# ECAT I/O Series

# User’s Manual

EtehrCAT I/O Slaves Modules

![ADLINK\nECAT-DI32-M-N\nMicroCAT Digital Input Module\nECAT-DI32-M-N\nMicroCAT Digital Output Module\nDCB Scaler\nDigital Input\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB\nDCB](.ecat-io-m-series-50m-27013-1010-1-1/9c82a6eb3b4441c43394530a2b7e37a3b776cbf8a545277a6c27e275472a06fa.jpg)

Manual Rev.: Rev. 1.1

Revision Date: July 17, 2025

Part Number: 50M-27013-1000

# Revision History

<table><tr><td>Revision</td><td>Description</td><td>Date</td><td>By</td></tr><tr><td>1.0</td><td>Initial release</td><td>2023-09-05</td><td></td></tr><tr><td>1.1</td><td>New product added</td><td>2025-07-17</td><td>AL</td></tr></table>

# Preface

# Copyright

Copyright 2025 ADLINK Technology, Inc. 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.

# Disclaimer

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 for 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.

# Environmental Responsibility

ADLINK is committed to fulfill its social responsibility to global environmental preservation through compliance with the European Union's Restriction of Hazardous Substances (RoHS) directive and Waste Electrical and Electronic Equipment (WEEE) directive. Environmental protection is a top priority for ADLINK. We have enforced measures to ensure that our products, manufacturing processes, components, and raw materials have as little impact on the environment as possible. When products are at their end of life, our customers are encouraged to dispose of them in accordance with the product disposal and/or recovery programs prescribed by their nation or company.

![Symbol of a trash bin crossed with no text or labels, accompanied by a solid black rectangle below (no text or symbols present)](.ecat-io-m-series-50m-27013-1010-1-1/adb49199e2a193c75445ac64c1274ca7a7b3b5f0a96c4c53d98a50e81b8b6aef.jpg)

Battery Labels (for products with battery)

![Symbol of a trash bin crossed out by two diagonal lines (no text or labels)](.ecat-io-m-series-50m-27013-1010-1-1/4201d9b89799458b6460826fbb542e3128837939824300ad5f52c7dd2dccd737.jpg)

![Li-ion](.ecat-io-m-series-50m-27013-1010-1-1/cf35677aadd48cca17fb0f2d8cfdbdc35eb85e09b1d7c33ef4a1638447e93af7.jpg)

![RECYCLE\nRBRC\nLi-ion\n7.800.822.8837](.ecat-io-m-series-50m-27013-1010-1-1/ff5e457921b892dbbb340190dbcfbb6864af3dd29d1180ae4dd53c82f215d66e.jpg)

![廢電池請回收](.ecat-io-m-series-50m-27013-1010-1-1/0edb9adcce792c2c1508b740eca1b2239d1a4b9a065d7381357d996c29ed7877.jpg)

# California Proposition 65 Warning

![The image displays a standard warning sign featuring a yellow triangle with a thick black border. Inside the triangle is a black exclamation point centered on the yellow background.](.ecat-io-m-series-50m-27013-1010-1-1/3c7c95f49e6253046e0304f53fe5ebfd76fb14e7e188ddd26cf3324533896425.jpg)

WARNING: This product can expose you to chemicals including acrylamide, arsenic, benzene, cadmium, Tris(1,3-dichloro-2-propyl)phosphate (TDCPP), 1,4-Dioxane, formaldehyde, lead, DEHP, styrene, DINP, BBP, PVC, and vinyl materials, which are known to the State of California to cause cancer, and acrylamide, benzene, cadmium, lead, mercury, phthalates, toluene, DEHP, DIDP, DnHP,

DBP, BBP, PVC, and vinyl materials, which are known to the State of California to cause birth defects or other reproductive harm. For more information go to www.P65Warnings.ca.gov.

# Trademarks

Product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

# Conventions

Take note of the following conventions used throughout this manual to make sure that users perform certain tasks and instructions properly.

![The image displays a digital icon of a document or piece of paper. It features a white sheet with a folded top-left corner and faint grey horizontal lines running across the surface. A large, bold red checkmark (or tick) is superimposed over the center of the document.](.ecat-io-m-series-50m-27013-1010-1-1/00780d9aafa2ba609541b7d7c0d86b416f176223d8b09d316d55c3cc82490ad1.jpg)
NOTE:

Additional information, aids, and tips that help users perform tasks.

![The image displays a standard warning sign featuring a yellow equilateral triangle with a thick black border. Inside the triangle, there is a large, black exclamation point ('!') centered vertically and horizontally.](.ecat-io-m-series-50m-27013-1010-1-1/a093356d86b8b1041c60f40282ef5d14f75fbf1ddd851bfd3188ab2028ca2a49.jpg)
CAUTION:

Information to prevent minor physical injury, component damage, data loss, and/or program corruption when trying to complete a task.

![The image displays a maroon triangular warning sign with a white exclamation point centered within it.](.ecat-io-m-series-50m-27013-1010-1-1/e2cb8e99da96c933229ca7f40fc30cdc44320ddd23b1852fcd27a45635731939.jpg)
WARNING:

Information to prevent serious physical injury, component damage, data loss, and/or program corruption when trying to complete a specific task.

# Table of Contents

# Preface...

# List of Figures .... .vii

# List of Tables...... .viii

# 1 Introduction....

1.1 Overview.. .9
1.2 Features.. .9
1.3 Unpacking the ECAT IO Series.. ..10

# 2 Specifications ... .11

2.1 Product Specifications.... .11
2.2 Supported Software . .13
2.3 Accessories . ..14

# 3 Functional Block Diagram . ..15

# 4 Mechanical Layout .. .17

4.1 Mechanical Dimensions . .17
4.2 Connector and Indicator Locations.. .19

# 5 Connectors, Indicators, and Switches... .21

5.1 LED Indicators . .21
5.2 EtherCAT Ports.. .21
5.3 Slave ID Address Switches Settings ..... ..21

# 6 Hardware and Software Driver Installation....... .27

6.1 Hardware Configuration.. .27
6.2 Installation Procedures .27
6.3 Troubleshooting ..... .27
6.4 Software Driver Installation .. .27

# 7 Signal Connections ................ .29

7.1 Isolated Digital Input . .29
7.2 Isolated Digital Output.. .29

# 8 Process Data Objects..... .31

8.1 ECAT-DI32.. .31
8.2 ECAT-DO32.. ..31
8.3 DI16DO16.. ..31
8.4 AI16AO2 . .32

# 9 Appendix A Object Dictionary.... .33

9.1 ECAT-DI32 Object Dictionary.. ..33
9.2 ECAT-DO32 Object Dictionary . ..33
9.3 ECAT-DI16DO16 Object Dictionary . ..34
9.4 ECAT-AI16AO2 Object Dictionary. .34

# 10 Appendix B TwinCAT .......... .35

10.1 Import EtherCAT Slave Information (ESI) Files... ..35
10.2 Activate ECAT I/O Devices ..35
10.3 Operation. ..37

# Safety Instructions.......... .38

# Getting Services.... .42

# List of Figures

Figure 1: DIO functional diagram. ..15
Figure 2: AIO functional diagram ... .16
Figure 3: Mechanical dimensions (Top view).. .17
Figure 4: Mechanical dimensions (Front view) . .17
Figure 5: Mechanical dimensions (Right view) ..18
Figure 6: Mechanical dimensions (Bottom view) . .18
Figure 7: Connector and indicator locations ..19

# List of Tables

Table 1: Slave ID switch settings.. .22
Table 2: ECAT-DI32-M-N pin assignment.. .24
Table 3: ECAT-DO32-M-N pin assignment.. .24
Table 4: ECAT-DI16DO16-M-NN pin assignment.. .25
Table 5: ECAT-AI16AO2-M-VV pin assignment.. .25

# 1 Introduction

# 1.1 Overview

The ADLINK complete EtherCAT solution, from hardware to middleware to software, with every element tailored for dedicated EtherCAT functionality, includes PCIe-833x and SuperCAT master controllers, ECAT & EU slave systems, and remote monitoring and control providers. Additionally, ADLINK’s Softmotion one-stop control kernel delivers flexible and easy-to-use intelligent platforms for driving next-generation modern Smart Factories.

Slave I/O Modules: ADLINK’s ECAT IO Series system features a modular design for flexible high channel density, rugged construction, easy maintenance, and compatibility with third-party EtherCAT master products. Precise timedeterministic control enables I/O synchronization for critical applications, while the flexible terminal block design supports multiple wiring methods.

The ECAT IO Series’ unique structural and electronic design supports hot swapping of modules, reducing repair time, and offers full operability from 0°C to 60°C. The ECAT slave system is also fully compliant with the EN 61131- 2 standard for shock and vibration and EN 61000-6 for heavy industrial EMC protection, as well as has received an emissions certificate.

As the ECAT IO Series must be used with an EtherCAT master, we recommend using ADLINK products, such as the PCIe-833x series and SuperCAT, for the best performance, easiest integration, and potential for function expansion.

# Available modules include:

 ECAT-DI32-M-N: 32-ch sinking / sourcing type digital input
 ECAT-DO32-M-N: 32-ch sinking type digital output
 ECAT-DI16DO16-M-NN: 16-ch digital input and 16-ch digital output
 ECAT-AI16AO2-M-VV: 16-ch analog input and 2-ch analog output

Terminal Base: Offers an easy wiring media. Both power and signal wiring go from the terminal base to the slave I/O modules, and master links to all slave I/O modules via the terminal base using RJ45 cable. The terminal base makes the slave I/O modules hot- swappable without interfering with other modules in the same EtherCAT network.

Wiring Cable: The cables connecting the EtherCAT master and slave I/O modules are standard 100 Base/TX with RJ45 connectors, which are identical with commercial Ethernet cables.

# 1.2 Features

 Supports up to 100μs EtherCAT cycle time with DC mode
 Status holding mode when disconnected
 Connects to 256 modules
 Easy maintenance by hot-plugging
 Flexible terminal block design for alternate wiring
 Compatible with APS function library
 Same wiring and layout as HSL IO

# EtherCAT Free-Run and Distributed Clock Modes

EtherCAT is a real-time Ethernet communication protocol that is used in industrial automation systems. It supports two different synchronization mechanisms: Free-Run and Distributed Clock.

# Free Run Mode

Free-Run is the default synchronization mechanism used by EtherCAT. In this mechanism, each slave device uses its own internal clock and is responsible for maintaining its own synchronization with the EtherCAT master. The master sends out the control data and each slave reads this data, performs its required task, and sends its response back to the master.

# DC Mode

In DC mode, all devices on the EtherCAT network use a shared, synchronized clock to determine when to perform their tasks. This ensures that all devices on the network are working together in a coordinated manner. The Distributed Clock mechanism requires that each slave device has a hardware clock that is synchronized with the master clock. The master sends out periodic synchronization messages, and each slave adjusts its clock based on these messages. Once all devices on the network are synchronized, they can all perform their tasks at the same time, with no timing discrepancies.

