ND-6021 & ND-6024 Analog Input Modules User’s Guide
©Copyright 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.
Table of Contents Chapter 1 Introduction .......................................................1 1.1 1.2 1.3 About the NuDAM Analog Output Modules ............................. 1 Overview of NuDAM-6021 ....................................................... 2 Overview of NuDAM-6024 ....................................................... 7 Chapter 2 Initialization & Installation ..............................12 2.1 2.2 2.3 2.4 2.5 Software Installation ....................................................
Chapter 4 Data Format .....................................................51 4.1 4.2 4.3 4.4 4.5 Unit Conversion...................................................................... 51 Engineering Units ................................................................... 52 Percent of FSR....................................................................... 53 Hexdecimal Format ................................................................ 54 Summary of Data Format......................................
1 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.
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 analog form. The analog output can be either voltage or current output.
Specifications of NuDAM-6021 ♦ Interface • Interface : RS-485, 2 wires • Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K ♦ Analog Output • Singal 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.
♦ Power • Power supply : +10V to +30V • Power consumption : 1.
20 11 A Look at ND-6021 & Pin Assignment ND-6021 Analog Output (Current/Voltage) 10 (G)DATA- (Y)DATA+ 0 ~ 10V DEFAULT* 32 -VOUT 0 ~20 mA 4 ~ 20 mA +VOUT -IOUT 1 +IOUT 31 (B)GND Output Range 30 (R)+Vs Code Introduction • 5
Functional Block Diagram of ND-6021 Voltage Output Data+ Micro Processor RS-485 Rec/DRv Photo Isolators DataRS-485 Terminator DAC (12 bits) V to I EEPROM *Defalut Setting (1 bit Digital In) Watchdog / Power Failure Supervisor +10V ~ +30 V GND 6 • Introduction VOUT + VOUT - Power Regulator +5V GND DC to DC Convertor IOUT + IOUT - Current Output Isolated Power Isolated Ground
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.
♦ Voltage Output: ±10V • Resolution: 12-bit resolution • Accuracy: ±1/2 LSB • Gain Drift: ±5ppm/°C ♦ Digital Input • Channel numbers : 7 • Logical level 0: +2V max. Logical Level 1: +3.5V ~ +30V ♦ • ♦ Isolation Isolation voltage: 5000 Vrms Watchdog Function • Module internal watchdog timer : 150 ms • Power failure threshold : 4.65 V • Host programmable watchdog : 100 ms ~ 25.500 sec ♦ Power • Power supply : +10V to +30V • Power consumption : 2.
Pin Definitions of ND-6024 Pin # Signal Name Description 1 DI4 Digital input channel 4 2 DI3 Digital input channel 3 3 DI2 Digital input channel 2 4 DI1 Digital input channel 1 5 DI0 Digital input channel 0 6 Default* 7 (Y) DATA+ RS-485 series signal, positive 8 (G) DATA- RS-485 series signal, negative 9 (R) +Vs Power supply, +10V~+30V 10 (B) GND Ground 11 VOUTA+ Positive Voltage Output A Terminal 12 AGND Negative Voltage Output A Terminal 13 VOUTB+ Positive Voltage O
10 • Introduction (B)GND (R)+Vs (G)DATA- Code 33 (Y)DATA+ ND-6024 DEFAULT* DI0 DI1 DI2 DI3 DI4 VOUTA+ AGND VOUTB+ BGND VOUTC+ CGND VOUTD+ DGND DI6 DI5 A Look at ND-6024 & Pin Assignment 4-CH Analog Output Signal ±10V
Functional Block Diagram of ND-6024 Voltage Output Data+ Micro Processor RS-485 Rec/DRv Photo Isolators DataRS-485 Terminator DAC (12 bits) •VOUTA+ AGND •VOUTB+ BGND •VOUTC+ CGND •VOUTD+ DGND EEPROM *Defalut Setting (1 bit Digital In) Watchdog / Power Failure Supervisor DIØ…… DI6 +10V ~ +30 V GND Power Regulator +5V GND DC to DC Convertor Isolated Power Isolated Ground Introduction • 11
2 Initialization & 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: A:\> INSTALL C: Example 2 : install to drive F: A:\> INSTALL F: 6.
