# EPS Series

# EtherCAT Slave System

# User's Manual

![Exterior view of a server rack with connected modules and ports (no visible text or symbols)](.epsseries-50-1z188-2000-200-r1-en-en/9acf8b17ce60591b5cdaa68db2864198df8c6484572b29d04b72a66a0e4e3085.jpg)

Manual Rev.: 2.00

Revision Date: Aug. 2, 2015

Part No: 50-17043-1000

# Revision History

<table><tr><td>Revision</td><td>Release Date</td><td>Description of Change(s)</td></tr><tr><td>2.00</td><td>2015/10/2</td><td>Initial Release</td></tr></table>

# Preface

# Copyright 2015 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.

# Trademarks

PC, PS/2, and VGA are registered trademarks of International Business Machines Corp. Borland $^{®}$ , Borland $^{®}$ C, C++ Builder $^{®}$ , and Delphi $^{®}$ are registered trademarks of the Borlan9 Software Corporation. LabVIEW $^{™}$ is a trademark of National Instruments Corporation. Microsoft $^{®}$ , Visual Basic $^{®}$ , Visual C++ $^{®}$ , Windows $^{®}$

98, Windows $^{®}$ NT, Windows $^{®}$ 2000, Windows $^{®}$ XP, and Windows $^{®}$ Vista $^{®}$ are registered trademarks of Microsoft $^{®}$ Corporation. PCI $^{™}$ , is a registered trademark of the Peripheral Component Interconnect Special Interest Group (PCI-SIG).

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 white document or piece of paper with its top-right corner folded down. Faint gray horizontal lines run across the document, simulating text. Superimposed over the document is a large, bold red checkmark, indicating approval or completion.](.epsseries-50-1z188-2000-200-r1-en-en/5ec477e14e24aaefeda8d93c6ac237616218526cf8b226dcb85fdd222092ac11.jpg)
NOTE:

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

![The image shows a yellow, triangular warning sign with a thick black border. Centered within the triangle is a large, black exclamation point.](.epsseries-50-1z188-2000-200-r1-en-en/88e3cce0e1a30a27e12e03d8d43f740bc4c234a8c81998c51bb542fcaf16f49b.jpg)
CAUTION:

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

![A red triangular warning sign containing a large white exclamation mark in the center.](.epsseries-50-1z188-2000-200-r1-en-en/d3183b2cfea52b13df8b98c15f0d1ac54d449ea71ef65d72f98d3fce31145919.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...... iii

# List of Figures ix

# List of Tables.... xi

# 1 Introduction ...... 1

1.1 Features.... 2
1.2 Specifications.... 3

1.2.1 EPS-9905 Chassis 3
1.2.2 EPS-1132 Module 4
1.2.3 EPS-2032 Module 4
1.2.4 EPS-2132 Module 5
1.2.5 EPS-2308 Module 6
1.2.6 EPS-3032 Module 6
1.2.7 EPS-3216 Module 7
1.2.8 EPS-3504 Module 7
1.2.9 EPS-4008 Module 8
1.2.10 EPS-6000 Module 8
1.2.11 EPS-7002 Module 9