# 1.3 Unpacking the ECAT IO Series

Ensure that the following items are included in the package. If any items are missing, contact your sales representative for assistance.

ECAT IO Series module

![A triangular warning sign with a red border and background featuring a large white exclamation mark in the center.](.ecat-io-m-series-50m-27013-1010-1-1/1ef3a74d73a2b2cc89eadef09f5dcd10faf11fa9b5c90203ebe521b648f0ca01.jpg)

Before unpacking, check the shipping carton for any damage. If the shipping carton and/or contents are damaged, inform your dealer immediately. Retain the shipping carton and packing materials for inspection. Obtain authorization from your dealer before returning any product to ADLINK.

WARNING:

# 2 Specifications

2.1 Product Specifications

<table><tr><td>Model</td><td>ECAT-DI32-M-N</td><td>ECAT-DO32-M-N</td><td>ECAT-D16DO16-M-NN</td></tr><tr><td colspan="4">Digital Input</td></tr><tr><td>Channels</td><td>32</td><td rowspan="7">N/A</td><td>16</td></tr><tr><td>Input Type</td><td>Wet (Sink/Source)</td><td>Wet (Sink/Source)</td></tr><tr><td>Operational Voltage(24V DC)</td><td>NPN $^{1}$ :On: 11.4V DC (max.)Off: 14.3V DC (min.)PNP $^{2}$ :On: 12.6V DC (min.)Off: 9.8V DC (max.)</td><td>NPN $^{1}$ :On: 11.4V DC (max.)Off: 14.3V DC (min.)PNP $^{2}$ :On: 12.6V DC (min.)Off: 9.8V DC (max.)</td></tr><tr><td>Isolation Voltage</td><td>2000V DC</td><td>2000V DC</td></tr><tr><td>Input Current</td><td>4.5 mA (max.)</td><td>4.5 mA (max.)</td></tr><tr><td>Input Response</td><td>ON: 8.8 μs (Typical)OFF: 42 μs (Typical)</td><td>ON: 8.8 μs (Typical)OFF: 42 μs (Typical)</td></tr><tr><td>Input Impedance</td><td>4.7 KΩ</td><td>4.7 KΩ</td></tr><tr><td colspan="4">Digital Output</td></tr><tr><td>Channels</td><td rowspan="6">N/A</td><td>32</td><td>16</td></tr><tr><td>Output Type</td><td colspan="2">Open Collector (Sink)</td></tr><tr><td>Load Voltage</td><td colspan="2">+3.5V to +30 V</td></tr><tr><td>Output Switching Capacity</td><td colspan="2">8 channel 400 mA; Full channels 50 mA at 100% duty cycle</td></tr><tr><td>Isolation Voltage</td><td colspan="2">2000V DC</td></tr><tr><td>Output Response</td><td colspan="2">ON → OFF: 750 nsOFF → ON: 25 ns (24V @4.7K)</td></tr><tr><td colspan="4">Communication Interface</td></tr><tr><td>Connector</td><td colspan="3">2x RJ45</td></tr><tr><td>Protocol</td><td colspan="3">EtherCAT</td></tr><tr><td>Distance Between Stations</td><td colspan="3">Max. 100 m (100BASE-TX)</td></tr><tr><td>Communication Cycle Time</td><td colspan="3">100 μs</td></tr><tr><td>Data Transfer Medium</td><td colspan="3">Ethernet/EtherCAT Cable (Min. CAT 5), Shielded</td></tr><tr><td>Distributed Clocks</td><td colspan="3">DC</td></tr><tr><td>Status Holding Mode</td><td colspan="3">N/A</td></tr><tr><td>LED Indicator</td><td colspan="3">Power, Run, Error, EEP, Link and DI status</td></tr><tr><td colspan="4">Power</td></tr><tr><td>Input Voltage Range</td><td colspan="3">20V to 28V DC</td></tr><tr><td>Power Consumption</td><td colspan="3">1.8W@24V</td></tr><tr><td colspan="4">General</td></tr><tr><td>Installation</td><td colspan="3">DIN Rail</td></tr><tr><td>Casing</td><td colspan="3">Metal with IP40</td></tr><tr><td>Dimensions</td><td colspan="3">82.5mm x 97.4mm x 21.5mm (H x W x D)</td></tr><tr><td>Operating Temperature</td><td colspan="3">0°C to 60°C (32°F to 140°F)</td></tr><tr><td>Storage Temperature</td><td colspan="3">-20°C to 80°C (-4°F to 176°F)</td></tr><tr><td>Relative Humidity</td><td colspan="3">95% (non-condensing)</td></tr></table>

<table><tr><td>Model Name</td><td>ECAT-AI16AO2-M-VV</td></tr><tr><td colspan="2">Analog Input</td></tr><tr><td>Channels</td><td>16</td></tr><tr><td>Wire Connection</td><td>8 Differential or 16 Single-ended</td></tr><tr><td>Type</td><td>Voltage</td></tr><tr><td>Range</td><td>±10, ±5, ±2.5, ±1.25 V</td></tr><tr><td>Resolution</td><td>16-bit</td></tr><tr><td>Sampling Rate</td><td>250KS/s</td></tr><tr><td>AD Conversion Time</td><td>4 us</td></tr><tr><td>Accuracy</td><td>±0.1% FSR at 25°C</td></tr><tr><td>Over Voltage Protection</td><td>±15 VDC</td></tr><tr><td colspan="2">Analog Output</td></tr><tr><td>Channels</td><td>2</td></tr><tr><td>Wire Connection</td><td>Single-ended</td></tr><tr><td>Range</td><td>±10 V</td></tr><tr><td>Resolution</td><td>16-bit</td></tr><tr><td>DA Settling Time</td><td>5 us</td></tr><tr><td>Accuracy</td><td>±0.1% FSR at 25°C</td></tr><tr><td colspan="2">Communication Interface</td></tr><tr><td>Connector</td><td>2 x RJ-45</td></tr><tr><td>Protocol</td><td>EtherCAT</td></tr><tr><td>Distance between Stations</td><td>Max. 100 m (100BASE-TX)</td></tr><tr><td>Communication Cycle Time</td><td>100 us</td></tr><tr><td>Data Transfer Medium</td><td>Ethernet/EtherCAT Cable (Min. CAT 5), Shielded</td></tr><tr><td>Distributed clocks</td><td>DC</td></tr><tr><td>Remain status after disconnection</td><td>Configurable</td></tr><tr><td>LED Indicator</td><td>Power, Run, Error, EEP, Link</td></tr><tr><td colspan="2">Power</td></tr><tr><td>Input Voltage Range</td><td>22V to 26VDC</td></tr><tr><td>Power Consumption</td><td>5W</td></tr><tr><td colspan="2">General</td></tr><tr><td>Installation</td><td>DIN-Rail</td></tr><tr><td>Casing</td><td>Metal with IP40</td></tr><tr><td>Dimensions</td><td>82.5mm x 97.4mm x 21.5mm (H x W x D)</td></tr><tr><td>Operating Temperature</td><td>0°C to 60°C (32°F to 140°F)</td></tr><tr><td>Storage Temperature</td><td>-20°C to 80°C (-4°F to 176°F)</td></tr><tr><td>Relative Humidity</td><td>95 %, no condensation</td></tr><tr><td>Certification</td><td>CE, FCC, RoHS</td></tr></table>

![The image shows a white document icon with faint horizontal grey lines. A large, bold red checkmark is superimposed over the document, running diagonally from the bottom left to the top right.](.ecat-io-m-series-50m-27013-1010-1-1/238b9b7083524a0a8330cca53f23176d0c782919bc2777bba8c9f3b70c542d56.jpg)
NOTE:

1 NPN: sinking type sensor input module.
2 PNP: sourcing type sensor input modules.

# 2.2 Supported Software

# OS Support / Software Compatibility

• OS Support
• Windows 7/10/11 (x86/x64)
Software Compatibility
• Visual Studio VB.NET, C#, VC.NET
• APS Function Library Support

# APS Functions

The ECAT IO Series is fully compliant with the APS (Automation Product Software) function library, independent of programming languages and operating systems (OS). A complete detailed list- ing of functions can be found in the APS Function Library User Manual.

# Motion Creator Pro 2 (MCP2)

Motion Creator Pro $2 ^ { \mathsf { T M } }$ is a user interface exclusively developed for ADLINK motion control products in a standard Windows environment to easily setup cards and axis parameters. A Setup Wizard guides users through hardware installation and wiring as well as single-axis manipulation in minutes.

Motion Creator Pro $2 ^ { \mathsf { T M } }$ not only effectively reduces development time but also enables concurrent validation of overall mechanisms and electric design with all single axis and interpolation motion operation pages.

# 2.3 Accessories

Available terminal bases include:

• ECAT-TB32-M-DIN: Terminal board exclusive for ECAT IO M type.
• ECAT-TB32-U-DIN: Terminal board exclusive for ECAT IO DB type.

# Features

32-channel ECAT IO Terminal Base
Field I/O wiring connection for ECAT I/O modules
Spring terminal for easy field wiring
• Power and ground included for each signal channel
Interlocking design for rugged installation
Power LED indicator
DIN rail mounting

<table><tr><td>Series</td><td>Model</td><td>Specifications</td><td>Supports</td></tr><tr><td rowspan="3">For DB Series</td><td>ECAT-TB32</td><td>(1) : 32 channels direct connected terminal base (2) : One DB slot</td><td>ECAT-DI16DO16-DB-NN only</td></tr><tr><td>ECAT-TB32-U</td><td>(1) : 32 channels direct connected terminal base (2) : One DB slot</td><td rowspan="2">All ECAT IO DB-series modules</td></tr><tr><td>ECAT-TB64</td><td>(1) : 64 channels direct connected terminal base (2) : Two DB slots</td></tr><tr><td>For M Series</td><td>ECAT-TB32-M</td><td>32 channels direct connected terminal base for ECAT IO M-series module</td><td>All ECAT IO M-series modules</td></tr></table>

# 3 Functional Block Diagram

![The diagram features a large central block labeled **ESC** connected to various peripheral components.\n\n**Top Connections:**\n*   A bidirectional connection links the **ESC** to a block labeled **16-Position rotary switch**.\n*   A bidirectional connection links the **ESC** to a second block labeled **16-Position rotary switch**.\n*   A line labeled **MDI0** connects the **ESC** to an **RJ45** block.\n*   A line labeled **MDI1** connects the **ESC** to a second **RJ45** block.\n*   A line labeled **Power, Run, EEP_DONE, Error** connects the **ESC** to a block labeled **LED *4** (which has the text **G, G, G, R** above it).\n\n**Middle Connections:**\n*   A connection links the **ESC** to a block labeled **MOS + IO Status LED**.\n*   A bidirectional connection links the **ESC** to a block labeled **Photocoupler**.\n*   A connection links the **ESC** to a block labeled **Digital Isolator**.\n\n**Right-Side Extensions:**\n*   A block labeled **2*20 Pin Header** connects to the **Photocoupler** via a line labeled **DI** (with an arrow pointing toward the Photocoupler).\n*   The **Digital Isolator** connects to a block labeled **MOS**.\n*   The **MOS** block connects to a second **2*20 Pin Header** via a line labeled **DO**.\n\n**Bottom Connections:**\n*   A bidirectional connection links the **ESC** to a block labeled **EEPROM**.\n*   A bidirectional connection links the **ESC** to a block labeled **12 MHz Crystal**.\n*   A bidirectional connection links the **ESC** to a block labeled **25 MHz Crystal**.](.ecat-io-m-series-50m-27013-1010-1-1/3847ef428b01c324736184254f79c416b6138c858a326cebffd0b74937dad10d.jpg)

