ICP M-7002 - Data Acquisition Module with Analog Input, Digital Input and Relay Output, communicable over RS-485 and Modbus RTU. User manual

M-7002 User Manual, Rev: 1.0 2012/04/11

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M-7002

User Manual

ICP DAS CO., LTD.

Revision: 1.0

2012/04/11

M-7002 User Manual, Rev: 1.0 2012/04/11

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Table of Contents

1.

Introduction............................................................................................5

1.1.

Pin Assignments ............................................................................6

1.2.

Specifications.................................................................................7

1.3.

Block Diagram...............................................................................9

1.4.

Application Wiring......................................................................10

1.5.

Default Settings............................................................................11

1.6.

Calibration ...................................................................................12

1.6.1

Analog Input......................................................................12

1.7.

Configuration Tables...................................................................13

2.

DCON Protocol....................................................................................16

2.1.

%AANNTTCCFF........................................................................20

2.2.

#**................................................................................................22

2.3.

#AA..............................................................................................24

2.4.

#AAN...........................................................................................26

2.5.

$AA0............................................................................................28

2.6.

$AA1............................................................................................30

2.7.

$AA2............................................................................................32

2.8.

$AA4............................................................................................34

2.9.

$AA5............................................................................................36

2.10.

$AA5VV......................................................................................38

2.11.

$AA6............................................................................................40

2.12.

$AA7CiRrr...................................................................................42

2.13.

$AA8Ci........................................................................................44

2.14.

$AAC...........................................................................................46

2.15.

$AAF ...........................................................................................47

2.16.

$AAI ............................................................................................48

2.17.

$AALS.........................................................................................50

2.18.

$AAM..........................................................................................52

2.19.

$AAP ...........................................................................................53

2.20.

$AAPN.........................................................................................55

2.21.

$AAS1 .........................................................................................57

2.22.

~** ...............................................................................................59

2.23.

~AA0............................................................................................60

2.24.

~AA1............................................................................................62

2.25.

~AA2............................................................................................64

2.26.

~AA3EVV...................................................................................66

2.27.

~AA4............................................................................................68

2.28.

~AA5PPSS...................................................................................70

2.29.

~AAD...........................................................................................72

2.30.

~AADVV.....................................................................................74

2.31.

~AAEV........................................................................................76

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2.32.

~AAI............................................................................................78

2.33.

~AAO(Data) ................................................................................80

2.34.

~AARD........................................................................................82

2.35.

~AARDTT...................................................................................84

2.36.

~AATnn.......................................................................................86

2.37.

@AACECi...................................................................................88

2.38.

@AACH ......................................................................................90

2.39.

@AACHi .....................................................................................92

2.40.

@AACHCi...................................................................................94

2.41.

@AACL.......................................................................................96

2.42.

@AACLi......................................................................................98

2.43.

@AACLCi.................................................................................100

2.44.

@AADA....................................................................................102

2.45.

@AADI......................................................................................104

2.46.

@AADODD ..............................................................................106

2.47.

@AAEAt....................................................................................108

2.48.

@AAHI(Data)Ci........................................................................110

2.49.

@AALO(Data)Ci.......................................................................112

2.50.

@AARAO..................................................................................114

2.51.

@AARECi.................................................................................116

2.52.

@AARH ....................................................................................118

2.53.

@AARHi ...................................................................................120

2.54.

@AARHCi.................................................................................122

2.55.

@AARL.....................................................................................124

2.56.

@AARLi....................................................................................126

2.57.

@AARLCi.................................................................................128

3.

Modbus RTU Protocol.......................................................................130

3.1.

02 (0x02) Read the Digital Input Status....................................131

3.2.

04 (0x04) Read the Analog Input Channels..............................132

3.3.

05 (0x05) Write a Single Digital Output...................................133

3.4.

