1 000 mA sec Slew Rate 0101 1 000 vV sec 2 000 mA sec 0110 2 000 V sec 4 000 mA sec 0111 4 000 V sec 8 000 mA sec 1000 8 000 V sec 16 00 mA sec 1001 16 00 V sec 32 00 mA sec 1010 32 00 V sec 64 00 mA sec 1011 64 00 V sec 128 0 mA sec Figure 3 1 Data format of Analog Output Setting 6024 only supports immediate change and engineering units Command Set 25 3 3 Read Configuration Description Read the configuration of module on a specified address ID Syntax Addr 2 lt CR gt Command leading code Addr Address ID 2 Command code for reading configuration Response I Addr OutputRange BaudRate DataFormat lt CR gt or Addr CR Command is valid Command is invalid Addr Ad
3. e Ifthe output range is set as 0 to 20 mA e The desired analog output value is 45 678 mA The data value should be 05 678 lt CR gt Example 4 2 2 e ftheoutputrange is set as 0 to 10 V e The desired analog output value is 2 345 V The data value should be 02 345 lt CR gt 52 e Data Format 4 3 Percent of FSR The date is in percent of FSR Full Scale Range when the bit 1 and 0 of the configuration register are 01 The data string is composited by 6 characters Because the output of ND 6021 is unipolar the value is always positive The value is unitless and depends on the output range setting too e Set bit 1 and bit 0 of data format variable to 01 means the data is represented in percent of FSR Data string is fixed length of 6 characters The value is composed of five decimal digits with a decimal fixed point Three digits present the integer part and two digits present the fraction e Maximum resolution is 0 2 Example 4 3 1 e Ifthe output range is set as 0 to 20 mA e The desired analog output current is 10 mA The data value should be 050 00 lt CR gt 10 mA 20 mA 50 00 Example 4 3 2 e Ifthe output range is set as 4 to 20 mA e The desired analog output current is 10 mA The data value should be 037 50 lt CR gt 10 mA 4 mA 20 mA 4mA 37 50 Data Format 53 4 4 Hexdecimal Format The data is in hexdecimal format as the bit 1 and 0 are set as 10 The data
4. 0x34 6 0x36 AC 0x24 0x30 0x31 0x34 0x30 0x30 0x36 0x30 MOD 0x100 Note 1 There is no spacing between the command words and the checksum characters 2 Every command follows a lt CR gt carriage return for ending 3 The checksum characters are optional Response of NUDAM Commands The response message depends on versatile NUDAM command The response is composed with a few characteristics ncluding leading code variables and carriage return for ending There are two categories of leading code for response message or gt means valid command and means invalid By checking the response message user can monitor the command is valid or not Note Under the following conditions there will have no response message 1 The specified address ID is not exist 2 Syntax error 3 Communication error 4 Some special commands does not have response message 20 e Command Set 3 2 Summary of Command Set There are three categories of NUDAM commands The first is the general commands including set configuration command read configuration reset read module s name or firmware version etc Every NUDAM can response to the general commands The second is the functional commands which depends on functions of each module Not every module can execute all function commands The third is the special commands including functions about the programmable watchdog timer safe values and the progr
5. 3 16 Current Readback cracina e enaar araia 40 TARAS 255 e seco taut E E R E E E TET 41 3 18 Change Leading Code Setting rrrrnnrrnrrrnnrrnnrrnnrrenrrnnerenr 43 3 19 Set Host Watchdog Timer amp Safety Value 45 3 20 Read Host Watchdog Timer amp Safety Value 48 3 21 Hostis OI iai codeine eee idae 50 Table of Contents e i Chapter 4 Data Format 4 1 Unit Conversion 4 2 Engineering Units 4 3 Percent of FSR 4 4 Hexdecimal Format 4 5 Summary of Data Format Chapter 5 Analog Output Calibration 5 1 Calibration 5 2 Analog Output Module Calibration Product Warranty Service ii Table of Contents Introduction 1 1 About the NuDAM Analog Output Modules The NuDAM provides an analog output modules which can convert the digital command to analog The basic features of each module are shown here e NuDAM 6021 analog signal output module with safety functions e NuDAM 6024 4 channel analog output module Introduction e 1 1 2 Overview of NuDAM 6021 What is NUDAM 6021 ND 6021 is an analog signal output module It receives the digital command from host computer through RS 485 network The format of the digital value can be engineering units hexdecimal format or percentage of full scale range FSR A microprocessor is used to convert the digital command to digital value to send to DAC The DAC converts the digital value into ana