Figure 1: DIO functional diagram

![The diagram depicts a system centered around a large block labeled **ESC**.\n\n**External Connections to ESC:**\n*   **Top:**\n    *   Bidirectional connection to **16-Position rotary switch** (labeled **X2**).\n    *   Bidirectional connection labeled **MDI0** to a block labeled **RJ45**.\n    *   Bidirectional connection labeled **MDI1** to a block labeled **RJ45**.\n    *   Bidirectional connection labeled **Power, Run, EEP_DONE, Error** to a block labeled **LED *4**.\n*   **Bottom:**\n    *   Connections to **EEPROM** (sublabel **ESI File**).\n    *   Connections to **EEPROM** (sublabel **Cal. data**).\n    *   Connections to **12 MHz Crystal**.\n    *   Connections to **25 MHz Crystal**.\n\n**Internal Connections (Inside Green Border):**\n*   **DAC** connects to **OPA2197** (sublabels **U211, U212**, labeled **X2**, text: **Current to Voltage OP**).\n*   **OPA2197** connects to **Relay** (labeled **K1**).\n*   **Relay** connects to **CN1** (labeled **A00/A01**).\n*   **CN1** connects to a block labeled **2*20 Pin Header**.\n*   **VREF5V** (labeled **U312**) connects to **DAC**.\n*   **ADR4550** (labeled **U301**, text: **Voltage Reference**) connects to **OPA210** (labeled **U311**) and **OPA192**.\n*   **OPA192** connects to **ADC** (via a line labeled **AO_A_REF**).\n*   **ADC** connects to **PGA855** (labeled **U111**, text: **Gain Control+ Driver**).\n*   **PGA855** connects to **MUX** (labeled **U100, U101**, labeled **X2**).\n*   **MUX** connects to a block labeled **16AI_SE/ 8AI_DF**.\n*   **Cal. Source** (labeled **U302**) connects to a block labeled **divide by resistors**.\n*   **divide by resistors** lists voltages: **5V**, **4.096V**, **2.048V**, **1.024V**.\n*   **divide by resistors** connects to **MUX** (labeled **U321**).\n*   A dashed line labeled **Auto Cal. Trace** connects **MUX U321** to the **MUX U100, U101** block.](.ecat-io-m-series-50m-27013-1010-1-1/03b003d6534112185bf0ab2a01ac85421bd406a5ce90563c5f3db2e4ec7927e9.jpg)

Figure 2: AIO functional diagram

# 4 Mechanical Layout

# 4.1 Mechanical Dimensions

All dimensions in millimeters (mm) unless noted.

![83\nIN OUT\nADLINK\nCE\n82.50](.ecat-io-m-series-50m-27013-1010-1-1/acd0ccda05aeaa6f5718b3ce7e6ddee6ae2e9e3719bca6a5dba9e3271045fba1.jpg)

Figure 3: Mechanical dimensions (Top view)

![Diagram of an electronic connector with pin layout and mounting points (no text or symbols)](.ecat-io-m-series-50m-27013-1010-1-1/d53c6aba395ffab56a47ce4020ac2a7e3a926ed17dd4eaf0fa4efa7db0bbd17d.jpg)

Figure 4: Mechanical dimensions (Front view)

![21.50](.ecat-io-m-series-50m-27013-1010-1-1/020290664246f02a52d519179f58e9c99e752f3f812d7d3cb5e3c4449f17a587.jpg)

Figure 5: Mechanical dimensions (Right view)

![4.80\nM3](.ecat-io-m-series-50m-27013-1010-1-1/c7798a36144f584284eae42458cc33169622a94c7d04ee3a30c50e54c0e23a21.jpg)

Figure 6: Mechanical dimensions (Bottom view)

# 4.2 Connector and Indicator Locations

![2x Slave ID\nAddress Switches\n2x RJ45\nEtherCAT Ports\n4x System LED\nIndicators\n32x IO LED\nIndicators](.ecat-io-m-series-50m-27013-1010-1-1/76b078f01a1fbbe7458e6c6fb27aeb92ee81d96e2aab166f3e2ec34d47fb3d73.jpg)

![40-Pin Signal Connector](.ecat-io-m-series-50m-27013-1010-1-1/e1b8f4b81268c6a3613c1dd717ddcab51589836f36472abfbb74fbbdbe586f8b.jpg)

Figure 7: Connector and indicator locations

![The image displays a cropped icon of a white document with horizontal lines and a folded top-left corner. A large red checkmark is overlaid on the document, running diagonally from the bottom left to the top right.](.ecat-io-m-series-50m-27013-1010-1-1/0fc1fd881e27c423b7c6b318aa33ed209583f0aef6f305fb83891078fc37c330.jpg)
NOTE:

ECAT-AI16AO2-M-VV does not include 32x IO LED indicators.

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# 5 Connectors, Indicators, and Switches

# 5.1 LED Indicators

The LED indicator states follow the EtherCAT specifications.

<table><tr><td>Function</td><td>Color</td><td>Status</td></tr><tr><td>PWR</td><td>Green</td><td>Off: Power offOn: Power on</td></tr><tr><td>RUN</td><td>Green</td><td>Off: InitializationBlinking: Pre-OperationalSingle Flash: SafeOperational On: OperationalFlickering: Bootstrap</td></tr><tr><td>ERR</td><td>Red</td><td>Off: No ErrorBlinking: Invalid ConfigurationSingle Flash: Local ErrorDouble Flash: Watchdog Timeout</td></tr><tr><td>EEP</td><td>Green</td><td>Off: the EEPROM is not successfully loaded by ESCOn: the EEPROM is successfully loaded by ESC</td></tr><tr><td>Link(on RJ45)</td><td>Yellow</td><td>Off: No linkBlinking: TX/RX activityOn: Good link</td></tr><tr><td>Power(on RJ45)</td><td>Green</td><td>Off: power offOn: power on</td></tr><tr><td>DO</td><td>Yellow</td><td>Off: DO state is &quot;OFF&quot; (DO = high)On: DO state is &quot;ON&quot; (DO = low)</td></tr><tr><td>DI</td><td>Green</td><td>Off: DI state is &quot;OFF&quot; (DI photocoupler is off)On: DI state is &quot;ON&quot; (DI photocoupler is on)</td></tr></table>

# 5.2 EtherCAT Ports

There are two RJ45 EtherCAT ports. One is the EtherCAT network "IN" and the other is the EtherCAT network "OUT". Refer to the mark- ings on the eclosure to identify each port.

# 5.3 Slave ID Address Switches Settings

The slave ID address switches are used to set the ECAT IO mod- ule slave ID addresses. Index values can be set from 0 to 255. The default slave ID switch setting is 0.

Address
![3456789A8\nCDEF 012\n3456789A6\nCDEF 012](.ecat-io-m-series-50m-27013-1010-1-1/b18958217e048a7d522973a8ed3c97ebaf357d2536749537eb763fd6d05ecb9a.jpg)

LOW HIGH

![An icon depicting a white document with a folded top-right corner and faint horizontal lines, overlaid with a large red checkmark.](.ecat-io-m-series-50m-27013-1010-1-1/d6bbd27630d23b5f4e46ce9c4a10dd5e912f45a0a3ac410ff9004d2dd03f0e67.jpg)
NOTE:

Slave IDs can be defined in the following two ways through the settings of the Master:

1. If the Master is set to SII mode, the Slave ID is defined by the slave's EEPROM.
2. If the Master is set to AL mode, the Slave ID is defined by the slave's rotary ID address switch.