2.2 Initializing a Brand-New Module Objective of Initializing a Brand-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: • Address ID is 01 • Baud rate is 9600 bps • Check-sum disable • Host Watchdog timer is disable Therefore, to configure the brand-new NuDAM before using is necessary to avoid conflicting address.
• Power supply (+10 to +30 VDC) for NuDAM modules • 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. 2. 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. 3. Power on the host computer. 4. Power on the power supply for NuDAM modules. 5.
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 VDC) Installing Procedures 1. Configure the new NuDAM module according to the initialization procedure in section 2.2. 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. 3.
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3 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.
2- character Identifies a control code character, such as for carriage return, its value is 0x0D. 1- character <> Format of NuDAM Commands (Leading Code)(Addr)(Command)[Data][Checksum] When checksum is enable then [Checksum] is needed, it is 2-character. Both command and response must append the checksum characters.
B7 = ( 0x24 + 0x30 + 0x31 + 0x32 ) MOD 0x100 ‘!’ = 0x24 ‘6’ = 0x36 ‘0’ = 0x30 ‘1’ = 0x31 ‘4’ = 0x34 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 carriage return for ending. 3. The checksum characters are optional. Response of NuDAM Commands The response message depends on versatile NuDAM command.
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.
Leading Code Setting Set Host Watchdog / Safety Value Read Host WatchDog / Safe Value Host is OK (C4)(C5)(C6) ~(Addr)2(Flag)(TimeOut) (SafeValue) ~(Addr)2(Flag)(TimeOut) (SafeA)(SafeB)(SafeC) (SafeD) ~(Addr)3 ~** 6021 45 6024 All 48 All 50 Note: “ALL” means for ND-6021, ND-6024 (1) For Firmware Reversion E1.00,the command must beprocessed in *Default mode.
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) % (OldAddr) (NewAddr) (OutputRange) (BaudRate) (DataFormat) Command leading code. (1-character) NuDAM module original address ID. The default address ID of a brand new module is 01.
User command: Response: %0118310610 !18 Item % 01 18 31 06 10 Meaning (Leading Code) (OldAddr) (NewAddr) (OutputRange) (BaudRate) (DataFormat) Carriage return Code (Hex) 30 31 32 33 Description Command leading code. Original address ID is 01(Hex). New address ID is 18(Hex). Analog output range is 4 to 20 mA Baud rate is 9600. 10 means a slew rate is 1.000 mA/sec and checksum is disable. 0x0D.
Reserved Must to be 0 Checksum 0 : disable 1 : enable 7 6 5 4 3 2 1 Slew Rate BitCode Voltage Current 0000 immediate change 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 0101 1.000 V/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.
3.3 Read Configuration @Description Read the configuration of module on a specified address ID. @Syntax $(Addr)2 $ (Addr) 2 Command leading code Address ID. Command code for reading configuration @Response !(Addr)(OutputRange)(BaudRate)(DataFormat) or ?(Addr) ! ? (Addr) (OutputRange) (BaudRate) (DataFormat) Command is valid. Command is invalid. Address ID. Current setting of analog voltage output, refers to Table 3-1 for details.
3.4 Read Module Name @Description Read module name of NuDAM at specified address. @Syntax $(Addr)M $ (Addr) M Command leading code. Address ID. Read module name. @Response !(Addr)(ModuleName) or ?(Addr) ! ? (Addr) (ModuleName) Command is valid. Command is invalid. Address ID. NuDAM module‘s name would be ’6021‘. 4 characters @Example User command: Response: ! 18 6021 $18M !186021 Command is valid. Address ID is 18 (Hex).