6. Response Note Synchronized sampling command has NO response Example User command lt CR gt Synchronized sampling command has no response 30 e Command Set 3 8 Read Synchronized Data 6024 only Description After a synchronized sampling command was issued you can read the input value that was stored in the addressed module s register and use same method to process other module s data one by one Syntax Addr 9 lt CR gt Command leading code Addr Address ID 9 Read synchronized data Response Status Dataln lt CR gt or 2 Addr lt CR gt gt Command is valid Command is invalid 0 Data has been sent at least once before Status 1 Data has been sent for the first time since a synchronized sampling command was issued 1 character Dataln Value of digital input channel 2 character Examples User command 309 lt CR gt Response gt 17F lt CR gt gt Command is valid 1 Data has not been sent before 7F 7F 01111111 means digital input channel 0 1 2 3 4 5 6 are HIGH Command Set 31 3 9 Digital Input 6024 only Description Read the digital input channel value Syntax Addr 8 lt CR gt Addr 8 Response Dataln 0000 lt CR gt or 2 Addr lt CR gt Dataln Example User command Response 32 0000 32 e Command Set Command leading code Address ID Digital data input command Command is valid Command is inv
7. string length is 3 characters It is equivilant to 12 binary bits Because the output of ND 6021 is unipolar the maximum value of the digits is FFF H and the minimum value of the digits is 000 H As the output range is set to 0 20mA the value FFF H represents 20mA and 000 H represents OmA Similarily as the output range is set to 4 20mA the value FFF H represents 20mA and 000 H represents 4mA Example 4 3 1 e Ifthe output range is set as 0 to 20 mA e The desired analog output current is 10 mA Two s complement hexdecimal 7FF CR 54 e Data Format 4 5 Summary of Data Format The following table shows the relation between the output range setting with the data format and the resolution as Output Output Data Maximum Minimum Code Range Format Value Value icis 0 to 20 mA ng Units 20 000 00 000 4 88uA 410 20 mA 20 000 04 000 4 88uA Oto10V Eng Units 10 000 00 000 2 442 mV Code Output Data Maximum Minimum Output Range Format Value Value Resolution Oto20mA ofFSR 100 00 000 00 4 884 A 4to20mA ofFSR 100 00 000 00 4 88uA 0t010V ofFSR 100 00 000 00 2 442 mV Code Output Data Maximum Minimum Output Range Format Value Value Resolution 0to 20 mA Hexdecimal 4 88uA 41020m Hexdecimal FFF 000 4884A 010 10V Hexdedmal FFF 000 2442mV Data Format e 55 Analog Output Calibration 5 1 Calibration The NuDAM analog output module needs to be
8. Current Readback Description Read the estimated current output value at the specified analog output module Syntax Addr 8 lt CR gt Addr 6 Response Addr Data lt CR gt or 2 Addr lt CR gt Addr Data Example User command Response Command leading code 1 character Address ID 2 character Function code of last value readback 1 character Command is valid Command is invalid Address ID The current analog output value the data format depends on module configuration 088 lt CR gt 10802 000 lt CR gt This analog output module return the latest output value is 2 000 mA at address 08H if data format is engineering units and the signal range is 0 20mA 40 e Command Set 3 17 Read Description Read command leading code setting and host watchdog status Syntax Addr 0 lt CR gt Addr 0 Response Command leading code Address ID Read command leading code setting Addr Status C1 C2 C3 C4 C5 C6 lt CR gt or Addr lt CR gt Addr Status C1 C2 C3 C4 C5 C6 Command is valid Command is invalid Address ID 2 character Bit 0 Reserved Bit 1 Power failure or watchdog failure Bit 2 Host watchdog is enable Bit 3 Host failure Leading code 1 for read configuration status firmware version etc default is 1 character Leading code 2 for read synchronize sampling digital out
9. calibrated It has a factory default calibration User can use NuDAM Adminstration utility to do any type of calibration 5 2 Analog Output Module Calibration What do you need to do calibration 1 One 5 1 2 digit multimeter 2 A resistor 250 Q Accurary is 0 01 3 NuDAM Aministration Utility Calibration Procedure 1 Select output range to 0 20 mA or 4 20 mA 2 Put the resistor 250Q to the NUDAM 6021 IOUT Pin 1 and IOUT Pin 2 3 Put5 1 2 digit multimeter to measure IOUT Pin 1 and IOUT Pin 2 56 e Analog Output Calibration Send the Analog Data Output Addr OutData command with output value is 4 mA For example if the address is 0x03 then the command is 40304 000 Use Trim calibration Addr 3 Counts command to adjust until the output value to 1 V 4 mA Send 4mA Calibration Addr 0 command to the analog output module to complete the 4 mA calibration Send the Analog Data Output Addr OutData command with output value is 20 mA For example if the address is 0x03 then the command is 40320 000 Use Trim calibration Addr 3 Counts command to adjust until the output value to 5 V 20 mA Send 20mA Calibration Addr 1 command to the analog output module to complete the 20 mA calibration Calibration wiring of NuDAM 6021 Kol 5 1 2 e our Analog Output Calibration 57 Product Warranty Service ADLINK warrants that equipm ent furnished w
10. 3F0 OxFFF 10 V 2 2 462 V User command Response 46 e Command Set 062112800800800800 CR 106 lt CR gt 12 800 800 800 800 Address ID Set host watchdog timer and safe state value Enable host watchdog timer Timeout value 0x12 18 18 53 3 959 ms Firmware Version 1 x 18 100 1800 ms Firmware Version 2 x 0x800 is hexadecimal Analog output value is OV for port A Analog output value is OV for port B Analog output value is OV for port C Analog output value is OV for port D Command Set e 47 3 20 Read Host Watchdog Timer amp Safety Value Description Read host watchdog timer setting and the safety value Syntax Addr 3 lt CR gt Addr 3 Response Command leading code Address ID Read host watchdog setting and module safety state value KAddr Flag TimeOut SafeValue lt CR gt KAddry Flag TimeOut SafeA SafeB SafeC SafeD lt CR gt 60240nly or Addr lt CR gt Addr Flag TimeOut SafeValue SafeA SafeB SafeC 48 e Command Set Command is valid Command is invalid Address ID range 00 FF 0 Host watchdog timer is disable 1 Host watchdog timer is enable 1 character Host timeout value Range 01 FF 2 character One unit is 53 3 ms Firmware version 1 x 01 1 53 3 53 3 ms FF 2 255 53 3 13 6 sec One unit is 100 ms Firmware version 2 x 01 1 100 100 ms FF 255 100 25 5 sec Safety valu
