Delta Electronics R1-EC5621 [3/49] Table of contents

October, 2014 I

Table of Contents

Chapter 1 Preface ...................................................................................................... 1-1

1.1 Inspection .......................................................................................................... 1-1

1.2 Model Explanation ............................................................................................. 1-1

Chapter 2 Specifications ........................................................................................... 2-1

2.1 Product Figure ................................................................................................... 2-1

2.2 Specifications and Dimensions of R1-EC5621 .................................................. 2-2

2.2.1 Electrical Specification ............................................................................. 2-2

2.2.2 Dimensions .............................................................................................. 2-3

Chapter 3 Product Description ................................................................................ 3-1

3.1 Description of Each Part .................................................................................... 3-1

Chapter 4 Wiring ....................................................................................................... 4-1

4.1 Wiring Example of Input Point ........................................................................... 4-1

4.2 Wiring Example of Output Point ........................................................................ 4-2

Chapter 5 CiA402 Drive Profile ................................................................................ 5-1

5.1 Operation Mode ................................................................................................. 5-1

5.1.1 Related Object ....................................................................................... 5-1

5.1.2 Switching Operation Modes ................................................................... 5-1

5.2 Position Control Mode ....................................................................................... 5-2

5.2.1 Profile Position Mode ............................................................................... 5-2

5.2.2 Cyclic Synchronous Position Mode .......................................................... 5-3

5.2.3 Homing ..................................................................................................... 5-4

5.3 Touch Probe Function ....................................................................................... 5-9

Chapter 6 Object Dictionary ..................................................................................... 6-1

6.1 Object List ......................................................................................................... 6-1

6.2 General Objects ................................................................................................ 6-2

6.2.1 Device Type (1000h) .............................................................................. 6-2

6.2.2 Error Register (1001h) ............................................................................ 6-2

6.2.3 Manufacturer Device Name (1008h) ...................................................... 6-2

6.2.4 Manufacturer Software Version (100Ah) ................................................ 6-2

6.2.5 Identity Object (1018h) ........................................................................... 6-2

6.3 PDO Mapping Objects ....................................................................................... 6-3

6.3.1 Receive PDO Mapping (1601h) .............................................................. 6-3

6.3.2 Transmit PDO Mapping (1A00h) ............................................................ 6-3

6.4 Sync Manager Communication Objects ............................................................ 6-4

6.4.1 Sync Manager Communication Type (1C00h) ........................................ 6-4

6.4.2 Sync Manager PDO Assignment (1C12h to 1C13h) .............................. 6-4