3.5 Read Firmware Version @Description Read firmware version of NuDAM at specified address. @Syntax $(Addr)F $ (Addr) F Command leading code. Address ID Read module firmware version. @Response !(Addr)(FirmRev) or ?(Addr) ! ? (Addr) (FirmRev) Command is valid. Command is invalid. Address ID. NuDAM module‘s firmware version. @Example User command: Response: $18F !18A2.30 ! 18 A2.30 Command is valid. Address ID is 18 (Hex).
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 $ (Addr) 5 Command leading code. Address ID. Reset Status Command. @Response !(Addr)(Status) or ?(Addr) ! ? (Addr) (Status) Command is valid. Command is invalid. Address ID. 0 : It has not been reset since the last reset status command was issued.
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 #** # ** Command leading code.
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 $ (Addr) 9 Command leading code. Address ID. Read synchronized data. @Response !(Status)(DataIn) or ?(Addr) > ? (Status) (DataIn) Command is valid. Command is invalid. 0 : Data has been sent at least once before.
3.9 Digital Input (6024 only) @Description Read the digital input channel value. @Syntax $(Addr)8 $ (Addr) 8 Command leading code. Address ID Digital data input command. @Response !(DataIn)0000 or ?(Addr) ! ? (DataIn) Command is valid. Command is invalid. Value of digital input. (2-character) @Example User command: Response: ! 32 0000 32 • Command Set $308 !320000 Command is valid. 32 (00110010) means digital output channel 1, 4, 5 are ON, channel 0, 2, 3, 6 are OFF.
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) (6021 Only) #(Addr)(Port)(OutData) (6024 Only) # (Addr) (Port) (OutData) Command leading code. (1-character) Address ID. (2-character) A, B, C or D Value of the analog output signal,.
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 20.00% User command: Response: #097FF > The command sets the analog output to be 5 V at address 09H, if the data format is configured as hexdecimal format and output range of 0~10V. 5 V = 7FF / FFF x 10V User command: Response: #08A-05.000 > The command sets the analog output port A to be –5 V at address 08H.
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 $ (Addr) 0 Command leading code Address ID Command Code @Response !(Addr) or ?(Addr) ! ? (Addr) Command is valid. Command is invalid or no synchronized sampling command was issued. Address ID. @Example User command: Response: $060 !06 To perform the 4 mA calibartion for analog output module at address 06H.
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 $ (Addr) 1 Command leading code (1 character) Address ID (2 characters) Function Code, 20 mA calibration (1 character) @Response !(Addr) or ?(Addr) ! ? (Addr) Command is valid. Command is invalid. Address ID. @Example User command: Response: $061 !06 To perform the 20 mA calibration for analog input module at address ID 06H.
3.13 Trim Calibration @Description Trims the specified analog output module a specified number of units up or down. @Syntax $(Addr)3(Counts) $ 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 4.88µA or 2.44mV (4.88mV for ND-6024) @Response !(Addr) or ?(Addr) ! ? (Addr) Command is valid. Command is invalid.
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 on value be put on the output channel when system power ON. @Syntax $(Addr)4 $ (Addr) 4 Command leading code. (1-character) Address ID. (2-character) Function code of saving power on analog value. (1-character) @Response !(Addr) or ?(Addr) ! ? (Addr) Command is valid. Command is invalid. Address ID.
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 $(Addr)6(Port) (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, C or D.
3.16 Current Readback @Description Read the estimated current output value at the specified analog output module. @Syntax $(Addr)8 $ (Addr) 6 Command leading code. (1-character) Address ID. (2-character) Function code of last value readback. (1-character) @Response !(Addr)(Data) or ?(Addr) ! ? (Addr) (Data) Command is valid. Command is invalid. Address ID. The current analog output value, the data format depends on module configuration. @Example User command: Response: $088 !0802.
3.17 Read @Description Read command leading code setting and host watchdog status. @Syntax ~(Addr)0 ~ (Addr) 0 Command leading code. Address ID Read command leading code setting. @Response !(Addr)(Status)(C1)(C2)(C3)(C4)(C5)(C6) or ?(Addr) ! ? (Addr) (Status) (C1) (C2) (C3) (C4) (C5) (C6) Command is valid. Command is invalid. Address ID.