11. Addr lt CR gt Command is valid Command is invalid Addr Address ID Example User command 061 lt CR gt Response 106 lt CR gt To perform the 20 mA calibration for analog input module at address ID 06H Note Analog output module should be trimmed to the correct value by Trim Calibration command before to execute 20 mA Calibration Refers to Chapter 5 Analog Output Calibration for details 36 e Command Set 3 13 Trim Calibration Description Trims the specified analog output module a specified number of units up or down Syntax Addr 3 Counts lt CR gt Command leading code Addr Address ID 3 Function Code Number of counts to increase or decrease the output current Range 00 5F 0 to 95 counts increase Counts Range A1 FF 95 to 1 counts decrease 1 count equals approximately 4 88uA or 2 44mV 4 88mV for ND 6024 Response Addr lt CR gt or Addr lt CR gt Command is valid Command is invalid Addr Address ID Example User command 06314 lt CR gt Response 106 lt CR gt Increase analog output value about 97 6uA 14H 4 88uA 97 6uA at address 06H Note Analog output module trim calibration should have a corrent calibration wiring Refers to Chapter 5 Analog Output Calibration for details Command Set 37 3 14 Save Power On Analog Output Value Description Save the current output value to the non volatile register for NUDAM analog output module The power
12. Administrating utility software Initialization Procedure 1 Power off the host computer and the installed NUDAM 6520 Be sure of the baud rate of the NUDAM 6520 is 9600 bps Connect a brand new NuDAM module with the RS 485 Set the module in Default State by shorting the DEFAULT pin Refer to Figure 2 1 for detailed wiring Power on the host computer Power on the power supply for NUDAM modules Use the NuDAM Administrating utility to configure the address ID Baud rate and check sum status of the module Initialization Wiring Local Power Supply 10 V to 30 V ae NuDAN 6520 RS 232 RS 485 Host Converter Computer Y jam Default GND Vs GND Figure 2 1 Layout for Initialization the NUDAM module 14 e Initialization amp Installation 2 3 Install a New NuDAM to a Existing Network Equipments for Install a New Module A existing NuDAM network New NuDAM modules Power supply 10 to 30 Vpc Installing Procedures 1 10 Configure the new NuDAM module according to the initialization procedure in section 2 2 The baud rate and check sum status of the new module must be identity with the existing RS 485 network The address ID must not be conflict with other NUDAM modules on the network Power off the NuDAM power supply of the existing RS 485 network Power off the host computer Wire the power lines for the new NuDAM with the existing network Be careful about the signal polar
13. ND 6021 amp ND 6024 Analog Input Modules User s Guide e Recycled Paper OCopyright 1996 2001 ADLINK Technology Inc All Rights Reserved Manual Rev 4 00 June 5 2001 The information in this document is subject to change without prior notice in order to improve reliability design and function and does not represent a commitment on the part of the manufacturer In no event will the manufacturer be liable to direct indirect special incidental or consequential damages arising out of the use or inability to use the product or documentation even if advised of the possibility of such damages This document contains proprietary information protected by copyright All rights are reserved No part of this manual may be reproduced by any mechanical electronic or other means in any form without prior written permission of the manufacturer Trademarks NUDAM is registered trademarks of ADLINK Technology Inc Other product names mentioned herein are used for identification purposes only and may be trademarks and or registered trademarks of their respective companies Table of Contents Chapter 1 Introduction rers 1 1 1 About the NuDAM Analog Output Modules 1 1 2 Overview of NUDAM 6021 ssssse 2 1 3 Overview of NUDAM 6024 u u u u s ss enes reen nn kr e nn e nerne renere 7 Chapter 2 Initialization amp Installation
14. alid Value of digital input 2 character 308 lt CR gt 1320000 lt CR gt Command is valid 32 00110010 means digital output channel 1 4 5 are ON channel 0 2 3 6 are OFF No used 3 10 Analog Data Output Description Send a value to analog output module at specified address The data format of the value can be engineering unit percent or hexdecimal value which is set by configuration setting command ND 6024 only supports engineering format Syntax Addr OutData lt CR gt 6021 Only Addr Port OutData lt CR gt 6024 Only Command leading code 1 character Addr Address ID 2 character Port A B CorD Value of the analog output signal The unit of the value can be engineering units 96 of FSR or OutData hexadecimal value Refers to chapter 4 for details of the data format Response lt CR gt or 2 Addr lt CR gt gt Command is valid 9 Command is invalid or no synchronized sampling i command was issued Addr Address ID Examples User command 0616 000 lt CR gt Response gt lt CR gt The command sets the analog output to be 16 mA at address O6H if the data format is configured as engineering units and 0 20mA output range User command 08 020 00 lt CR gt Response gt lt CR gt Command Set 33 The command sets the analog output to be 4 mA at address 08H if the data format is configured as of FSR and 0 20mA output range 4mA 20mA x 20 0096 User c