70 (0x46) Read/Write Module Settings.....................................134

3.4.1

Sub-function 00 (0x00) Read the module name .............135

3.4.2

Sub-function 04 (0x04) Set the module address.............136

3.4.3

Sub-function 05 (0x05) Read the communication settings

.........................................................................................137

3.4.4

Sub-function 06 (0x06) Set the communication settings 138

3.4.5

Sub-function 07 (0x07) Read the type code....................139

3.4.6

Sub-function 08 (0x08) Set the type code.......................140

3.4.7

Sub-function 32 (0x20) Read the firmware version........141

3.4.8

Sub-function 37 (0x25) Read the channel enabled/disabled

status................................................................................142

3.4.9

Sub-function 38 (0x26) Set the channel to enabled/disabled

.........................................................................................143

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3.4.10

Sub-function 41 (0x29) Read the miscellaneous settings144

3.4.11

Sub-function 42 (0x2A) Write the miscellaneous settings

.........................................................................................145

3.5.

Address Mappings.....................................................................146

3.6.

Engineering Data Format Table ................................................149

4.

Troubleshooting..................................................................................150

4.1.

Communicating with the module ..............................................150

4.2.

Reading Data..............................................................................151

5.

Appendix ............................................................................................152

5.1.

INIT Mode.................................................................................152

5.2.

Dual Watchdog Operation.........................................................154

5.3.

Frame Ground............................................................................155

5.4.

Node Information Area..............................................................157

5.5.

Reset Status................................................................................158

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1. Introduction

Features

• Voltage or Current Input

• +/-240 Vrms Overvoltage Protection

• High Resolution: 16-bit

• 2500 V

DC

Intra-module Isolation

• Sink and Source Type Digital Inputs

• Photocoupler Isolation

• Supports Relay Outputs

• DIN-Rail Mountable

• Dual Watchdog

• Wide Operating Temperature Range: -25 ~ +75°C

Applications

• Building Automation

• Factory Automation

• Machine Automation

• Remote Maintenance

• Remote Diagnosis

• Testing Equipment

More Information

Refer to Chapter 1 of the “I-7000 Bus Converter User Manual”

for more information regarding the following:

1.1. I-7000 Overview

1.2. I-7000 Related Documentation

1.3. I-7000 Common Features

1.4. I-7000 System Network Configuration

1.5. I-7000 Dimensions

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1.1. Pin Assignments

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1.2. Specifications

System Specifications

Communication

Interface RS-485

Format N, 8, 1

Baud Rate 1200 ~ 115200 bps

Protocol DCON / Modbus RTU

Dual Watchdog

Yes, Module (1.6 Seconds), Communication

(Programmable)

LED Indicator/Display

System LED Indicator Yes, 1 LED as Power/Communication Indicator

I/O LED Indicator -

7-Segment LED Display -

Isolation

Intra-Module Isolation, Field-

to-Logic

2500 V

DC

EMS Protection

ESD (IEC 61000-4-2) +/-4 kV

EFT (IEC 61000-4-4) +/-4 kV

Surge (IEC 61000-4-5) +/-3 kV

Power

Reverse Polarity Protection Yes

Input Voltage Range 10 ~ 30 V

DC

Consumption 1.8 W

Mechanical

Dimensions (W x L x H) 72 mm x 123 mm x 35 mm

Installation DIN-Rail or Wall Mounting

Environment

Operating Temperature -25 ~ +75°C

Storage Temperature -40 ~ +85°C

Humidity 10 ~ 95% RH, Non-condensing

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I/O Specifications

Analog Input

Channels 4

Wiring Differential

Input Range

+/-150 mV, +/-500 mV, +/-1 V , +/-5 V, +/-10 V

+/-20 mA , 0~20 mA, 4~20 mA (jumper selectable)

Resolution 12/16-bit

Normal Mode 0.1%

Accuracy

Fast Mode 0.5%

Normal Mode 10 Hz

Sampling Rate

Fast Mode 60 Hz

Voltage 2 MΩ Input

Impedance

Current 139 Ω

Common Voltage Protection +/-200 V

DC

Individual Channel

Configuration

Yes

Overcurrent Protection 50 mA max. at 110 V

DC

/V

AC

max.

Overvoltage Protection 240 Vrms

Digital Input/Counter

Channels 5

Contact Wet

Sink/Source (NPN/PNP) Sink/Source

On Voltage Level 10 ~ 50 V

DC

Off Voltage Level +4 V

DC

Max.