1.3 Schematics 10
1.4 EPS Slave System Composition.... 13

# 2 Getting Started 15

2.1 Package Contents 15
2.2 Cooling Considerations.... 16
2.3 Hardware Installation.... 17

2.3.1 Installing the Bus Coupler Module.... 17
2.3.2 Installing Peripheral Modules 17

2.4 Rack Mounting.... 18

2.4.1 Powering Up the System.... 18

# 3 EPS System Modules 19

# 3.1 EPS-1132 20

3.1.1 Connector and Wiring 22
3.1.2 LED Indicators 23
3.1.3 Signal Connection....23
3.1.4 Object Dictionary 24

# 3.2 EPS-2032 24

3.2.1 Connector and Wiring 26
3.2.2 LED Indicators 27
3.2.3 Signal Connection....27
3.2.4 Object Dictionary 27

# 3.3 EPS-2132 28

3.3.1 Connector and Wiring 30
3.3.2 LED Indicators 31
3.3.3 Signal Connection....31
3.3.4 Object Dictionary 31

# 3.4 EPS-2308 32

3.4.1 Connector and Wiring 34
3.4.2 Signal Connection....35
3.4.3 Object Dictionary 35

# 3.5 EPS-3032 36

3.5.1 Connector and Wiring 38
3.5.2 LED Indicators 39
3.5.3 Signal Connection....39
3.5.4 Object Dictionary 39

# 3.6 EPS-3216 42

3.6.1 Connector and Wiring 44
3.6.2 LED Indicators 45
3.6.3 Signal Connection....45
3.6.4 Object Dictionary 46

# 3.7 EPS-3504 47

3.7.1 Connector and Wiring 49

3.7.2 LED Indicators 50
3.7.3 Signal Connection 50
3.7.4 Object Dictionary 51

# 3.8 EPS-4008 51

3.8.1 Connector and Wiring....54
3.8.2 LED Indicators 55
3.8.3 Signal Connection 55
3.8.4 Object Dictionary 56

# 3.9 EPS-6000 56

3.9.1 Connector and Wiring....60
3.9.2 LED Indicators 61
3.9.3 Object Dictionary 62

# 3.10 EPS-7002 62

3.10.1 LED Indicators 67
3.10.2 Signal Connection 67
3.10.3 Object Dictionary 67

# A Appendix: LinkMasterPro™ 69

A.1 Interface.... 71
A.2 Installation.... 72
A.3 Controls and Function.... 74

A.3.1 Selecting MAC Address....74
A.3.2 Scanning for Devices....75
A.3.3 Exporting ESI....76
A.3.4 Device Tree View 79
A.3.5 Error Logging and History....85
A.3.6 FOE (File Over EtherCAT) 86
A.3.7 Getting OD Info....88
A.3.8 Module I/O Panels 89
A.3.9 Exporting Log Messages 100
A.3.10 Version Information 100