15. ammable leading code All the commands used in the NUDAM analog output module are list in the following table Command Set of Analog Output Modules FEE i CE General Commands Set Configuration OldAddr NewAddr All OutputRange BaudRate DataFormat All Read Configuration Addr 2 Al AN AF 23 26 Read Module Name Addr M All Read Firmware Version Addr F All Reset Status Addr 5 RI DJ N Co N Functional Commands Synchronized Sampling Read Synchronized Data Digital Input Analog Data Out Addr OutData Addr Port OutData 4 mA Offset Calibration 20 mA Offset Calibration Trim Calibration Addr 3 Counts Save Power On Analog Addr 4 All Value Last Value Readback Addr 6 6021 39 Addr 6 Port 6024 DESEE Current Readback Addr 8 6021 Special Commands Read Command Lead Error Code Setting Bookmark 30 35 36 Synchronized Sampling Read Synchronized Data p Digital Input EE Analog Data Out 30 Eoen ne Em 4 mA Offset Calibration 35 20 mA Offset Calibration 36 Trim Calibration ae e Last Value Readback 39 EEE Current Readback Change Command Addr 10 C1 C2 C3 Command Set 21 Leading Code Setting C4 C5 C6 qe Set Host Watchdog Addr 2 Flag TimeOut fet M Addr 2 Flag TimeOut 6024 mr SafeA SafeB SafeC SafeD Read Host WatchDog fd Safe Value Ho
16. and New NuDAM All NuDAM modules except NuDAM 6520 and NuDAM 6510 in a RS 485 network must have an unique address ID Every brand new NuDAM has a factory default setting as following e Address ID is 01 e Baud rate is 9600 bps e Check sum disable e Host Watchdog timer is disable Therefore to configure the brand new NuDAM before using is necessary to avoid conflicting address The baud rate may also be changed according to user s requirements The initialization procedures of a brand new NuDAM are shown in the following sections Default State The NuDAM modules must be set at Default State when you want to change the default settings including the ID address baud rate check sum status etc All NuDAM modules have an special pin labeled as DEFAULT The module will be in Default State if the DEFAULT pin is shorted to ground when power ON Under this state the default configuration is set as following e Address ID is 00 e Baud rate is 9600 bps e Check sum disable e Watchdog timer is disable Therefore the configuration of the host and the module can be easily set identically and initializing a module will be possible no matter what configuration is set under operating state Initialization Equipments Host computer with an RS 232 port e An installed RS 485 module NuDAM 6520 with 9600 baud rate e The brand new NuDAM module Initialization amp Installation 13 Power supply 10 to 30 Vpc for NUDAM modules
17. code Address ID Read module firmware version Command is valid Command is invalid Address ID NuDAM module s firmware version 18F lt CR gt 118A2 30 lt CR gt Command is valid Address ID is 18 Hex Firmware Version 3 6 Reset Status Description Read the reset status of module at specified address to check whether if it has been reset since the last reset status command was issued to the module Syntax Addr 5 lt CR gt Command leading code Addr Address ID 5 Reset Status Command Response Addr Status lt CR gt or Addr lt CR gt Command is valid Command is invalid Addr Address ID 0 Ithas not been reset since the last reset Status status command was issued 1 It has been reset since the last reset status command was issued Example User command 185 lt CR gt Response 1180 lt CR gt Status is 0 means this digital I O module has not been reset since the last reset status command was issued Command Set 29 3 7 Synchronized Sampling 6024 only Description Synchronized all modules to sample input values and stored the values in the module s register at the same time and use Read Synchronized Data command to read the data and process it one by one For analog output module this command is only available to modules involving the digital input function such as NUDAM 6024 Syntax lt CR gt Command leading code Tm Synchronized sampling command
18. dress ID Current setting of analog voltage output refers OutputRange to Table 3 1 for details Current setting of communication baud rate BaudRate refers to Table 3 2 for details Current settings of checksum integration time DataFormat and output data format refers to Figure 3 1 for details Example User command 182 lt CR gt Response 118320610 lt CR gt Command is valid 18 Address ID 32 Analog output range is 0 to 10V 06 Baud rate is 9600 bps 10 The output data is in engineering units slew rate is 1mA sec checksum is disable 26 e Command Set 3 4 Read Module Name Description Read module name of NuDAM at specified address Syntax Addr M lt CR gt Command leading code Addr Address ID M Read module name Response Addr ModuleName lt CR gt or Addr lt CR gt Command is valid Command is invalid Addr Address ID NuDAM module s name would be 6021 ModuleName 4 characters Example User command 18M lt CR gt Response 1186021 lt CR gt Command is valid 18 Address ID is 18 Hex 6021 ND 6021 It is a analog output module Command Set 27 3 5 Read Firmware Version Description Read firmware version of NUDAM at specified address Syntax Addr F lt CR gt Addr F Response Addr FirmRev CR or Addr CR Addr FirmRev Example User command Response 18 A2 30 28 e Command Set Command leading