@Example User command: Response: ~060 !0600$#%@~* Command leading code setting is $#%@~* for module address ID is 06, current status is factory default setting.
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) ~ (Addr) 10 (C1) (C2) (C3) (C4) (C5) (C6) 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 $. (1-character) Leading code 2, for read synchronize sampling, digital output ,default is #.
@Examples User command: Response: User command: Response: User command: Response: ~060 !0600$#%@~* ~0610A#%@~* !06 A06F !06A1.8 Read leading code setting is $#%@~* for module address 06 and change leading code $ to A, then use A06F to read firmware version of module on address 06. *** WARNING *** • We do not recommend users to change the default setting of leading code, because it will confuse yourself.
3.19 Set Host Watchdog Timer & 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) ~(Addr)2(Flag)(TimeOut)(SafeA)(SafeB)(SafeC)(SafeD) (6024 Only) ~ Command leading code. (Addr) Address ID, range (00 - FF). 2 Set host watchdog timer and safe state value.
@Response !(Addr) or ?(Addr) ! ? (Addr) Command is valid. Command is invalid. Address ID @Example User command: Response: ~0621123F0 !06 06 2 1 Address ID Set host watchdog timer and safe state value. Enable host watchdog timer. 12 Timeout value. 0x12 = 18 18 * 53.3 = 959 ms (Firmware Version 1.x) 18 * 100 = 1800 ms (Firmware Version 2.x) 3F0 0x3F0 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.
06 2 1 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.
3.20 Read Host Watchdog Timer & Safety Value @Description Read host watchdog timer setting and the safety value. @Syntax ~(Addr)3 ~ (Addr) 3 Command leading code. Address ID Read host watchdog setting and module safety state value. @Response !(Addr)(Flag)(TimeOut)(SafeValue) !(Addr)(Flag)(TimeOut)(SafeA)(SafeB)(SafeC)(SafeD)(6024Only) or ?(Addr) ! ? (Addr) (Flag) Command is valid. Command is invalid. Address ID, range (00 - FF).
@Example User command: Response: 06 1 12 3F0 User command: Response: 06 1 12 800 800 800 800 ~063 !061123F0 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) 0x3F0 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 !06112800800800800 Address ID Host watchdog timer is enable. Timeout value.
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 & Safety Value” @Syntax ~** ~ ** Command leading code. Host is OK. @Response Note : Host is OK command has NO response.
4 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.
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’.
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 unit-less and depends on the output range setting too. • 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.
4.4 Hexdecimal Format The data is in hexdecimal format as the bit 1 and 0 are set as ‘10’. The data 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 0mA.
4.5 Summary of Data Format The following table shows the relation between the output range setting with the data format and the resolution. Code Output Range Data Format Maximum Value Minimum Value 30 31 32 0 to 20 mA 4 to 20 mA 0 to 10 V Eng. Units Eng. Units Eng. Units 20.000 20.000 10.000 00.000 04.000 00.000 Output Resolutio n 4.88µA 4.88µA 2.442 mV Code 30 31 32 Code 30 31 32 Output Range 0 to 20 mA 4 to 20 mA 0 to 10 V Data Format % of FSR % of FSR % of FSR Maximum Value 100.00 100.
5 Analog Output Calibration 5.1 Calibration The NuDAM analog output module needs to be 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 Ω (Accurary is 0.01 %). 3. NuDAM Aministration Utility. Calibration Procedure 1. Select output range to 0 ~20 mA or 4~20 mA. 2.
4. 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 #0304.000. 5. Use “Trim calibration $(Addr)3(Counts)” command to adjust until the output value to 1 V (4 mA). 6. Send “4mA Calibration $(Addr)0” command to the analog output module to complete the 4 mA calibration. 7. 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 #0320.
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