Counter (50 Hz, 16-bit) Yes

Input Impedance 10 kΩ

Overvoltage Protection +/-70 V

DC

Isolation Voltage 3750 V

DC

Relay Output

Channels 4

Type Power Relay (Form A)

Contact Rating

5 A @ 250 V

AC

5 A @ 30 V

DC

Surge Strength 3000 V

DC

Operation Time 6 ms

Release Time 3 ms

Mechanical Endurance 2 × 10

7

ops.

Electrical Endurance 10

5

ops.

Power-on Values Yes

Safe Values Yes

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1.3. Block Diagram

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1.4. Application Wiring

Digital

Input/Counter

Read back as 1 Read back as 0

+10 ~ +50 V

DC

OPEN or < 4 V

Sink

+10 ~ +50 V

DC

OPEN or < 4 V

Source

Voltage Input Wire Connection Current Input Wire Connection

Power Relay

ON State

Read back as 1

OFF State

Read back as 0

Relay On Relay Off

Relay Output

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1.5. Default Settings

The default settings for the M-7002 are:

▫ Module address: 01

▫ Analog input type: Type 08, -10V to 10V

▫ Protocol: Modbus protocol

▫ Baud Rate: 9600 bps

▫ Checksum disabled

▫ Engineering units format

▫ Filter set at 60Hz rejection

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1.6. Calibration

Warning: It is not recommended that calibration be

performed until the process is fully understood.

1.6.1 Analog Input

The calibration procedure is as follows:

1. Warm up the module for 30 minutes.

2. Set the type code to the type you want to calibrate.

Refer to Section 2.12 for details.

3. Enable calibration. Refer to Section 2.31 for details.

4. Apply the zero calibration voltage/current.

5. Send the “zero calibration” command. Refer to Section

2.6 for details.

6. Apply the span calibration voltage/current.

7. Send the “span calibration” command. Refer to Section

2.5 for details.

8. Repeat steps 3 to 7 three times.

Notes:

1. Connect the calibration voltage/current to channel 0.

2. When calibrating type 0D, the jumper for channel 0

should be set to the “current input” position.

3. Calibration voltages and currents are shown below.

Calibration voltage/current:

Type

Code

08 09 0A 0B 0C 0D

Zero

Input

0 V 0 V 0 V 0 mV 0 mV 0 mA

Span

Input

+10 V +5 V +1 V +500 mV

+150 mV

+20 mA

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1.7. Configuration Tables

Baud Rate Settings (CC)

Bits 5:0

Code

03 04 05 06 07 08 09 0A

Baud Rate

1200

2400

4800

9600

19200

38400

57600

115200

Bits 7:6

00: no parity, 1 stop bit

01: no parity, 2 stop bits

10: even parity, 1 stop bit

11: odd parity, 1 stop bit

Analog Input Type Settings (TT)

Type Code

Analog Input Type Range

07 +4 ~ +20 mA +4 mA ~ +20 mA

08 +/-10 V -10 V ~ +10 V

09 +/-5 V -5 V ~ +5 V

0A +/-1 V -1 V ~ +1 V

0B +/-500 mV -500mV ~ +500 mV

0C +/-150 mV -150 mV ~ +150 mV

0D +/-20 mA -20 mA ~ +20 mA

1A 0 ~ +20 mA 0 ~ +20 mA

Note:

When types 07, 0D or 1A are selected, the jumper for the

corresponding channel should be set to the “current input”

position.

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Data Format Settings (FF)

7 6 5 4 3 2 1 0

FS CS MS Reserved DF

Key Description

DF Data format

00: Engineering units

01: % of FSR (full scale range)

10: 2’s complement hexadecimal

MS Mode settings

0: Normal mode (16 bits)

1: Fast mode (12 bits)

CS Checksum settings

0: Disabled

1: Enabled

FS Filter settings

0: 60Hz rejection

1: 50Hz rejection

Note: Reserved bits should be zero.

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Analog Input Type and Data Format Table

Type code

Input Type Data Format +F.S -F.S.