19. e of analog output when host is failure 3 character Safety value of analog output for port A B C and D when host is failure 3 character Example User command Response 06 1 12 3FO User command Response 06 1 12 800 800 800 800 063 lt CR gt 1061123F0 lt CR gt Address ID Host watchdog timer is enable Timeout value 0x12 18 18 583 82 959 ms Firmware Version 1 x 18 100 1800 ms Firmware Version 2 x Ox3F0 is hexadecimal Analog output value is 4 923 mA for 0 20mA Analog output value is 4 923 mA for 4 20mA Analog output value is 2 462 V for 0 10 V 063 lt CR gt 1061 12800800800800 lt CR gt Address ID Host watchdog timer is enable Timeout value 0x12 18 18 53 3 959 ms Firmware Version 1 x 18 100 1800 ms Firmware Version 2 x 0x800 is hexadecimal Analog output value is OV for port A Analog output value is OV for port B Analog output value is OV for port C Analog output value is OV for port D Command Set 49 3 21 Host is OK Description When host watchdog timer is enable host computer must send this command to every module before timeout otherwise host watchdog timer enable module s output value will go to safety state output value Timeout value and safety state output value is defined in 3 14 Set Host Watchdog Timer amp Safety Value Syntax lt CR gt Command leading code Host is OK Response Note Host is OK c
20. gal Output type Differential type Resolution 12 bits Accuracy 0 1 of FSR for current output 0 2 of FSR for voltage output Unit Convertion V or mA Output range Voltage output 0 to 10 V uni polar Current output 0 to 20 mA 4 to 20 mA Maximum Sampling Rate 100 samples sec Slew rate Voltage output 0 0625 to 64 V sec Current output 0 125 to 128 mA sec Internal Current Load Resistor 5008 961 Readback Analog Input Accuracy 0 2 of FSR Isolation Isolation voltage 5000 Vrms Watchdog Function Module internal watchdog timer 150 ms Power failure threshold 4 65 V Host programmable watchdog 100 ms gt 25 500 sec Introduction 3 Power e Power supply 10V to 30V Power consumption 1 0W Pin Definitions of ND 6021 Pin 1 O C N 10 4 Introduction Signal Name IOUT IOUT VOUT VOUT Default Y DATA G DATA R Vs B GND Description Positive Current Output Terminal Negative Current OutputTerminal Positive Voltage Output Terminal Negative Voltage Output Terminal Initial state setting RS 485 series signal positive RS 485 series signal negative Power supply 10V 30V Ground A Look at ND 6021 amp Pin Assignment o Analog Output ND 6021 Current Voltage Output Range 0 20 mA Q OUT IOUT VOUT Q VOUT IDEFAULT Q Y DATA R Vs Introduction e 5 Fu
21. ill be free from defects in material and workmanship for a period of one year from the date of shipment During the warranty period we shall at our option either repair or replace any product that proves to be defective under normal operation This warranty shall not apply to equipment that has been previously repaired or altered outside our plant in any way as to in the judgment of the manufacturer affect its reliability Nor will it apply if the equipment has been used in a manner exceeding its specifications or if the serial number has been removed ADLINK does not assume any liability for consequential damages as a result from our product uses and in any event our liability shall not exceed the original selling price of the equipment The remedies provided herein are the customer s sole and exclusive remedies In no event shall ADLINK be liable for direct indirect special or consequential damages whether based on contract of any other legal theory The equipment must be returned p ostage prepaid Package it securely and insure it You will be charged for parts and labor if the warranty period is expired or the product is proves to be misuse abuse or unauthorized repair or modification 58 e Product Warranty Service
22. imer for host failure protection Internal watchdog timer for device failure protection e Easy programming by software e Easy installation and wiring Specifications of NUDAM 6024 Interface Interface RS 485 2 wires e Speed bps 1200 2400 4800 9600 19 2K 38 4K Analog Output Channel numbers 4 e Singal Output type Differential output Introduction 7 Voltage Output 10V e Resolution 12 bit resolution e Accuracy 1 2 LSB e Gain Drift 5ppm C Digital Input e Channel numbers 7 e Logical level 0 2V max Logical Level 1 3 5V 30V Isolation e Isolation voltage 5000 Vrms Watchdog Function e Module internal watchdog timer 150 ms e Power failure threshold 4 65 V e Host programmable watchdog 100 ms 25 500 sec Power e Power supply 10V to 30V e Power consumption 2 5W 8 e Introduction Pin Definitions of ND 6024 Pin 1 10 11 12 13 14 15 16 17 18 19 20 Signal Name DI4 DI3 DI2 DH DIO Default Y DATA G DATA R Vs B GND VOUTA AGND VOUTB BGND VOUTC CGND VOUTD DGND DI6 DI5 Description Digital input channel 4 Digital input channel 3 Digital input channel 2 Digital input channel 1 Digital input channel 0 Initial state setting RS 485 series signal positive RS 485 series signal negative Power supply 10V 30V Ground Positive Voltage Output A Terminal Negative Voltage Output A Terminal Positi