Important Safety Instructions.... 101

Getting Service 103

# List of Figures

Figure 1-1: Front View (slots vacant)....10

Figure 1-2: Front View
(EPS-6000 EtherCAT bus coupler module installed) 11

Figure 1-3: (Left) Side View 12

Figure 1-4: Top View....13

Figure 1-5: EPS System w/ Modules Installed....14

Figure 3-1: EPS-1132 Specifications 20

Figure 3-2: EPS-1132 Schematic 22

Figure 3-3: EPS-2032 Schematic 26

Figure 3-4: EPS-2132 Schematic 30

Figure 3-5: EPS-2308 Schematic 34

Figure 3-6: EPS-3032 Schematic 38

Figure 3-7: EPS-3216 Schematic 44

Figure 3-8: EPS-3504 Schematic 49

Figure 3-9: EPS-4008 Schematic 54

Figure 3-10: EPS-6000 Schematic 60

Figure 3-11: EPS-7002 Schematic 66

Figure A-1: LinkMasterPro™ Operational Overview 70

Figure A-2: LinkMasterPro™ Interface 71

Figure A-3: LinkMasterPro™ Folder....74

Figure A-4: Scan Failure Notification....75

Figure A-5: EPS Slave System in Tree View 76

Figure A-6: Save ESI Path Selection 77

Figure A-7: ESI Export Progress Display 78

Figure A-8: Export Successful Display 79

Figure A-9: EPS Slave System Panel 80

Figure A-10: EPS-6000 Product Page (default Slot 1 installation) 82

Figure A-11: EPS-2032 Product Page (exemplary Slot 2 installation) 83

Figure A-12: DC Dialog Page 84

Figure A-13: DC Parameters Page 85

Figure A-14: Error Log Page (w/ Index 0 selected)....86

Figure A-15: Binary File Selection 87

Figure A-16: Binary File Download Success Notification 88

Figure A-17: OD List....89

Figure A-18: Module Selection 90

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# List of Tables

Table 3-1: EPS Peripheral Modules.... 19

Table 3-2: EPS-1132 Pin Assignment 21

Table 3-3: LED Indicator Legend 23

Table 3-4: EPS-2032 Specifications 24

Table 3-5: EPS-2032 Pin Assignment 25

Table 3-6: LED Indicator Legend 27

Table 3-7: EPS-2132 Specifications 28

Table 3-8: EPS-2132 Pin Assignment 29

Table 3-9: LED Indicator Legend 31

Table 3-10: EPS-2308 Specifications 32

Table 3-11: EPS-2308 Pin Assignment 33

Table 3-12: EPS-3032 Specifications 36

Table 3-13: EPS-3032 Pin Assignment 37

Table 3-14: LED Indicator Legend 39

Table 3-15: EPS-3216 Specifications 42

Table 3-16: EPS-3216 Pin Assignment 43

Table 3-17: LED Indicator Legend 45

Table 3-18: EPS-3504 Specifications 47

Table 3-19: EPS-3504 Pin Assignment 48

Table 3-20: LED Indicator Legend 50

Table 3-21: EPS-4008 Specifications 52

Table 3-22: EPS-4008 Pin Assignment 53

Table 3-23: LED Indicator Legend 55

Table 3-24: EPS-6000 Specifications 57

Table 3-25: EPS-6000 Pin Assignment 59

Table 3-26: LED Indicator Legend 61

Table 3-27: EPS-7002 Specifications 63

Table 3-28: EPS-7002 Pin Assignment 65

Table 3-29: LED Indicator Legend 67

Table A-1: LinkMasterPro™ Interface Legend 71

Table A-2: EPS Slave System Panel Operations....81

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# 1 Introduction

The ADLINK complete EtherCAT solution, from hardware to middleware to software, with every element tailored for dedicated EtherCAT functionality, includes Talos master controllers, EPS slave systems, and remote monitoring and control providers. As well, ADLINK's Softmotion one-stop control kernel delivers flexible and easy-to-use intelligent platforms for driving next-generation modern Smart Factories.

ADLINK's EPS slave system brings the power the flexibility to EtherCAT environments. State-of-the-art modular construction allows the EtherCAT slave to be configured to fulfill the needs of both small local applications and expansive distributed platforms. The EPS system monitors and controls nearly any type of I/O device and sensor as well as motors, with comprehensive and high-density I/O modules that include DI/O, AI/O, and thermal as well as pulse-chain motion modules. Leveraging ARM and FPGA technologies, the EPS slave is able to monitor and report system integrity via EtherCAT communication, while relay module lifecycle and signal integrity of analog output are monitored cyclically, and hot swappability reduces downtime significantly.

Uniquely designed for full operability in conditions from $-20^{\circ}C$ to $60^{\circ}C$ , the EPS slave system is also fully compliant with the EN 60068-2 standard for shock and vibration and EN 61000-6 for heavy industrial EMC protection, as well as emission certification.

Corresponding ESI files for each EPS system can be generated thru ADLINK's Windows-based EtherCAT slave utility, LinkMaster-Pro™.

# 1.1 Features

▶ Compatible with certified 3rd party EtherCAT masters
▶ Comprehensive slave modules include high-density digital I/O, analog I/O, thermal measurement, and motion control
▶ EtherCAT COE, FOE protocol support
▶ Compliance with industrial IEC standard
▶ Automatic Detection System by LinkMasterPro™ application detects and generates corresponding ESI files automatically
▶ Intelligent status monitoring for EPS modules
▶ Hot-swappable to reduce MTTR
▶ Operable in environments from $-20^{\circ}C$ to $60^{\circ}C$

![The image displays a standard digital icon featuring a white document with a folded top-right corner and faint horizontal lines. A large, bold red checkmark is superimposed over the center of the document.](.epsseries-50-1z188-2000-200-r1-en-en/35153f0fd5e5b29a99aa52c9b4baee310316ebd495a7e3ea9c8283938d0845d2.jpg)
NOTE:

The EPS slave system is fully capable of cooperation with not only ADLINK's Talos master controller but also 3rd party EtherCAT master controllers, by importing corresponding ESI file for eaqch individual module.