Engineering units

+20.000 +04.000

% of FSR +100.00 +000.00

07

+4 to +20

mA

2’s comp HEX FFFF 0000

Engineering units

+10.000 -10.000

% of FSR +100.00 -100.00

08

-10 to +10

V

2’s comp HEX 7FFF 8000

Engineering units

+5.0000 -5.0000

% of FSR +100.00 -100.00

09

-5 to +5

V

2’s comp HEX 7FFF 8000

Engineering units

+1.0000 -1.0000

% of FSR +100.00 -100.00

0A

-1 to +1

V

2’s comp HEX 7FFF 8000

Engineering units

+500.00 -500.00

% of FSR +100.00 -100.00

0B

-500 to +500

mV

2’s comp HEX 7FFF 8000

Engineering units

+150.00 -150.00

% of FSR +100.00 -100.00

0C

-150 to +150

mV

2’s comp HEX 7FFF 8000

Engineering units

+20.000 -20.000

% of FSR +100.00 -100.00

2’s comp HEX 7FFF 8000

0D

-20 to +20

mA

2’s comp HEX 7FFF A99A

Engineering units

+20.000 +00.000

% of FSR +100.00 +000.00

1A

0 to +20

mA

2’s comp HEX FFFF 0000

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2.

DCON Protocol

All communication with the module consists of commands

generated by the host and responses transmitted by the

module. Each module has a unique ID number that is used

for addressing purposes and is stored in non-volatile

memory. The ID is 01 by default and can be changed by

transmitting the appropriate using a user command. All

commands to the modules contain the ID address,

meaning that only the addressed module will respond. The

only exception to this is command #** (Section 2.2) and

command ~** (Section 2.22), which is sent to all modules,

but, in these cases, the modules do not reply to the

command.

Command Format:

Leading

Character

Module

Address

Command

[CHKSUM]

CR

Response Format:

Leading

Character

Module

Address

Data [CHKSUM]

CR

CHKSUM A 2-character checksum that is present

when the checksum setting is enabled. See

Sections 2.1 and 5.1 for details.

CR End of command character, carriage return

(0x0D)

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Checksum Calculation:

1. Calculate the ASCII code sum of all the characters in

the command/response string, except for the carriage

return character (CR).

2. The checksum is equal to the sum masked by 0FFh.

Example:

Command string: $012(CR)

1. The sum of the string = “$”+”0”+”1”+”2” =

24h+30h+31h+32h = B7h

2. Therefore the checksum is B7h, and so

CHKSUM = “B7”

3. The command string with the checksum = $012B7(CR)

Response string: !01200600(CR)

1. The sum of the string =

“!”+”0”+”1”+”2”+”0”+”0”+”6”+”0”+”0” =

21h+30h+31h+32h+30h+30h+36h+30h+30h = 1AAh

2. Therefore the checksum is AAh, and so

CHKSUM = “AA”

3. The response string with the checksum

= !01200600AA(CR)

Note:

All characters should be in upper case.