23. ity as wiring Wire the RS 485 data lines for the new NuDAM with the existing network Be careful about the signal polarity as wiring Wire to the input or output devices Refer to section 2 4 for illustrations Power on the host computer Power on the NuDAM local power supply Use the NuDAM administration utility to check entire network Initialization amp Installation 15 2 4 Application Wiring for NUDAM 6021 Differential Current Output Differential Current Output Channel of NUDAM 6021 Current Loading Differential Voltage Output Differential Voltage Output Channel of NuDAM 6021 i Voltage Loading 16 e Initialization amp Installation 2 5 Application Wiring for NUDAM 6024 Differential Voltage Output Differential Voltage Output Channel of NuDAM 6021 i Voltage Loading Ne EE Initialization amp Installation e 17 Command Set 3 1 Command and Response Introduction The NuDAM command is composed by numbers of characteristics including the leading code address ID the variables the optional check sum bytes and a carriage return to indicate the end of a command The host computer can only command only one NuDAM module except those synchronized commands with wildcard address The NuDAM may or may not give response to the command The host should check the response to handshake with the modules Document Conventions The following syntax conventions describes the NuDAM commands in
24. log form The analog output can be either voltage or current output The ND 6021 is designed for safety It provides many safety functions such as isolation watchdog and power on safe value The opto isolators provide 5000Vrms isolation voltage to isolate the digital section and the remote controlled analog equipments The damage of power surges is avoided Another safety fucntion is the watchdog Whenever the hostis loss contact with the remoted NuDAM module or the micro processor is down the module will reset itself and send the safety value to the analog output therefore the industry safety is guarantee The safety value power up value can be set by configuration software The analog output can be readback through the module s ADC which can monitor the real output of the device The hostcan checkthe digital command and the real output to avoid short circuits The slew rate of the output signal is also controllable by software Features of NuDAM 6021 e Oneuni polar analog output channel e Two sets of differential current and voltage output terminals e Versatile digital signal format Programmable host watchdog timer for host failure protection Internal watchdog timer for device failure protection e Easy programming by software e Easy installation and wiring 2 e Introduction Specifications of NUDAM 6021 Interface Interface RS 485 2 wires Speed bps 1200 2400 4800 9600 19 2K 38 4K Analog Output Sin
25. nctional Block Diagram of ND 6021 Voltage Output DAC J VOUT 12 bits VOUT oto Isolators IOUT Current Output Micro Processor RS 485 Rec DRv RS 485 Watchdog Power Failure Supervisor 10V 30 V Power 5V DC to DC Isolated Power GND Regulator GND Convertor Isolated Ground Defalut Setting 1 bit Digital In 6 e Introduction 1 3 Overview of NUDAM 6024 What is NUDAM 6024 ND 6024 is a 4 channel bipolar analog signal output module It receives the digital command from host computer through RS 485 network A microprocessor is used to convert the digital command to digital value to send to DAC The DAC converts the digital value into analog form The ND 6024 is designed for safety It provides many safety functions such as isolation watchdog and power on safe value The opto isolators provide 5000Vrms isolation voltage to isolate the digital section and the remote controlled analog equipments The damage of power surges is avoided Another safety fucntion is the watchdog Whenever the host is loss contact with the remoted NUDAM module or the micro processor is down the module will reset itself and send the safety value to the analog output therefore the industry safety is guarantee The safety value power up value can be set by configuration software Features of NuDAM 6024 e 4 channel bipolar analog output Programmable host watchdog t
26. ommand 097FF lt CR gt Response gt lt CR gt The command sets the analog output to be 5 V at address O9H if the data format is configured as hexdecimal format and output range of 0 10V 5 V 7FF FFF x 10V User command 08A 05 000 lt CR gt Response gt lt CR gt The command sets the analog output port A to be 5 V at address 08H 34 e Command Set 3 11 4mA Offset Calibration Description Stores the current output value as 4 mA reference at the specified analog output module only 6021 Syntax Addr 0 lt CR gt Command leading code Addr Address ID 0 Command Code Response Addr lt CR gt or Addr lt CR gt Command is valid 5 Command is invalid or no synchronized sampling i command was issued Addr Address ID Example User command 060 lt CR gt Response 106 lt CR gt To perform the 4 mA calibartion for analog output module at address 06H Note Analog output module should be trimmed to the correct value by Trim Calibration command before to execute 4 mA Calibration Refers to Chapter 5 Analog Output Calibration for details Command Set 35 3 12 20mA Calibration Description Stores the current output value as 20 mA reference at the specified analog output module only 6021 Syntax Addr 1 lt CR gt Command leading code 1 character Addr Address ID 2 characters 1 Function Code 20 mA calibration 1 character Response Addr lt CR gt or