Table 1: Slave ID switch settings

<table><tr><td>LOW</td><td>HIGH</td><td>ID</td><td>LOW</td><td>HIGH</td><td>ID</td><td>LOW</td><td>HIGH</td><td>ID</td><td>LOW</td><td>HIGH</td><td>ID</td></tr><tr><td>0</td><td>0</td><td>0</td><td>0</td><td>4</td><td>64</td><td>0</td><td>8</td><td>128</td><td>0</td><td>C</td><td>192</td></tr><tr><td>1</td><td>0</td><td>1</td><td>1</td><td>4</td><td>65</td><td>1</td><td>8</td><td>129</td><td>1</td><td>C</td><td>193</td></tr><tr><td>2</td><td>0</td><td>2</td><td>2</td><td>4</td><td>66</td><td>2</td><td>8</td><td>130</td><td>2</td><td>C</td><td>194</td></tr><tr><td>3</td><td>0</td><td>3</td><td>3</td><td>4</td><td>67</td><td>3</td><td>8</td><td>131</td><td>3</td><td>C</td><td>195</td></tr><tr><td>4</td><td>0</td><td>4</td><td>4</td><td>4</td><td>68</td><td>4</td><td>8</td><td>132</td><td>4</td><td>C</td><td>196</td></tr><tr><td>5</td><td>0</td><td>5</td><td>5</td><td>4</td><td>69</td><td>5</td><td>8</td><td>133</td><td>5</td><td>C</td><td>197</td></tr><tr><td>6</td><td>0</td><td>6</td><td>6</td><td>4</td><td>70</td><td>6</td><td>8</td><td>134</td><td>6</td><td>C</td><td>198</td></tr><tr><td>7</td><td>0</td><td>7</td><td>7</td><td>4</td><td>71</td><td>7</td><td>8</td><td>135</td><td>7</td><td>C</td><td>199</td></tr><tr><td>8</td><td>0</td><td>8</td><td>8</td><td>4</td><td>72</td><td>8</td><td>8</td><td>136</td><td>8</td><td>C</td><td>200</td></tr><tr><td>9</td><td>0</td><td>9</td><td>9</td><td>4</td><td>73</td><td>9</td><td>8</td><td>137</td><td>9</td><td>C</td><td>201</td></tr><tr><td>A</td><td>0</td><td>10</td><td>A</td><td>4</td><td>74</td><td>A</td><td>8</td><td>138</td><td>A</td><td>C</td><td>202</td></tr><tr><td>B</td><td>0</td><td>11</td><td>B</td><td>4</td><td>75</td><td>B</td><td>8</td><td>139</td><td>B</td><td>C</td><td>203</td></tr><tr><td>C</td><td>0</td><td>12</td><td>C</td><td>4</td><td>76</td><td>C</td><td>8</td><td>140</td><td>C</td><td>C</td><td>204</td></tr><tr><td>D</td><td>0</td><td>13</td><td>D</td><td>4</td><td>77</td><td>D</td><td>8</td><td>141</td><td>D</td><td>C</td><td>205</td></tr><tr><td>E</td><td>0</td><td>14</td><td>E</td><td>4</td><td>78</td><td>E</td><td>8</td><td>142</td><td>E</td><td>C</td><td>206</td></tr><tr><td>F</td><td>0</td><td>15</td><td>F</td><td>4</td><td>79</td><td>F</td><td>8</td><td>143</td><td>F</td><td>C</td><td>207</td></tr><tr><td>0</td><td>1</td><td>16</td><td>0</td><td>5</td><td>80</td><td>0</td><td>9</td><td>144</td><td>0</td><td>D</td><td>208</td></tr><tr><td>1</td><td>1</td><td>17</td><td>1</td><td>5</td><td>81</td><td>1</td><td>9</td><td>145</td><td>1</td><td>D</td><td>209</td></tr><tr><td>2</td><td>1</td><td>18</td><td>2</td><td>5</td><td>82</td><td>2</td><td>9</td><td>146</td><td>2</td><td>D</td><td>210</td></tr><tr><td>3</td><td>1</td><td>19</td><td>3</td><td>5</td><td>83</td><td>3</td><td>9</td><td>147</td><td>3</td><td>D</td><td>211</td></tr><tr><td>4</td><td>1</td><td>20</td><td>4</td><td>5</td><td>84</td><td>4</td><td>9</td><td>148</td><td>4</td><td>D</td><td>212</td></tr><tr><td>5</td><td>1</td><td>21</td><td>5</td><td>5</td><td>85</td><td>5</td><td>9</td><td>149</td><td>5</td><td>D</td><td>213</td></tr><tr><td>6</td><td>1</td><td>22</td><td>6</td><td>5</td><td>86</td><td>6</td><td>9</td><td>150</td><td>6</td><td>D</td><td>214</td></tr><tr><td>7</td><td>1</td><td>23</td><td>7</td><td>5</td><td>87</td><td>7</td><td>9</td><td>151</td><td>7</td><td>D</td><td>215</td></tr><tr><td>8</td><td>1</td><td>24</td><td>8</td><td>5</td><td>88</td><td>8</td><td>9</td><td>152</td><td>8</td><td>D</td><td>216</td></tr><tr><td>9</td><td>1</td><td>25</td><td>9</td><td>5</td><td>89</td><td>9</td><td>9</td><td>153</td><td>9</td><td>D</td><td>217</td></tr><tr><td>A</td><td>1</td><td>26</td><td>A</td><td>5</td><td>90</td><td>A</td><td>9</td><td>154</td><td>A</td><td>D</td><td>218</td></tr><tr><td>B</td><td>1</td><td>27</td><td>B</td><td>5</td><td>91</td><td>B</td><td>9</td><td>155</td><td>B</td><td>D</td><td>219</td></tr><tr><td>C</td><td>1</td><td>28</td><td>C</td><td>5</td><td>92</td><td>C</td><td>9</td><td>156</td><td>C</td><td>D</td><td>220</td></tr><tr><td>D</td><td>1</td><td>29</td><td>D</td><td>5</td><td>93</td><td>D</td><td>9</td><td>157</td><td>D</td><td>D</td><td>221</td></tr><tr><td>E</td><td>1</td><td>30</td><td>E</td><td>5</td><td>94</td><td>E</td><td>9</td><td>158</td><td>E</td><td>D</td><td>222</td></tr><tr><td>F</td><td>1</td><td>31</td><td>F</td><td>5</td><td>95</td><td>F</td><td>9</td><td>159</td><td>F</td><td>D</td><td>223</td></tr><tr><td>0</td><td>2</td><td>32</td><td>0</td><td>6</td><td>96</td><td>0</td><td>A</td><td>160</td><td>0</td><td>E</td><td>224</td></tr><tr><td>1</td><td>2</td><td>33</td><td>1</td><td>6</td><td>97</td><td>1</td><td>A</td><td>161</td><td>1</td><td>E</td><td>225</td></tr><tr><td>2</td><td>2</td><td>34</td><td>2</td><td>6</td><td>98</td><td>2</td><td>A</td><td>162</td><td>2</td><td>E</td><td>226</td></tr><tr><td>3</td><td>2</td><td>35</td><td>3</td><td>6</td><td>99</td><td>3</td><td>A</td><td>163</td><td>3</td><td>E</td><td>227</td></tr><tr><td>4</td><td>2</td><td>36</td><td>4</td><td>6</td><td>100</td><td>4</td><td>A</td><td>164</td><td>4</td><td>E</td><td>228</td></tr><tr><td>5</td><td>2</td><td>37</td><td>5</td><td>6</td><td>101</td><td>5</td><td>A</td><td>165</td><td>5</td><td>E</td><td>229</td></tr><tr><td>6</td><td>2</td><td>38</td><td>6</td><td>6</td><td>102</td><td>6</td><td>A</td><td>166</td><td>6</td><td>E</td><td>230</td></tr><tr><td>7</td><td>2</td><td>39</td><td>7</td><td>6</td><td>103</td><td>7</td><td>A</td><td>167</td><td>7</td><td>E</td><td>231</td></tr><tr><td>8</td><td>2</td><td>40</td><td>8</td><td>6</td><td>104</td><td>8</td><td>A</td><td>168</td><td>8</td><td>E</td><td>232</td></tr><tr><td>9</td><td>2</td><td>41</td><td>9</td><td>6</td><td>105</td><td>9</td><td>A</td><td>169</td><td>9</td><td>E</td><td>233</td></tr><tr><td>A</td><td>2</td><td>42</td><td>A</td><td>6</td><td>106</td><td>A</td><td>A</td><td>170</td><td>A</td><td>E</td><td>234</td></tr><tr><td>B</td><td>2</td><td>43</td><td>B</td><td>6</td><td>107</td><td>B</td><td>A</td><td>171</td><td>B</td><td>E</td><td>235</td></tr><tr><td>C</td><td>2</td><td>44</td><td>C</td><td>6</td><td>108</td><td>C</td><td>A</td><td>172</td><td>C</td><td>E</td><td>236</td></tr><tr><td>D</td><td>2</td><td>45</td><td>D</td><td>6</td><td>109</td><td>D</td><td>A</td><td>173</td><td>D</td><td>E</td><td>237</td></tr><tr><td>E</td><td>2</td><td>46</td><td>E</td><td>6</td><td>110</td><td>E</td><td>A</td><td>174</td><td>E</td><td>E</td><td>238</td></tr><tr><td>F</td><td>2</td><td>47</td><td>F</td><td>6</td><td>111</td><td>F</td><td>A</td><td>175</td><td>F</td><td>E</td><td>239</td></tr><tr><td>0</td><td>3</td><td>48</td><td>0</td><td>7</td><td>112</td><td>0</td><td>B</td><td>176</td><td>0</td><td>F</td><td>240</td></tr><tr><td>1</td><td>3</td><td>49</td><td>1</td><td>7</td><td>113</td><td>1</td><td>B</td><td>177</td><td>1</td><td>F</td><td>241</td></tr><tr><td>2</td><td>3</td><td>50</td><td>2</td><td>7</td><td>114</td><td>2</td><td>B</td><td>178</td><td>2</td><td>F</td><td>242</td></tr><tr><td>3</td><td>3</td><td>51</td><td>3</td><td>7</td><td>115</td><td>3</td><td>B</td><td>179</td><td>3</td><td>F</td><td>243</td></tr><tr><td>4</td><td>3</td><td>52</td><td>4</td><td>7</td><td>116</td><td>4</td><td>B</td><td>180</td><td>4</td><td>F</td><td>244</td></tr><tr><td>5</td><td>3</td><td>53</td><td>5</td><td>7</td><td>117</td><td>5</td><td>B</td><td>181</td><td>5</td><td>F</td><td>245</td></tr><tr><td>6</td><td>3</td><td>54</td><td>6</td><td>7</td><td>118</td><td>6</td><td>B</td><td>182</td><td>6</td><td>F</td><td>246</td></tr><tr><td>7</td><td>3</td><td>55</td><td>7</td><td>7</td><td>119</td><td>7</td><td>B</td><td>183</td><td>7</td><td>F</td><td>247</td></tr><tr><td>8</td><td>3</td><td>56</td><td>8</td><td>7</td><td>120</td><td>8</td><td>B</td><td>184</td><td>8</td><td>F</td><td>248</td></tr><tr><td>9</td><td>3</td><td>57</td><td>9</td><td>7</td><td>121</td><td>9</td><td>B</td><td>185</td><td>9</td><td>F</td><td>249</td></tr><tr><td>A</td><td>3</td><td>58</td><td>A</td><td>7</td><td>122</td><td>A</td><td>B</td><td>186</td><td>A</td><td>F</td><td>250</td></tr><tr><td>B</td><td>3</td><td>59</td><td>B</td><td>7</td><td>123</td><td>B</td><td>B</td><td>187</td><td>B</td><td>F</td><td>251</td></tr><tr><td>C</td><td>3</td><td>60</td><td>C</td><td>7</td><td>124</td><td>C</td><td>B</td><td>188</td><td>C</td><td>F</td><td>252</td></tr><tr><td>D</td><td>3</td><td>61</td><td>D</td><td>7</td><td>125</td><td>D</td><td>B</td><td>189</td><td>D</td><td>F</td><td>253</td></tr><tr><td>E</td><td>3</td><td>62</td><td>E</td><td>7</td><td>126</td><td>E</td><td>B</td><td>190</td><td>E</td><td>F</td><td>254</td></tr><tr><td>F</td><td>3</td><td>63</td><td>F</td><td>7</td><td>127</td><td>F</td><td>B</td><td>191</td><td>F</td><td>F</td><td>255</td></tr></table>

# 40-Pin Signal Connector

The 40-pin signal connector provides input and output signals for ECAT IO series modules.