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General Command Sets

Command Response Description Section

%AANNTTCCFF !AA Sets the configuration of the module 2.1

$AA2 !AANNTTCCFF

Reads the configuration of the module 2.7

$AA5 !AAS Reads the reset status of the module 2.9

$AAC !AA Clears the DI/DO latches of the module 2.14

$AAF !AA(Data) Reads the firmware version information 2.15

$AAI !AAS Reads the status of the INIT switch 2.16

$AALS !(Data) Reads the status of the DI and DO latches 2.17

$AAM !AA(Data) Reads the name of the module 2.18

$AAP !AASC Reads the communication protocol 2.19

$AAPN !AA Sets the communication protocol 2.20

~AAD !AAVV Reads the miscellaneous settings 2.29

~AADVV !AA Sets the miscellaneous settings 2.30

~AAI !AA

Sets the software INIT modification to

enabled

2.32

~AAO(Data) !AA Sets the name of the module 2.33

~AARD !AATT Reads the response delay time 2.34

~AARDTT !AA Sets the response delay time 2.35

~AATnn !AA Sets the Software INIT timeout value 2.36

@AACECi !AA Clears the DI counter 2.37

@AADI !AAOOII Reads the status of the DO and DI channels

2.45

@AADODD !AA Sets the status of the DO channels 2.46

@AARECi !AA Reads the counter for a specific DI channel 2.51

Analog Input Command Sets

Command Response Description Section

#** No Response Synchronized sampling 2.2

#AA >(Data) Reads the analog inputs of all channels 2.3

#AAN >(Data) Reads the analog input of a specific channel

2.4

$AA0 !AA Performs an analog input span calibration 2.5

$AA1 !AA Performs an analog input zero calibration 2.6

$AA4 >AAS(Data) Reads the synchronized data 2.8

$AA5VV !AA Enables/Disables the analog input channels

2.10

$AA6 !AAVV

Reads the enabled/disabled status of all

analog input channels

2.11

$AA7CiRrr !AA Sets the type code for a specific channel 2.12

$AA8Ci !AACiRrr Reads the type code for a specific channel 2.13

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$AAS1 !AA Reloads the default calibration parameters 2.21

~AAEV !AA

Enables/Disables the analog input

calibration

2.31

@AACH !AA Clears the high latch value for all channels 2.38

@AACHi !AA

Clears the high latch value for a specific

channel

2.39

@AACHCi !AA Clears the status of the high alarm 2.40

@AACL !AA Clears the low latch value for all channels 2.41

@AACLi !AA

Clears the low latch value for a specific

channel

2.42

@AACLCi !AA Clears the status of the low alarm 2.43

@AADA !AA Disables the analog input alarm 2.44

@AAEAt !AA Enables the momentary/latch function 2.47

@AAHI(Data)Ci !AA Sets the analog input high alarm 2.48

@AALO(Data)Ci !AA Sets the analog input low alarm 2.49

@AARAO !AAHHLL

Reads the activated alarms associated with

the DO channels of a module

2.50

@AARH !AA(Data) Reads the high latch value for all channels 2.52

@AARHi !AA(Data)

Reads the high latch value for a specific

channel

2.53

@AARHCi !AA(Data)

Reads the status of the analog input high

alarm

2.54

@AARL !AA(Data) Reads the low latch value for all channels 2.55

@AARLi !AA(Data)

Reads the low latch value for a specific

channel

2.56

@AARLCi !AA(Data)

Reads the status of the analog input low

alarm

2.57

Host Watchdog Command Sets

Command Response Description Section

~** No Response Informs all modules that host is OK 2.22

~AA0 !AASS Reads the status of the Host Watchdog 2.23

~AA1 !AA Resets the status of the Host Watchdog 2.24

~AA2 !AAEVV Reads the Host Watchdog timeout settings 2.25

~AA3EVV !AA Sets the Host Watchdog timeout settings 2.26

~AA4 !AAPPSS

Reads the DO power-on value and the safe

value

2.27

~AA5PPSS !AA

Sets the DO power-on value and the safe

value

2.28

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2.1. %AANNTTCCFF

Description:

This command is used to set the configuration for a

specific module.

Syntax:

%AANNTTCCFF[CHKSUM](CR)

% Delimiter character

AA The address of the module to be configured in

hexadecimal format (00 to FF)

NN The new address of the module in hexadecimal

format (00 to FF)

TT Not used by the M-7002 and should be set to 00.

CC The new Baud Rate code, see Section 1.7 for

details. To change the Baud Rate, the module

should first be switched to INIT* mode.

FF The command used to set the data format,

checksum, and filter settings. See Section 1.7 for

details of the data format. To change the

checksum settings, the module should first be

switched to INIT* mode.

Response:

Valid Response: !AA[CHKSUM](CR)

Invalid Response: ?AA[CHKSUM](CR)

! Delimiter for a valid response

? Delimiter for an invalid response

(If the Baud Rate or checksum settings are

changed without first switching to INIT* mode,

the module will return an invalid response.)

AA The address of the responding module in

hexadecimal format (00 to FF)

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ICP M-7002 - Data Acquisition Module with Analog Input, Digital Input and Relay Output, communicable over RS-485 and Modbus RTU. User manual

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