# 1.2 Specifications

# 1.2.1 EPS-9905 Chassis

<table><tr><td colspan="3">System Level</td></tr><tr><td>Processor</td><td colspan="2">Xillinx Zynq SoC</td></tr><tr><td rowspan="3">Memory</td><td>RAM</td><td>512 MB DDR3</td></tr><tr><td>Retain Memory #1</td><td>16MB Flash on Bus Coupler</td></tr><tr><td>Retain Memory #2</td><td>128KB FRAM on every EPS module</td></tr><tr><td colspan="3">Connectivity</td></tr><tr><td>EtherCAT</td><td colspan="2">2 EtherCAT ports</td></tr><tr><td>Motion Protocol</td><td colspan="2">Compliant with CiA402</td></tr><tr><td colspan="3">Miscellaneous Function</td></tr><tr><td>Monitored Parameters</td><td colspan="2">Relay lifecycle Analog output signal integrity System power integrity Module Status</td></tr><tr><td colspan="3">Power Supply</td></tr><tr><td>DC Input</td><td colspan="2">Built-in 9-30 VDC wide-range DC input 3P pluggable connectors with latch (GND, V-, V+)</td></tr><tr><td>AC Input</td><td colspan="2">Optional 40 W external AC-DC adapter for AC input</td></tr><tr><td colspan="3">Mechanical</td></tr><tr><td>Dimensions</td><td colspan="2">130 (W) x 110 (D) x 105 (H) mm</td></tr><tr><td>Weight</td><td colspan="2">950 g (net weight of EPS-9905)</td></tr><tr><td>Mounting</td><td colspan="2">DIN rail</td></tr><tr><td colspan="3">Environmental</td></tr><tr><td>Operating Temperature</td><td colspan="2">-20°C to 60°C</td></tr><tr><td>Storage Temperature</td><td colspan="2">-40°C to 85°C (excl. HDD/SDD/CFAST)</td></tr><tr><td>Humidity</td><td colspan="2">Approx. °C (non-condensing)</td></tr><tr><td>Vibration</td><td colspan="2">EN 60068-2-6 certificationOperating, 5 Grms, 5-500 Hz, 3 axes</td></tr><tr><td>ESD</td><td colspan="2">Contact +/-4 kV and Air +/-8 kV</td></tr><tr><td>Shock</td><td colspan="2">EN 60068-2-27 certificationOperating, 100 G half sine 11 ms duration (w/ mSATA)</td></tr><tr><td>EMC</td><td colspan="2">EN 61000-2 / EN 61000-4 certificationCE and FCC Class A</td></tr><tr><td>Safety</td><td colspan="2">UL, CB</td></tr></table>

# 1.2.2 EPS-1132 Module

<table><tr><td>Channels</td><td>32</td></tr><tr><td>Input Type</td><td>Sinking</td></tr><tr><td>EVCC Input</td><td>24V ±10%</td></tr><tr><td>OFF State Input Voltage</td><td>&lt;5V (IEC61131-2 Type1/3)</td></tr><tr><td>OFF State Input Current</td><td>&lt;2.3mA</td></tr><tr><td>ON State Input Voltage</td><td>10V to 30V (IEC61131-2 Type1/3)</td></tr><tr><td>ON State Input Current</td><td>2.3mA (typ.)</td></tr><tr><td>IO Protection Input Voltage</td><td>Up to 30V</td></tr><tr><td>IO Protection Reverse Voltage</td><td>Up to -30V</td></tr><tr><td>IO Protection Current limit</td><td>&lt; 2.3mA (typ.)</td></tr><tr><td>Response Time</td><td>150μs to 3ms</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 600mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr></table>

# 1.2.3 EPS-2032 Module

<table><tr><td>Channels</td><td>32</td></tr><tr><td>Output Type</td><td>Sourcing</td></tr><tr><td>EVCC Input</td><td>12 to 24V  $\pm$ 10%</td></tr><tr><td>Output Impedance (Rout)</td><td>200 $\Omega$ </td></tr><tr><td>Output Current (Iout)</td><td>300mA per CH800mA per 4-CH</td></tr><tr><td>Output Voltage (Vout)</td><td>EVCC – (Iout x Rout)</td></tr><tr><td>IO Protection Reverse Voltage</td><td>None</td></tr><tr><td>IO Protection Current limit</td><td>1.2A for 4CH</td></tr><tr><td>IO Protection Short Circuit</td><td>None</td></tr><tr><td>Power On State</td><td>Off</td></tr><tr><td>Response Time</td><td>4kHz</td></tr><tr><td>Power Consumption: Chassis</td><td>&lt; 400mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr></table>

# 1.2.4 EPS-2132 Module

<table><tr><td>Channels</td><td>32</td></tr><tr><td>Output Type</td><td>Sinking</td></tr><tr><td>EVCC Input</td><td>12 to 24V ±10%</td></tr><tr><td>Output Impedance (Rout)</td><td>250Ω</td></tr><tr><td>Output Current (Iout)</td><td>300mA per CH800mA per 4-CH</td></tr><tr><td>Output Voltage (Vout)</td><td>Iout x Rout</td></tr><tr><td>IO Protection Reverse Voltage</td><td>None</td></tr><tr><td>IO Protection Current limit</td><td>1.2A for 4CH</td></tr><tr><td>IO Protection Short Circuit</td><td>None</td></tr><tr><td>Power On State</td><td>Off</td></tr><tr><td>Response Time</td><td>4kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