![1\n39\n2\n40](.ecat-io-m-series-50m-27013-1010-1-1/1c4c5a7235389b4943d9f93432f87d6de01640c13ff84de6ac8b10f147b18bb3.jpg)

Table 2: ECAT-DI32-M-N pin assignment

<table><tr><td>Pin</td><td>Signal</td><td>Description</td><td>Pin</td><td>Signal</td><td>Description</td></tr><tr><td>2</td><td>E24V</td><td>External power supply</td><td>1</td><td>E24V</td><td>External power supply</td></tr><tr><td>4</td><td>IO_PWR</td><td>I/O power supply</td><td>3</td><td>IO_PWR</td><td>I/O power supply</td></tr><tr><td>6</td><td>DICOM</td><td>Mechanical input / general input</td><td>5</td><td>DICOM</td><td>Mechanical input / general input</td></tr><tr><td>8</td><td>IO_GND</td><td>I/O ground</td><td>7</td><td>EGND</td><td>External power ground</td></tr><tr><td>10</td><td>DI2</td><td>Digital input</td><td>9</td><td>DI1</td><td>Digital input</td></tr><tr><td>12</td><td>DI4</td><td>Digital input</td><td>11</td><td>DI3</td><td>Digital input</td></tr><tr><td>14</td><td>DI6</td><td>Digital input</td><td>13</td><td>DI5</td><td>Digital input</td></tr><tr><td>16</td><td>DI8</td><td>Digital input</td><td>15</td><td>DI7</td><td>Digital input</td></tr><tr><td>18</td><td>DI10</td><td>Digital input</td><td>17</td><td>DI9</td><td>Digital input</td></tr><tr><td>20</td><td>DI12</td><td>Digital input</td><td>19</td><td>DI11</td><td>Digital input</td></tr><tr><td>22</td><td>DI14</td><td>Digital input</td><td>21</td><td>DI13</td><td>Digital input</td></tr><tr><td>24</td><td>DI16</td><td>Digital input</td><td>23</td><td>DI15</td><td>Digital input</td></tr><tr><td>26</td><td>DI18</td><td>Digital input</td><td>25</td><td>DI17</td><td>Digital input</td></tr><tr><td>28</td><td>DI20</td><td>Digital input</td><td>27</td><td>DI19</td><td>Digital input</td></tr><tr><td>30</td><td>DI22</td><td>Digital input</td><td>29</td><td>DI21</td><td>Digital input</td></tr><tr><td>32</td><td>DI24</td><td>Digital input</td><td>31</td><td>DI23</td><td>Digital input</td></tr><tr><td>34</td><td>DI26</td><td>Digital input</td><td>33</td><td>DI25</td><td>Digital input</td></tr><tr><td>36</td><td>DI28</td><td>Digital input</td><td>35</td><td>DI27</td><td>Digital input</td></tr><tr><td>38</td><td>DI30</td><td>Digital input</td><td>37</td><td>DI29</td><td>Digital input</td></tr><tr><td>40</td><td>DI32</td><td>Digital input</td><td>39</td><td>DI31</td><td>Digital input</td></tr></table>

Table 3: ECAT-DO32-M-N pin assignment

<table><tr><td>Pin</td><td>Signal</td><td>Description</td><td>Pin</td><td>Signal</td><td>Description</td></tr><tr><td>2</td><td>E24V</td><td>External power supply</td><td>1</td><td>E24V</td><td>External power supply</td></tr><tr><td>4</td><td>IO_PWR</td><td>I/O power supply</td><td>3</td><td>IO_PWR</td><td>I/O power supply</td></tr><tr><td>6</td><td>DICOM</td><td>N/A</td><td>5</td><td>DICOM</td><td>N/A</td></tr><tr><td>8</td><td>IO_GND</td><td>I/O ground</td><td>7</td><td>EGND</td><td>External power ground</td></tr><tr><td>10</td><td>DO2</td><td>Digital output</td><td>9</td><td>DO1</td><td>Digital output</td></tr><tr><td>12</td><td>DO4</td><td>Digital output</td><td>11</td><td>DO3</td><td>Digital output</td></tr><tr><td>14</td><td>DO6</td><td>Digital output</td><td>13</td><td>DO5</td><td>Digital output</td></tr><tr><td>16</td><td>DO8</td><td>Digital output</td><td>15</td><td>DO7</td><td>Digital output</td></tr><tr><td>18</td><td>DO10</td><td>Digital output</td><td>17</td><td>DO9</td><td>Digital output</td></tr><tr><td>20</td><td>DO12</td><td>Digital output</td><td>19</td><td>DO11</td><td>Digital output</td></tr><tr><td>22</td><td>DO14</td><td>Digital output</td><td>21</td><td>DO13</td><td>Digital output</td></tr><tr><td>24</td><td>DO16</td><td>Digital output</td><td>23</td><td>DO15</td><td>Digital output</td></tr><tr><td>26</td><td>DO18</td><td>Digital output</td><td>25</td><td>DO17</td><td>Digital output</td></tr><tr><td>28</td><td>DO20</td><td>Digital output</td><td>27</td><td>DO19</td><td>Digital output</td></tr><tr><td>30</td><td>DO22</td><td>Digital output</td><td>29</td><td>DO21</td><td>Digital output</td></tr><tr><td>32</td><td>DO24</td><td>Digital output</td><td>31</td><td>DO23</td><td>Digital output</td></tr><tr><td>34</td><td>DO26</td><td>Digital output</td><td>33</td><td>DO25</td><td>Digital output</td></tr><tr><td>36</td><td>DO28</td><td>Digital output</td><td>35</td><td>DO27</td><td>Digital output</td></tr><tr><td>38</td><td>DO30</td><td>Digital output</td><td>37</td><td>DO29</td><td>Digital output</td></tr><tr><td>40</td><td>DO32</td><td>Digital output</td><td>39</td><td>DO31</td><td>Digital output</td></tr></table>

Table 4: ECAT-DI16DO16-M-NN pin assignment

<table><tr><td>Pin</td><td>Signal</td><td>Description</td><td>Pin</td><td>Signal</td><td>Description</td></tr><tr><td>2</td><td>E24V</td><td>External power supply</td><td>1</td><td>E24V</td><td>External power supply</td></tr><tr><td>4</td><td>IO_PWR</td><td>I/O power supply</td><td>3</td><td>IO_PWR</td><td>I/O power supply</td></tr><tr><td>6</td><td>DICOM</td><td>Mechanical input / general input</td><td>5</td><td>DICOM</td><td>Mechanical input / general input</td></tr><tr><td>8</td><td>IO_GND</td><td>I/O ground</td><td>7</td><td>EGND</td><td>External power ground</td></tr><tr><td>10</td><td>DI2</td><td>Digital input</td><td>9</td><td>DI1</td><td>Digital input</td></tr><tr><td>12</td><td>DI4</td><td>Digital input</td><td>11</td><td>DI3</td><td>Digital input</td></tr><tr><td>14</td><td>DI6</td><td>Digital input</td><td>13</td><td>DI5</td><td>Digital input</td></tr><tr><td>16</td><td>DI8</td><td>Digital input</td><td>15</td><td>DI7</td><td>Digital input</td></tr><tr><td>18</td><td>DI10</td><td>Digital input</td><td>17</td><td>DI9</td><td>Digital input</td></tr><tr><td>20</td><td>DI12</td><td>Digital input</td><td>19</td><td>DI11</td><td>Digital input</td></tr><tr><td>22</td><td>DI14</td><td>Digital input</td><td>21</td><td>DI13</td><td>Digital input</td></tr><tr><td>24</td><td>DI16</td><td>Digital input</td><td>23</td><td>DI15</td><td>Digital input</td></tr><tr><td>26</td><td>DO2</td><td>Digital output</td><td>25</td><td>DO1</td><td>Digital output</td></tr><tr><td>28</td><td>DO4</td><td>Digital output</td><td>27</td><td>DO3</td><td>Digital output</td></tr><tr><td>30</td><td>DO6</td><td>Digital output</td><td>29</td><td>DO5</td><td>Digital output</td></tr><tr><td>32</td><td>DO8</td><td>Digital output</td><td>31</td><td>DO7</td><td>Digital output</td></tr><tr><td>34</td><td>DO10</td><td>Digital output</td><td>33</td><td>DO9</td><td>Digital output</td></tr><tr><td>36</td><td>DO12</td><td>Digital output</td><td>35</td><td>DO11</td><td>Digital output</td></tr><tr><td>38</td><td>DO14</td><td>Digital output</td><td>37</td><td>DO13</td><td>Digital output</td></tr><tr><td>40</td><td>DO16</td><td>Digital output</td><td>39</td><td>DO15</td><td>Digital output</td></tr></table>

Table 5: ECAT-AI16AO2-M-VV pin assignment

<table><tr><td>Pin</td><td>Signal</td><td>Description</td><td>Pin</td><td>Signal</td><td>Description</td></tr><tr><td>2</td><td>E24V</td><td>External power supply</td><td>1</td><td>E24V</td><td>External power supply</td></tr><tr><td>4</td><td>IO_PWR</td><td>I/O power supply</td><td>3</td><td>IO_PWR</td><td>I/O power supply</td></tr><tr><td>6</td><td>DICOM</td><td>Mechanical input and general input common</td><td>5</td><td>DICOM</td><td>Mechanical input and general input common</td></tr><tr><td>8</td><td>IO_GND</td><td>I/O ground</td><td>7</td><td>EGND</td><td>External power ground</td></tr><tr><td>10</td><td>---</td><td>Reserve</td><td>9</td><td>---</td><td>Reserve</td></tr><tr><td>12</td><td>AGND</td><td>Analog GND</td><td>11</td><td>AGND</td><td>Analog GND</td></tr><tr><td>14</td><td>AGND</td><td>Analog GND</td><td>13</td><td>AGND</td><td>Analog GND</td></tr><tr><td>16</td><td>AGND</td><td>Analog GND</td><td>15</td><td>AGND</td><td>Analog GND</td></tr><tr><td>18</td><td>AGND</td><td>Analog GND</td><td>17</td><td>AGND</td><td>Analog GND</td></tr><tr><td>20</td><td>AGND</td><td>Analog GND</td><td>19</td><td>AGND</td><td>Analog GND</td></tr><tr><td>22</td><td>AGND</td><td>Analog GND</td><td>21</td><td>AGND</td><td>Analog GND</td></tr><tr><td>24</td><td>AI1/AI0-</td><td>Analog input</td><td>23</td><td>AI0/AI0+</td><td>Analog input</td></tr><tr><td>26</td><td>AI3/AI1-</td><td>Analog input</td><td>25</td><td>AI2/AI1+</td><td>Analog input</td></tr><tr><td>28</td><td>AI5/AI2-</td><td>Analog input</td><td>27</td><td>AI4/AI2+</td><td>Analog input</td></tr><tr><td>30</td><td>AI7/AI3-</td><td>Analog input</td><td>29</td><td>A6/AI3+</td><td>Analog input</td></tr><tr><td>32</td><td>AI9/AI4-</td><td>Analog input</td><td>31</td><td>AI8/AI4+</td><td>Analog input</td></tr><tr><td>34</td><td>AI11/AI5-</td><td>Analog input</td><td>33</td><td>AI10/AI5+</td><td>Analog input</td></tr><tr><td>36</td><td>AI13/AI6-</td><td>Analog input</td><td>35</td><td>AI12/AI6+</td><td>Analog input</td></tr><tr><td>38</td><td>AI15/AI7-</td><td>Analog input</td><td>37</td><td>AI14/AI7+</td><td>Analog input</td></tr><tr><td>40</td><td>AO1</td><td>Analog output</td><td>39</td><td>AO0</td><td>Analog output</td></tr></table>