27. ommand has NO response Example User command lt CR gt 50 e Command Set Data Format 4 1 Unit Conversion The data value in the command of the analog output module is corresponding to the amplitude of the physical analog signal The user should understand the data format to represent a analog signal by an ASCII string The physical meaning of a data depends on both the unit conversion and the value The unit conversion of the digits value can be configured by the setting configuration command Three types of unit conversion are used in analog output modules 1 Engineering units 2 Percent of FSR Full Scale Range 3 Hexdecimal Data Format 51 4 2 Engineering Units The date is in engineering unit when the bit 1 and 0 of the configuration register are 00 The data string is composited by 6 characters Because the output of ND 6021 is unipolar the value is always positive The meaning of the value depends on the output range setting too When the output range is set to 0 10V the unit of the value is in Volts When the output range is set to 0 20mA or 4 20mA the unit of the value is in mA e Set bit 1 and bit 0 of data format variable to 00 means the data is represented in engineering units Data string is fixed length of 6 characters The value is composed of five decimal digits with a decimal fixed point Two digits present the integer part and three present the fraction Example 4 2 1
28. on value be put on the output channel when system power ON Syntax Addr 4 lt CR gt Command leading code 1 character Addr Address ID 2 character Function code of saving power on analog value 1 1 character Response Addr lt CR gt or Addr lt CR gt Command is valid Command is invalid Addr Address ID Example User command 064 lt CR gt Response 106 lt CR gt Save the current analog output value as the default value when the analog output module start up 38 e Command Set 3 15 Last Value Readback Description Return the latest analog output value which is set by Analog Data Out command If the analog output module never execute the Analog Data Out command then it return the start up output value only 6021 Syntax Addr 6 lt CR gt Addr 6 Port lt CR gt 6024 Only Command leading code 1 character Addr Address ID 2 character Function code of last value readback 6 1 character Port Port A B Cor D Response Addr Data lt CR gt or Addr lt CR gt Command is valid Command is invalid Addr Address ID Data The current analog output value the data format depends on module configuration Example User command 086 lt CR gt Response 10802 000 lt CR gt This analog output module return the latest output value is 2 000 mA at address 08H if data format is engineering units and the signal range is 0 20mA Command Set 39 3 16
29. put default is 1 character Leading code 3 for change configuration default is 1 character Leading code 4 for read alarm status enable alarm etc default is 1 character Leading code 5 for read command leading code change command leading code etc default is 1 character Leading code 6 this leading code is reserved default is 1 character Command Set 41 Example User command 060 lt CR gt Response 10600 4 lt CR gt Command leading code setting is for module address ID is 06 current status is factory default setting 42 e Command Set 3 18 Change Leading Code Setting Description User can use this command to change command leading code setting as he desired Syntax Addr 10 C1 C2 C3 C4 C5 C6 lt CR gt Addr 10 C1 C2 C3 C4 C5 C6 Response Addr lt CR gt or Addr lt CR gt Addr Command leading code Address ID range 00 FF Change command leading code setting Leading code 1 for read configuration status firmware version etc default is 1 character Leading code 2 for read synchronize sampling digital output default is 1 character Leading code 3 for change configuration default is 1 character Leading code 4 for read alarm status enable alarm etc default is 1 character Leading code 5 for read command leading code change leading code etc default is 1 charac
30. stis OK PEE L R BOR Note ALL means for ND 6021 ND 6024 1 For Firmware Reversion E1 00 the command must beprocessed in Default mode 22 e Command Set 3 2 Set Configuration Description Configure the basic setting of NUDAM including the address ID output signal range baud rate and data format The new configuration will be available after executing the command Syntax OldAddr NewAddr OutputRange BaudRate DataFormat lt CR gt OldAddr NewAddr OutputRange BaudRate DataFormat Response Addr lt CR gt or Addr lt CR gt Addr Command leading code i character NuDAM module original address ID The default address ID of a brand new module is 01 The value range of address ID is 00 to FF in hexadecimal 2 character New address ID if you don t want to change address ID let new address ID equals to the old one 2 character Define analog output range refers to Table 3 1 for details 2 character Define communication baud rate refers to Table 3 2 for details 2 character Define checksum integration time and output data format refers to Figure 3 1 for details 2 character Address ID Command is valid Command is invalid parameter values are invalid or change the setting without grounding the DEFAULT pin Note When you want to change the checksum or baud rate the DEFAULT pin must be grounded at first Example Command Set