# 1.2.5 EPS-2308 Module

<table><tr><td>Channels</td><td>8</td></tr><tr><td>Type</td><td>SPST (Single pole single throw)</td></tr><tr><td>Maximum switched voltage and current</td><td>30V/2A, 240V/0.5A</td></tr><tr><td>Output Impedance (Rout)</td><td>50mΩ (Typ.)</td></tr><tr><td>IO Protection Reverse Voltage</td><td>Yes</td></tr><tr><td>Power On State</td><td>OFF</td></tr><tr><td>Response Time</td><td>Operate 10ms &amp; release 5ms (Typ.)</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 600mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>DC 2kV 1min.</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>DC 2kV 1min.</td></tr><tr><td>Isolation (Channel-to-Channel) adjacent relay</td><td>250Vrms 1min.</td></tr><tr><td>Isolation (Channel-to-Channel) adjacent pin within a single relay</td><td>250Vrms 1min.</td></tr></table>

# 1.2.6 EPS-3032 Module

<table><tr><td>Channels</td><td>32 Single-ended16 Differential</td></tr><tr><td>Input Range</td><td>±10V</td></tr><tr><td>Resolution</td><td>16 bit</td></tr><tr><td>Offset Error</td><td>±1mV</td></tr><tr><td>Offset Drift</td><td>0.0004% of range per °C</td></tr><tr><td>Gain Error</td><td>±0.05% of FSR</td></tr><tr><td>Gain Drift</td><td>0.002%FSR per °C</td></tr><tr><td>Voltage Protection</td><td>Power On @ ±24V</td></tr><tr><td>Sampling Rate</td><td>100kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

# 1.2.7 EPS-3216 Module

<table><tr><td>Channels</td><td>16 Single-ended</td></tr><tr><td>Input Range</td><td>0-20mA</td></tr><tr><td>Resolution</td><td>16 bit</td></tr><tr><td>Offset Error</td><td>0.5μA</td></tr><tr><td>Offset Drift</td><td>0.0005% of range per °C</td></tr><tr><td>Gain Error</td><td>±0.05% of FSR</td></tr><tr><td>Gain Drift</td><td>0.0008%FSR per °C</td></tr><tr><td>Voltage Protection</td><td>Power On @ ±24V</td></tr><tr><td>Sampling Rate</td><td>100kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

# 1.2.8 EPS-3504 Module

<table><tr><td>Channels</td><td>4 RTD</td></tr><tr><td>Sensor Type</td><td>PT100, PT500, PT1000</td></tr><tr><td>Technology</td><td>2/3/4-Wire</td></tr><tr><td>Resolution</td><td>24 bit</td></tr><tr><td>Sampling Rate</td><td>5 to 20Hz</td></tr><tr><td>Temperature Range</td><td>-200°C to +850°C</td></tr><tr><td>Path Resistance</td><td>18 to 3900Ω</td></tr><tr><td>Accuracy (DC)</td><td>± 0.007% of FSR</td></tr><tr><td>Accuracy (Temperature)</td><td>± 0.5°C</td></tr><tr><td>Excitation Current (Max.)</td><td>500μA</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

# 1.2.9 EPS-4008 Module

<table><tr><td>Channels</td><td>8 Single-ended</td></tr><tr><td>Output Range</td><td>±10V</td></tr><tr><td>Resolution</td><td>16 bit</td></tr><tr><td>Sampling Rate</td><td>100kHz</td></tr><tr><td>Offset Error</td><td>± 0.2mV</td></tr><tr><td>Gain Error</td><td>± 0.05% of FSR</td></tr><tr><td>Offset Drift</td><td>± 0.0075mV /°C</td></tr><tr><td>Gain Drift</td><td>± 0.00025% /°C of FSR</td></tr><tr><td>Output Current Capacity</td><td>5 mA</td></tr><tr><td>Power On State</td><td>Relay off</td></tr><tr><td>Voltage Protection</td><td>± 24V / Relay off when error voltage occurs</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