<table><tr><td colspan="4">Single-ended modePin define on terminal board</td><td colspan="4">Differential modePin define on terminal board</td></tr><tr><td>Terminal Pin No.</td><td>Signal name</td><td>Terminal Pin No.</td><td>Signal name</td><td>Terminal Pin No.</td><td>Signal name</td><td>Terminal Pin No.</td><td>Signal name</td></tr><tr><td>1</td><td>NC</td><td>17</td><td>AI2</td><td>1</td><td>NC</td><td>17</td><td>AI1+</td></tr><tr><td>2</td><td>NC</td><td>18</td><td>AI3</td><td>2</td><td>NC</td><td>18</td><td>AI1-</td></tr><tr><td>3</td><td>AGND</td><td>19</td><td>AI4</td><td>3</td><td>AGND</td><td>19</td><td>AI2+</td></tr><tr><td>4</td><td>AGND</td><td>20</td><td>AI5</td><td>4</td><td>AGND</td><td>20</td><td>AI2-</td></tr><tr><td>5</td><td>AGND</td><td>21</td><td>AI6</td><td>5</td><td>AGND</td><td>21</td><td>AI3+</td></tr><tr><td>6</td><td>AGND</td><td>22</td><td>AI7</td><td>6</td><td>AGND</td><td>22</td><td>AI3-</td></tr><tr><td>7</td><td>AGND</td><td>23</td><td>AI8</td><td>7</td><td>AGND</td><td>23</td><td>AI4+</td></tr><tr><td>8</td><td>AGND</td><td>24</td><td>AI9</td><td>8</td><td>AGND</td><td>24</td><td>AI4-</td></tr><tr><td>9</td><td>AGND</td><td>25</td><td>AI10</td><td>9</td><td>AGND</td><td>25</td><td>AI5+</td></tr><tr><td>10</td><td>AGND</td><td>26</td><td>AI11</td><td>10</td><td>AGND</td><td>26</td><td>AI5-</td></tr><tr><td>11</td><td>AGND</td><td>27</td><td>AI12</td><td>11</td><td>AGND</td><td>27</td><td>AI6+</td></tr><tr><td>12</td><td>AGND</td><td>28</td><td>AI13</td><td>12</td><td>AGND</td><td>28</td><td>AI6-</td></tr><tr><td>13</td><td>AGND</td><td>29</td><td>AI14</td><td>13</td><td>AGND</td><td>29</td><td>AI7+</td></tr><tr><td>14</td><td>AGND</td><td>30</td><td>AI15</td><td>14</td><td>AGND</td><td>30</td><td>AI7-</td></tr><tr><td>15</td><td>AI0</td><td>31</td><td>AO0</td><td>15</td><td>AI0+</td><td>31</td><td>AO0</td></tr><tr><td>16</td><td>AI1</td><td>32</td><td>AO1</td><td>16</td><td>AI0-</td><td>32</td><td>AO1</td></tr></table>

# 6 Hardware and Software Driver Installation

# 6.1 Hardware Configuration

The ECAT IO Series is composed of two parts: an EtherCAT IO module and a terminal board.

# 6.2 Installation Procedures

1. Read through this manual and setup the jumper and I/O signals according to your application. The EtherCAT master will be automatically allocated according to the serial connection sequence of the ECAT IO module.
2. Carefully install the ECAT IO module on the terminal board until seated.
3. Secure the ECAT IO module to the terminal board with the 2 screws.
4. Using the terminal board DIN rail bracket, insert the DIN rail into the slots on the DIN rail attachment plate.
5. Connect DC power cables. (The DC power input connectors on the terminal board are E\_24V, IO\_24V, E\_GND, IO\_GND.)
6. Connect shielded ethernet cable to the RJ45 connector between EtherCAT Master and slave or between slaves.
7. Turn on the 24V DC power.
8. Verify the communication and IO signals between all modules via Motion Creator Pro 2.

# 6.3 Troubleshooting

If the computer cannot power on normally or the motion control system operates abnormally after system installation, follow the steps described below for troubleshooting. If the problem persists, consult your dealer for technical service.

<table><tr><td>Problem</td><td>Correction</td></tr><tr><td>Motion Creator Pro 2TM does not launch after driver installation.</td><td>Ensure .NET framework v3.5 or later is installed.</td></tr><tr><td>The NO Signal indicator in Motion Creator Pro 2TM appears after the slave is connected and the slave does not work.</td><td>Ensure 24 VDC power is provided to the system.</td></tr><tr><td>EtherCAT slaves (including servo/ stepper drive or I/O) in Motion Creator Pro 2TM will not connect.</td><td>Ensure all Ethernet cables connect all EtherCAT slave devices properly and every slave device is turned on for connection. Shielded CAT5e cable is recommended for best impedance matching.</td></tr></table>

# 6.4 Software Driver Installation

1. Download the APS SDK file from ADLINK and run it. The installation will start automatically.
2. Select NEXT as prompted to complete the installation.
3. After the installation is complete, select FINISH.
4. Restart the computer.

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# 7 Signal Connections

Signal connections of all I/Os are described in this chapter. Refer to the contents of this chapter before wiring any cables between the ECAT IO Series module and any sensor devices.

# 7.1 Isolated Digital Input

![Based on the provided image, here is the accurate and concise description of the flowchart/block diagram:\n\n**Labeled Blocks:**\n*   **Connector** (left side)\n*   **MCU** (right side)\n\n**Labeled Text & Components:**\n*   **DI** (Red text)\n*   **4.7K** (Blue text, next to a resistor symbol)\n*   **DICOM** (Red text)\n*   **D3.3V** (Top label)\n*   **Optocoupler** (Blue box in the center containing an LED and phototransistor symbol)\n\n**Connections:**\n*   An arrow points into the **Connector** block from the left.\n*   A line labeled **DI** exits the **Connector**, passes through a resistor labeled **4.7K**, and connects to the anode (top input) of the optocoupler.\n*   A line labeled **DICOM** exits the **Connector** and connects to the cathode (bottom input) of the optocoupler.\n*   The collector (top output) of the optocoupler connects to a junction point.\n*   From this junction point, a line goes to the **MCU** block.\n*   From the same junction point, a line goes up through a resistor to a terminal labeled **D3.3V**.\n*   The emitter (bottom output) of the optocoupler connects to a ground symbol.](.ecat-io-m-series-50m-27013-1010-1-1/dfd6b6eab519ff5cbc17d5e9d57a42eaf2305105915b4cdc164377cf212a9903.jpg)

# 7.2 Isolated Digital Output

![Based on the provided block diagram, here is the accurate description of the labeled blocks and connections:\n\n**Labeled Blocks:**\n*   MCU\n*   Digital Isolator\n*   Connector\n\n**Connections:**\n*   The **MCU** block connects to the **Digital Isolator** block.\n*   The **Digital Isolator** block connects to the Gate (**G**) of a transistor component.\n*   The Source (**S**) of the transistor connects to **IO_GND**.\n*   The Drain (**D**) of the transistor connects to a junction point.\n*   From this junction, a path goes upward through a diode to **IO_PWR**.\n*   From this same junction, a path goes to the right, labeled **DO**, which connects to the **Connector** block.](.ecat-io-m-series-50m-27013-1010-1-1/32eac42cb6fee1d623d94b84c3bdc6023e6c7e1db5b3d15b43bb75a6286ea708.jpg)

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# 8 Process Data Objects

Process Data Objects are a fundamental concept in the EtherCAT protocol and are used to exchange real-time process data between EtherCAT devices. The definition of ECAT IO series modules is as follows.

8.1 ECAT-DI32

<table><tr><td>Index</td><td>Sub Index</td><td>Name/Description</td><td>PDO Mapping</td><td>Unit</td><td>Range</td><td>Data Type</td><td>Access</td><td>Description</td></tr><tr><td>0x6001</td><td>1</td><td>DI32</td><td>TxPDO</td><td></td><td>0~FFFF</td><td>U32</td><td>R</td><td>Digital input 32-ch data</td></tr></table>

8.2 ECAT-DO32

<table><tr><td>Index</td><td>Sub Index</td><td>Name/Description</td><td>PDO Mapping</td><td>Unit</td><td>Range</td><td>Data Type</td><td>Access</td><td>Description</td></tr><tr><td>0x7000</td><td>1</td><td>DO32</td><td>RxPDO</td><td></td><td>0~FFFF</td><td>U32</td><td>RW</td><td>Digital output 32-ch data</td></tr><tr><td>0x5000</td><td>0</td><td>Retain option for DO32</td><td>N/A</td><td></td><td>0~1</td><td>U32</td><td>RW</td><td>1. Retain option for digital output while network disconnected.2. If value is 0, digital output will be retained. If value is 1 or above, digital output will not be retained.3. Default retain option is 0.</td></tr></table>

8.3 DI16DO16

<table><tr><td>Index</td><td>Sub Index</td><td>Name/Description</td><td>PDO Mapping</td><td>Unit</td><td>Range</td><td>Data Type</td><td>Access</td><td>Description</td></tr><tr><td>0x6002</td><td>1</td><td>DI16</td><td>TxPDO</td><td></td><td>0~FFFF</td><td>U16</td><td>R</td><td>Digital input 16-ch data</td></tr><tr><td>0x7002</td><td>1</td><td>DO16</td><td>RxPDO</td><td></td><td>0~FFFF</td><td>U16</td><td>RW</td><td>Digital output 16-ch data</td></tr><tr><td>0x5002</td><td>0</td><td>Retain option for DO16</td><td>N/A</td><td></td><td>0~1</td><td>U16</td><td>RW</td><td>1. Retain option for digital output while network disconnected.2. If value is 0, digital output will be retained. If value is 1 or above, digital output will not be retained.3. Default retain option is 0.</td></tr></table>