31. t must send Host is OK command to module otherwise module will change to safety state Range 01 FF 2 character One unit is 53 3 ms Firmware version 1 x 01 1 53 3 53 3 ms FF 255 58 8 13 6 sec One unit is 100 ms Firmware version 2 x 01 1 100 100 ms FF 255 100 25 5 sec Safety value of analog output when host is failure 3 character 000 analog output is OmA or 0 V 7FF analog output is 10 mA or SV FFF analog output is 20 mA or 10V Safety value of analog output for port A B C and D when host is failure 3 character 000 analog output is 10 V 800 analog output is 0 V FFF analog output is 10 V Command Set 45 Response Addr lt CR gt or Addr lt CR gt Addr Example User command Response 06 2 1 12 3FO Command is valid Command is invalid Address ID 0621123F0 lt CR gt 106 lt CR gt Address ID Set host watchdog timer and safe state value Enable host watchdog timer Timeout value 0x12 18 18 53 3 959 ms Firmware Version 1 x 18 100 1800 ms Firmware Version 2 x Ox3FO0 is hexadecimal Analog output value is 4 923 mA for 0 20mA Analog output value is 4 923 mA for 4 20mA Analog output value is 2 462 V for 0 10 V Analog output safety value are as following For type is 0 20 mA or 4 20 mA Output Range is 0x30 0x31 value 0x3F0 OxFFF 20 mA 4 923 mA For type is 0 10V Output Range is 0x32 value 0x
32. ter Leading code 6 this leading code is reserved default is 1 character Command is valid Command is invalid Address ID Command Set 43 Examples User command 060 lt CR gt Response 10600 495 9 CR User command 0610A lt CR gt Response 106 lt CR gt User command AO6F Response 106A1 8 lt CR gt Read leading code setting is 4 for module address 06 and change leading code to A then use A06F to read firmware version of module on address 06 WARNING e We do not recommend users to change the default setting of leading code because it will confuse yourself The leading code change only use the command conflicts other devices of other brand on the network The changing of leading code is not necessay if all modules in a network are NuDAMs 44 e Command Set 3 19 Set Host Watchdog Timer amp Safety Value Description Set host watchdog timer module will change to safety state when host is failure Define the output value in this command Syntax Addr 2 Flag TimeOut SafeValue lt CR gt Addr 2 Flag TimeOut SafeA SafeB SafeC SafeD 6024 Only Addr 2 Flag TimeOut SafeValue SafeA SafeB SafeC SafeD Command leading code Address ID range 00 FF Set host watchdog timer and safe state value 0 Disable host watchdog timer 1 Enable host watchdog timer 1 character Host timeout value between this time period hos
33. this manual Leading Code is the first characteristic of the NuDAM command All NuDAM commands need a command Leading Code leading code such as 1 etc 1 character Module s address ID the value is in the range of 00 FF Addr Hex 2 character Command Command codes or value of variables Variable length Checksum in brackets indicate optional parameter 18 e Command Set PO character zu Identifies a control code character such as CR for carriage return its value is OXOD 1 character Format of NuDAM Commands When checksum is enable then Checksum is needed it is 2 character Both command and response must append the checksum characters How to calculate checksum value Checksum LeadingCode Addr Command Data MOD 0x100 Example 1 checksum is disable User Command 012 lt CR gt Response 101400600 lt CR gt LeadingCode 01 Address 2 Command Read Configuration lt CR gt Carriage return 0xOD Example 2 checksum is enable User Command 012B7 lt CR gt Response 101400600AC lt CR gt LeadingCode 01 Address 2 Command Read Configuration B7 Checksum value lt CR gt Carriage return 0xOD 0x24 0 0x30 1 0x31 2 0x32 Command Set 19 B7 0x24 0x30 0x31 0x32 MOD 0x100 T 0x24 0 0x30 T 0x31 4
34. ve Voltage Output B Terminal Negative Voltage Output B Terminal Positive Voltage Output C Terminal Negative Voltage Output C Terminal Positive Voltage Output D Terminal Negative Voltage Output D Terminal Digital input channel 6 Digital input channel 5 Introduction e 9 A Look at ND 6024 amp Pin Assignment Oo ND 6024 4 CH Analog Output J i 10 e Introduction Functional Block Diagram of ND 6024 Data RS 485 Micro DAC ER sli V 24 Photo Isolators RS 485 Terminator EEPROM Watchdog Power Failure Supervisor Defalut Setting 1 bit Digital In 10V 30 V FE Power gt f dc to de 0 5 Regulator GND y Convertor Voltage Output VOUTA AGND VOUTB BGND VOUTC CGND VOUTD DGND Isolated Power Isolated Ground Introduction e 11 Initialization amp Installation 2 1 Software Installation 1 If you have already installed NuDAM Administration then skip other steps 2 Backup your software diskette 3 Insert NuDAM Administration diskette into floppy drive A 4 Change drive to A 5 Installation command syntax INSTALL drive drive name is C to Z Example 1 install to drive C AX INSTALL C Example 2 install to drive F AX INSTALL F 6 NuDAM Administration Utility will be installed in the directory CANUDAM 12 e Initialization amp Installation 2 2 Initializing a Brand New Module Objective of Initializing a Br
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