# 1.2.10 EPS-6000 Module

<table><tr><td>EPS Module Support (slots)</td><td>4 (Max.)</td></tr><tr><td>Field Bus Connectivity</td><td>EtherCAT</td></tr><tr><td>Data Transmission Rate</td><td>100 Mbaud</td></tr><tr><td>Bus Interface</td><td>2 x RJ45</td></tr><tr><td>Cable for EtherCAT Connectivity</td><td>CAT5 / CAT5e (recommended)</td></tr><tr><td>Inner Bus Synchronization</td><td>&gt; 0.1μs</td></tr><tr><td>Supply Voltage</td><td>24VDC (± 10%)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 6.6W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

# 1.2.11 EPS-7002 Module

<table><tr><td>Channels</td><td>2</td></tr><tr><td>Output Frequency</td><td>4MHz</td></tr><tr><td>Output Modes</td><td>CW/CCW, OUT/DIR</td></tr><tr><td>Encoder Input Channels</td><td>2</td></tr><tr><td>Encoder Input Frequency</td><td>20MHz @ 4xAB</td></tr><tr><td>Encoder Input Modes</td><td>CW/CCW, 1/2/4x AB Phase</td></tr><tr><td>Encoder Input Type</td><td>TTL, Incremental</td></tr><tr><td>Motion I/O Interface</td><td>PEL, MEL, ORG</td></tr><tr><td>Servo I/O Interface</td><td>ALM, INP, RDY, SVON, ERC, RST</td></tr><tr><td>Input Type</td><td>Sinking</td></tr><tr><td>Input Current</td><td>IEC 61131-2, Type 1/3</td></tr><tr><td>Output Current (Single Node) (Sinking / Sourcing)</td><td>50mA</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr></table>

Isolation (Channel-to-Chassis) 2kV (DC)

# 1.3 Schematics

![This is an icon depicting a white document with a folded top-left corner and faint horizontal lines, overlaid with a large red checkmark.](.epsseries-50-1z188-2000-200-r1-en-en/3beb0ed74e1cad3c44e70185da7a9627b6122dd59194fb684c2431beacc020df.jpg)
NOTE:

All dimensions are shown in mm (millimeters)

![137](.epsseries-50-1z188-2000-200-r1-en-en/4e7371890d50dca208ba6fd61c410a82e22b82be01a51e877f835dc04bc76f40.jpg)

Figure 1-1: Front View (slots vacant)

![Technical line drawing of a battery pack with four vertical panels and circular buttons (no text or symbols)](.epsseries-50-1z188-2000-200-r1-en-en/4de199fd40cded1b170b091d204ca431286b18fcef18d0cbafaeded1afc82faf.jpg)

Figure 1-2: Front View (EPS-6000 EtherCAT bus coupler module installed)

![AIDLINK\n123.5\n122](.epsseries-50-1z188-2000-200-r1-en-en/8daf98841666e125652d67a73d92734cbf2275257e9f653f4920ba369ac23c15.jpg)

Figure 1-3: (Left) Side View

![Technical line drawing of a rectangular electronic device with mounting base and four side-mounted connectors (no text or symbols)](.epsseries-50-1z188-2000-200-r1-en-en/aac26288080db4f3f6732523bbf13cb8795ef38ed0eacb3e2d67016f055c7e6c.jpg)

Figure 1-4: Top View

# 1.4 EPS Slave System Composition

Each EPS slave system provides 5 slots total, with the far left reserved for bus coupler installation. The remaining slots flexibly support a variety of EPS slave modules. For individual module details, please see Chapter 3: EPS System Modules.

![EPS-6000\nPWR ERR RUN\nX1\nIN\nX2\nOUT\n10-30V DC IN\nEPS-4008\nSTS PWR\nM Motion Jack\nEPS-7002\nEMG STS PWR\nEPS-1132\nSTS PWR\nEPS-2032\nSTS PWR\nVarious Modules\nInstalled\nBus Coupler Installed](.epsseries-50-1z188-2000-200-r1-en-en/065f131b9286d4b115c55f11b24994be0f1c67d3172642570fcf54930b7f8013.jpg)

Figure 1-5: EPS System w/ Modules Installed

# 2 Getting Started

As mentioned previously, each EPS slave system can support up to 4 peripheral modules, installed to support the application. Supported EPS peripheral modules are as follows, and provide digital input, digital output, relay output, analog input, analog output, and thermal input with RTD sensor support, as well as pulse-train motion modules. All EPS peripheral modules are hot-swappable, allowing replacement with no interruption of EPS power..