8.4 AI16AO2

<table><tr><td>Index</td><td>Sub Index</td><td>Name/Description</td><td>PDO Mapping</td><td>Unit</td><td>Range</td><td>Data Type</td><td>Access</td><td>Description</td></tr><tr><td rowspan="16">0x6003</td><td>1</td><td>CH0</td><td rowspan="16">TxPDO</td><td rowspan="16"></td><td rowspan="16">0xFFFF</td><td rowspan="16">U16</td><td rowspan="16">R</td><td rowspan="16">Analog input Ch0~CH15 data (*)</td></tr><tr><td>2</td><td>CH1</td></tr><tr><td>3</td><td>CH2</td></tr><tr><td>4</td><td>CH3</td></tr><tr><td>5</td><td>CH4</td></tr><tr><td>6</td><td>CH5</td></tr><tr><td>7</td><td>CH6</td></tr><tr><td>8</td><td>CH7</td></tr><tr><td>9</td><td>CH8</td></tr><tr><td>10</td><td>CH9</td></tr><tr><td>11</td><td>CH10</td></tr><tr><td>12</td><td>CH11</td></tr><tr><td>13</td><td>CH12</td></tr><tr><td>14</td><td>CH13</td></tr><tr><td>15</td><td>CH14</td></tr><tr><td>16</td><td>CH15</td></tr><tr><td>0x7003</td><td>1</td><td>CH0</td><td>RxPDO</td><td></td><td>0~FFFF</td><td>U16</td><td>RW</td><td>Analog output Ch0 data (**)</td></tr><tr><td></td><td>2</td><td>CH1</td><td>RxPDO</td><td></td><td>0~FFFF</td><td>U16</td><td>RW</td><td>Analog output Ch1 data</td></tr><tr><td>0x5003</td><td>0</td><td>Retain option for AO2</td><td>n/a</td><td></td><td>0~1</td><td>U16</td><td>RW</td><td>0: Retain AO when disconnection1: Do not retain AO when disconnection</td></tr><tr><td>0x5004</td><td>0</td><td>Range option for AI16</td><td>n/a</td><td></td><td>0~3</td><td>U16</td><td>RW</td><td>0: +-10V1: +-5V2: +-2.5V3: +-1.25V</td></tr><tr><td>0x5005</td><td>0</td><td>Mode option for AI16</td><td>n/a</td><td></td><td>0~1</td><td>U16</td><td>RW</td><td>0: single mode for analog input1: diff mode for analog input</td></tr></table>

# (\*) Analog input formula:

Signed 16-bit value
Range: configured by OD 0x5004
Resolution:
+-10V: 10V / 2^15 = 0.0005V
+-5V: 5V / 2^15
+-2.5V: 2.5V / 2^15
+-1.25V: 1.25V / 2^15
Actual\_voltage = ADC\_code \* Resolution

# (\*\*)Analog output formula:

Signed 16-bit value
• Range: -10V to 10V
Resolution: 10.0V / 2^15
• Actual\_voltage = DAC\_code \* Resolution

# 9 Appendix A Object Dictionary

An Object Dictionary is a structured collection of data objects that define the behavior, parameters, and communication characteristics of each ECAT IO module.

9.1 ECAT-DI32 Object Dictionary

<table><tr><td>Index</td><td>Sub Index</td><td>Name / Description</td><td>Access</td><td>Default Value</td></tr><tr><td>0x1000</td><td>0</td><td>Device type</td><td>RO</td><td>0x00810191</td></tr><tr><td>0x1001</td><td>0</td><td>Error Register</td><td>RO</td><td>0x00</td></tr><tr><td>0x1008</td><td>0</td><td>Device Name</td><td>RO</td><td>ECAT-DI32-M-N</td></tr><tr><td>0x1009</td><td>0</td><td>Hardware version</td><td>RO</td><td>A.1</td></tr><tr><td>0x100A</td><td>0</td><td>Software version</td><td>RO</td><td>2023021401</td></tr><tr><td>0x1018</td><td>0</td><td>identify</td><td>RO</td><td>4</td></tr><tr><td>0x1018</td><td>01</td><td>Vender ID</td><td>RO</td><td>0x0000144A</td></tr><tr><td>0x1018</td><td>02</td><td>Product Code</td><td>RO</td><td>0x00025100</td></tr><tr><td>0x1018</td><td>03</td><td>Revision</td><td>RO</td><td>0x00000001</td></tr><tr><td>0x1018</td><td>04</td><td>Serial number</td><td>RO</td><td>0x00000000</td></tr></table>

9.2 ECAT-DO32 Object Dictionary

<table><tr><td>Index</td><td>Sub Index</td><td>Name / Description</td><td>Access</td><td>Default Value</td></tr><tr><td>0x1000</td><td>0</td><td>Device type</td><td>RO</td><td>0x00820191</td></tr><tr><td>0x1001</td><td>0</td><td>Error Register</td><td>RO</td><td>0x00</td></tr><tr><td>0x1008</td><td>0</td><td>Device Name</td><td>RO</td><td>ECAT-DO32-M-N</td></tr><tr><td>0x1009</td><td>0</td><td>Hardware version</td><td>RO</td><td>A.1</td></tr><tr><td>0x100A</td><td>0</td><td>Software version</td><td>RO</td><td>2023021401</td></tr><tr><td>0x1018</td><td>0</td><td>identify</td><td>RO</td><td>4</td></tr><tr><td>0x1018</td><td>01</td><td>Vender ID</td><td>RO</td><td>0x0000144A</td></tr><tr><td>0x1018</td><td>02</td><td>Product Code</td><td>RO</td><td>0x00015100</td></tr><tr><td>0x1018</td><td>03</td><td>Revision</td><td>RO</td><td>0x00000001</td></tr><tr><td>0x1018</td><td>04</td><td>Serial number</td><td>RO</td><td>0x00000000</td></tr></table>

9.3 ECAT-DI16DO16 Object Dictionary

<table><tr><td>Index</td><td>Sub Index</td><td>Name / Description</td><td>Access</td><td>Default Value</td></tr><tr><td>0x1000</td><td>0</td><td>Device type</td><td>RO</td><td>0x00830191</td></tr><tr><td>0x1001</td><td>0</td><td>Error Register</td><td>RO</td><td>0x00</td></tr><tr><td>0x1008</td><td>0</td><td>Device Name</td><td>RO</td><td>ECAT-DI16DO16-M-NN</td></tr><tr><td>0x1009</td><td>0</td><td>Hardware version</td><td>RO</td><td>A.1</td></tr><tr><td>0x100A</td><td>0</td><td>Software version</td><td>RO</td><td>2023050901</td></tr><tr><td>0x1018</td><td>0</td><td>identify</td><td>RO</td><td>4</td></tr><tr><td>0x1018</td><td>01</td><td>Vender ID</td><td>RO</td><td>0x0000144A</td></tr><tr><td>0x1018</td><td>02</td><td>Product Code</td><td>RO</td><td>0x00035100</td></tr><tr><td>0x1018</td><td>03</td><td>Revision</td><td>RO</td><td>0x00000001</td></tr><tr><td>0x1018</td><td>04</td><td>Serial number</td><td>RO</td><td>0x00000000</td></tr></table>

9.4 ECAT-AI16AO2 Object Dictionary

<table><tr><td>Index</td><td>Sub Index</td><td>Name / Description</td><td>Access</td><td>Default Value</td></tr><tr><td>0x1000</td><td>0</td><td>Device type</td><td>RO</td><td>0x008C0191</td></tr><tr><td>0x1001</td><td>0</td><td>Error Register</td><td>RO</td><td>0x00</td></tr><tr><td>0x1008</td><td>0</td><td>Device Name</td><td>RO</td><td>ECAT-AI16AO2-M-VV</td></tr><tr><td>0x1009</td><td>0</td><td>Hardware version</td><td>RO</td><td>A.1</td></tr><tr><td>0x100A</td><td>0</td><td>Software version</td><td>RO</td><td>2024122001</td></tr><tr><td>0x1018</td><td>0</td><td>identify</td><td>RO</td><td>4</td></tr><tr><td>0x1018</td><td>01</td><td>Vender ID</td><td>RO</td><td>0x0000144A</td></tr><tr><td>0x1018</td><td>02</td><td>Product Code</td><td>RO</td><td>0x00045100</td></tr><tr><td>0x1018</td><td>03</td><td>Revision</td><td>RO</td><td>0x00000001</td></tr><tr><td>0x1018</td><td>04</td><td>Serial number</td><td>RO</td><td>0x00000000</td></tr></table>

# 10 Appendix B TwinCAT

TwinCAT® is a software system from Beckhoff that provides an integrated development environment (IDE) for programming and configuring industrial automation and control systems.

This appendix will show how to connect an ECAT IO via TwinCAT and operate the IO functions.

# 10.1 Import EtherCAT Slave Information (ESI) Files

An ESI file is typically provided in an XML format and can be accessed and read by EtherCAT configuration and programming tools that support the EtherCAT communication protocol. The ESI file is an essential component of an EtherCAT system, as it enables the EtherCAT master device to communicate with and control EtherCAT slave devices on the network.

ESI files must be imported into the TwinCAT I/O EtherCAT installation folder before initiating TwinCAT.

Using TwinCAT version 3.1 as an example, the default path is C:\TwinCAT\3.1\Config\Io\EtherCAT.

After importing an ESI file, reopen TwinCAT and wait for the utility to rebuild the EtherCAT device description cache.

# 10.2 Activate ECAT I/O Devices

Follow the steps below to activate ECAT IO devices.

1. Create a project and right-click I/O>Devices, then select Scan to initiate a scan for EtherCAT devices.

![TwinCAT Project1 - Microsoft Visual Studio\nFile Edit View Project Build Debug TwinCAT TwinSAFE PLC\nRelease TwinCAT RT (x&)\nSolution Explorer\nSearch Solution Explorer (Ctrl+;)\nSolution 'TwinCAT Project1' (1 project)\nTwinCAT Project1\nSYSTEM\nLicense\nReal-Time\nI/O Idle Task\nTasks\nRoutes\nType System\nTcCOM Objects\nMOTION\nNC-Task 1 SAF\nNC-Task 1 SVB\nImage\nTables\nObjects\nAxes\nPLC\nSAFETY\nC++\nI/O\nDevices\nMappings\nAdd New Item... Ins\nAdd Existing Item... Shift+Alt+A\nExport EAP Config File\nScan\nPaste Ctrl+V\nPaste with Links\nSolution Explorer Team Explorer Class View](.ecat-io-m-series-50m-27013-1010-1-1/057f6f80606b8ab5e6014b1e5b95b582292a7be5f1e09c7b58ea735535438614.jpg)

All network interface cards will be listed in the popup win- dow. If slaves are connected to the network interface card and have been identified by TwinCAT, the will be checked. Click OK.

![2 new I/O devices found\nDevice 1 (EtherCAT Automation Protocol) 區域連線 5 (TAP-Windows Adapter V9)\nDevice 3 (EtherCAT) 區域連線 6 (TwinCAT-Intel PCI Ethernet Adapter (Gig)\nOK\nCancel\nSelect All\nUnselect All](.ecat-io-m-series-50m-27013-1010-1-1/59db0ebde2bfffbda353ec453f14d0a6e5953c07b4d8f286a7429672e9a32036.jpg)

2. Click Yes to activate the slave.

![Microsoft Visual Studio\nActivate Free Run\nYes	No](.ecat-io-m-series-50m-27013-1010-1-1/92de9572c20e4a28a4ae1a2f1add3e4816d505ab50612b568d010a86517c2fe7.jpg)

3. ECAT IO will be listed as a slave device of the EtherCAT master and the Run status LED will be green. This indicates that the user can begin operating the device.

![TwinCAT Project1 - Microsoft Visual Studio\nFile Edit View Project Build Debug TwinCAT TwinSAFE PLC Team Tools Test Scope Analyze Window Help\nRelease TwinCAT RT (x6) Attach...\nSolution Explorer\nSearch Solution Explorer (Ctrl+)\nType System\nTcCOM Objects\nMOTION\nNC-Task1 SAF\nNC-Task1 SVB\nImage\nTables\nObjects\nAxes\nPLC\nSAFETY\nC++\nI/O\nDevices\nDevice 3 (EtherCAT)\nImage\nImage-Info\nSyncUnits\nInputs\nOutputs\nInfoData\nBox 1 (DO32)\nDO32\nWcState\nInfoData\nMappings\nSolution Explorer Team Explorer Class View\nTwinCAT Project1\nGeneral EtherCAT DC Process Data Startup CoE - Online Online\nName: Box 1 (DO32) Id: 1\nObject Id: 0x03020001\nType: DO32\nComment:\nDisabled Create symbols\nError List\nEntire Solution 0 Errors 0 Warnings 0 Messages Clear\nDescription](.ecat-io-m-series-50m-27013-1010-1-1/66100f3c486265849773233bb5c1f4dae6e7100d2f63849cf2ecb8a4cee63db1.jpg)

# 10.3 Operation

In this example, there is an ECAT-DO32 module in the topology with 32 digital output channels which are respectively controlled by bits 0-31. A bit value of "0" means it is turned off, and a bit value of "1" means it is turned on. The setting in the picture is decimal value "4,294,967,295", which means that all channels are turned on.

![TwinCAT Project1 - Microsoft Visual Studio\nFile Edit View Project Build Debug TwinCAT TwinSAFE PLC Team Tools Test Scope Analyze Window Help\nSolution Explorer\nSearch Solution Explorer (Ctrl+)\nTeCOM Objects\nMOTION\nNC-Task 1 SAF\nNC-Task 1 SVB\nImage\nTables\nObjects\nAxes\nPLC\nSAFETY\nC++\nI/O\nDevices\nDevice 3 (EtherCAT)\nImage\nImage-Info\nSyncUnits\nInputs\nOutputs\nInfoData\nBox 1 (D03Z)\nDO32\nOutput DW\nWrstState\nInfoData\nMappings\nSolution Explorer Team Explorer Class View\nTwinCAT Project1\nVariable Flags Online\nValue: 4294967295\nNew Value: Force Release Write\nComment:\nSet Value Dialog\nDec: 80000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000000\nHex: DFFFFFFF\nFloat: non 0\nBoot: 0 1 Hex Edit...\nBinary: FF FF FF FF 4\nBit Size: 1 8 16 32 64 ?\nError List\nEntire Solution  0 Errors  0 Warnings  0 Messages Clear Build + IntelliSense search Error List\nDescription Project File Li...](.ecat-io-m-series-50m-27013-1010-1-1/d8d241a5f2d3bad446a6a0a5bdaa2035f8c3f13f0fc1c4bab152f9c892028ba4.jpg)

# Safety Instructions

For user safety, please read and follow all instructions, Warnings, Cautions, and Notes marked in this manual and on the associated device before handling/operating the device, to avoid injury or damage.

S'il vous plaît prêter attention stricte à tous les avertissements et mises en garde figurant sur l'appareil , pour éviter des blessures ou des dommages.

► Read these safety instructions carefully.
► Keep the User’s Manual for future reference.
► Read the Specifications section of this manual for detailed information on the recommended operating environment.
► The device can be operated at an ambient temperature of 50ºC.
► When installing/mounting or uninstalling/removing device; or when removal of a chassis cover is required for user servicing:

[> Turn off power and unplug any power cords/cables.

[> Reinstall all chassis covers before restoring power.

► To avoid electrical shock and/or damage to device:

[> Keep device away from water or liquid sources.
[> Keep device away from high heat or humidity.
[> Keep device properly ventilated (do not block or cover ventilation openings).
[> Always use recommended voltage and power source settings.
[> Always install and operate device near an easily accessible electrical outlet.
[> Secure the power cord (do not place any object on/over the power cord).
[> Only install/attach and operate device on stable surfaces and/or recommended mountings.

► If the device will not be used for long periods of time, turn off and unplug from its power source.
► Never attempt to repair the device, which should only be serviced by qualified technical personnel using suitable tools.
► A Lithium-type battery may be provided for uninterrupted backup or emergency power.

![The image shows a close-up of a yellow triangular warning sign with a black border. Inside the triangle is a large black exclamation point.](.ecat-io-m-series-50m-27013-1010-1-1/94b15e6ac2cd691f461e88edf306daaf33a20ac76f36f91101baa11226ece0ca.jpg)
CAUTION:

Risk of explosion if battery is replaced with one of an incorrect type; please dispose of used batteries appropriately.

► The device must be serviced by authorized technicians when:

[> The power cord or plug is damaged.
[> Liquid has entered the device interior.
[> The device has been exposed to high humidity and/or moisture.
[> The device is not functioning or does not function according to the User’s Manual.
[> The device has been dropped and/or damaged and/or shows obvious signs of breakage.

► Disconnect the power supply cord before loosening the thumbscrews and always fasten the thumbscrews with a screwdriver before starting the system up.

► It is recommended that the device be installed only in a server room or computer room where access is:

[> Restricted to qualified service personnel or users familiar with restrictions applied to the location, reasons therefore, and any precautions required.

[> Only afforded by the use of a tool or lock and key, or other means of security, and controlled by the authority responsible for the location.

► If PoE (Power over Ethernet) is enabled for the device, the system can ONLY be deployed indoors. Unless otherwise noted, the PoE system is NOT designed to withstand the rigors of outdoor use.

<table><tr><td>&lt;img src="images/410c8d8241918c541951c26024f7d095879c8c8c374a8d087d62a08c3f4d54a9.jpg"/&gt;</td><td>BURN HAZARDTouching this surface could result in bodily injury.To reduce risk, allow the surface to cool before touching.</td></tr></table>

# Consignes de Sécurité Importante

S'il vous plaît prêter attention stricte à tous les avertissements et mises en garde figurant sur l'appareil, pour éviter des blessures ou des dommages.

 Lisez attentivement ces consignes de sécurité.
 Conservez le manuel de l'utilisateur pour pouvoir le con- sulter ultérieurement.
 Lisez la section Spécifications de ce manuel pour des infor- mations détaillées sur l'environnement d'exploitation recom- mandé.
 L'appareil peut être utilisé à une température ambiante de 45°C avec entrée CC pour les série MVP-61; 35ºC avec entrée adaptateur pour la série MVP-61.
 Il est recommandé d'installer l'appareil dans des salles de technologie de l'information conformes à l'article 645 du National Electrical Code et à la NFPA 75.
 Pour éviter les chocs électriques et/ou d’endommager l’appareil:

 Tenez l'appareil à l'écart de toute source d'eau ou de liq- uide.
 Tenez l'appareil à l'écart d'une forte chaleur ou d'une humidité élevée.
 Maintenez l'appareil correctement ventilé (n'obstruer ou ne couvrez pas les ouvertures de ventilation).
 Utilisez toujours les réglages de tension et de source d'alimentation recommandés.
 Installez et utilisez toujours l'appareil près d'une prise de courant facilement accessible.
 Fixez le cordon d'alimentation (ne placez aucun objet sur le cordon d'alimentation).
 Installez/fixez et utilisez l'appareil uniquement sur des surfaces stables et/ou sur les fixations recommandées.
 Le cordon d'alimentation doit être connecté à une prise ou à une prise de courant avec mise à la terre.

 Si l'appareil ne doit pas être utilisé pendant de longues péri- odes, éteignez-le et débranchez-le de sa source d'alimenta- tion

 N'essayez jamais de réparer l'appareil, qui ne doit être réparé que par un personnel technique qualifié à l'aide d'outils appro- priés

 Une batterie de type Lithium peut être fournie pour une ali- mentation de secours ininterrompue ou d'urgence.

![This image displays a yellow triangular warning sign with a black border. Inside the triangle is a black exclamation point.](.ecat-io-m-series-50m-27013-1010-1-1/2dd348e948ff8df962c2e686b0760794b707bb143b6f693e2f6190324dfea738.jpg)
CAUTION:

ATTENTION: Risque d’explosion si la pile est remplacée par une autre de type incorrect. Veuillez jeter les piles usagées de façon appropriée.

 Cet équipement ne convient pas à une utilisation dans des lieux pouvant accueillir des enfants.
 L'appareil doit être entretenu par des techniciens agrees lorsque:
 Le cordon d’alimentation ou la prise est endommagé(e)
 Un liquide a pénétré à l'intérieur de l'appareil.
 L'appareil a été exposé à une forte humidité et/ou de la buée.
 L'appareil ne fonctionne pas ou ne fonctionne pas selon le manuel de l'utilisateur.
 L'appareil est tombé et/ou a été endommagé et/ou présente des signes évidents de dommage.
 Débranchez le cordon d'alimentation avant de desserrer les vis à oreilles et serrez toujours les vis à oreilles avec un tourn- evis avant de mettre le système en marche.
 Il est recommandé d'installer l'appareil uniquement dans une salle de serveurs ou une salle informatique où l'accès est:

 Réservé au personnel de service qualifié ou aux utilisa- teurs familiarisés avec les restrictions appliquées à l'emplacement, aux raisons de ces restrictions et toutes les précautions requises
 Uniquement autorisé par l'utilisation d'un outil, d'une serrure et d'une clé, ou d'un autre moyen de

sécurité, et contrôlé par l'autorité responsable de l'emplacement.

![Warning sign depicting steam rising inside a yellow triangle, indicating hazardous or hazardous material.](.ecat-io-m-series-50m-27013-1010-1-1/05c699578abbe462f2149d50ccdb2af5c48eff3a961f6039e4cd954337385c43.jpg)

# RISQUE DE BRULURES

Partie chaude! Ne touchez pas cette surface, cela pourrait entrainerdes blessures.Pourévitertout danger,laissez la surface refroidir avant de la toucher.

# Getting Services

Ask an Expert: https://www.adlinktech.com/en/Askanexpert

# ADLINK Technology, Inc.

Address: No. 66, Huaya 1st Road, Guishan District Taoyuan City 333, Taiwan

Tel: +886-3-216-5088

Fax: +886-3-328-5723

Email: service@adlinktech.com

# Ampro ADLINK Technology, Inc.

Address: 6450 Via Del Oro, San Jose, CA 95119-1208, USA

Tel: +1-408-360-0200

Toll Free: +1-800-966-5200 (USA only)

Fax: +1-408-600-1189

Email: info@adlinktech.com

# ADLINK Technology (China) Co., Ltd.

Address: 300 Fang Chun Rd., Zhangjiang Hi-Tech Park, Pudong New Area Shanghai, 201203 China

Tel: +86-21-5132-8988

Fax: +86-21-5132-3588

Email: market@adlinktech.com

# ADLINK Technology GmbH

Address: Hans-Thoma-Strasse 8-10, 68163 Mannheim, Germany

Tel: +49-621-43214-0

Fax: +49-621 43214-30

Email: emea@adlinktech.com

Please visit the Contact page at www.adlinktech.com for information on how to contact the ADLINK regional office nearest you.
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