![The image displays a digital icon featuring a white document with a folded upper-right corner. Faint horizontal lines are visible on the paper, suggesting text. A large, bold red checkmark is superimposed over the document, slanting upwards from left to right.](.epsseries-50-1z188-2000-200-r1-en-en/c2cc04b9b2d093b4d15307ab0d6586b53d04ff4416698c7fad52dd4a5e70208e.jpg)
NOTE:

Diagrams and illustrated equipment are for reference only. Actual system configuration and specifications may vary.

# 2.1 Package Contents

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.

Please ensure that the following items are included in the package.

▶ EPS-9905 chassis with DIN rail kit
▶ EPS-6000 bus coupler (optional)
▶ 3p power connector
▶ Quick Start Guide for EPS slave system

If any of these items are missing or damaged, contact the dealer from whom you purchased the product. Save the shipping materials and carton in case you want to ship or store the product in the future.

![The image displays a red triangle containing a large white exclamation point in the center. A black horizontal line is visible at the very top edge.](.epsseries-50-1z188-2000-200-r1-en-en/a7c6726bddb0d7682ead476f287567a89b9c6865ef17aeff789faa3dff08813f.jpg)
WARNING:

Do not install or apply power to equipment that is damaged or missing components. Retain the shipping carton and packing materials for inspection. Please contact your ADLINK dealer/vendor immediately for assistance and obtain authorization before returning any product.

# 2.2 Cooling Considerations

Heat generated by the EPS system is conducted to the chassis on both sides. To maximize heat dissipation, maintain a minimum 2 inches (5 cm) clearance on the top of the EPS-9905 & 1 inch on either side..

![The image displays an icon of a white document with a folded top-right corner and faint horizontal lines running across it. A large, bold red checkmark is drawn diagonally across the center of the page.](.epsseries-50-1z188-2000-200-r1-en-en/8a5c41073582d1557f8f19d855f1b9ba0f6a5e90120ed5287dea4aa6c09c606f.jpg)
NOTE:

Internal thermal status is monitored by onboard thermal sensors and reported to the Host automatically to ensure prompt action in the event of temperature overages.

# 2.3 Hardware Installation

# 2.3.1 Installing the Bus Coupler Module

The EPS Series incorporates a system controller slot supporting a PXI Express system controller of up to 4 slot width.

1. Align the module with the slot guide in the chassis and carefully slide the module into the slot until seated.
2. Fasten the screws on the front panel and connect corresponding interfaces..

# 2.3.2 Installing Peripheral Modules

The EPS system supports up to 4 peripheral modules.

1. Select an available peripheral slot
2. Carefully slide the peripheral module into the chassis until seated.

![Hand inserting a device into an ACh1-806A PLC module (no visible text or symbols on the device body)](.epsseries-50-1z188-2000-200-r1-en-en/413c8eb60628e64e212a76020aff351747a3e08af6a2c1a68a3ebcfc1375e5b5.jpg)

3. Fasten the screws of all modules.

![The image displays a white sheet of paper with horizontal lines, overlaid with a large red checkmark.](.epsseries-50-1z188-2000-200-r1-en-en/082377e54c0a2f7a712cf8eda20a1d871e9484995a2526c4a78ddf8a111f92a9.jpg)
NOTE:

To improve efficiency of heat dissipation, install filler plates for any unused slots.

# 2.4 Rack Mounting

The EPS slave system is shipped with DIN rail mounting brackets and accessory screws pre-installed. If the installation appears incomplete, contact ADLINK technical support.

1. Insert the top of the DIN rail kit into the slots on the DIN rail attachment plate.
2. Snap the DIN rail kit into place as shown

![Diagram showing a heat exchanger or cooling unit being processed, with no visible text or symbols.](.epsseries-50-1z188-2000-200-r1-en-en/a520abd55c1f3d6d63ae4ec6fa3e8cf9872fa3b6f7f0de93afcbd215a097ffca.jpg)

# 2.4.1 Powering Up the System

![The image displays a standard warning sign. It features a red triangle containing a white exclamation mark in the center. Below the triangle, the word 'WARNING!' is printed in black capital letters on a white background.](.epsseries-50-1z188-2000-200-r1-en-en/94aee8b6b0f44d7db3359ca18c56bce7e64fc51b6285486160c08b16cd09b76c.jpg)

Before providing DC power to the EPS slave system, ensure the voltage and polarity provided are compatible with the DC input. Improper input voltage and/or polarity can be responsible for system damage.

The DC power input connector of the EPS slave system utilizes V+, V-, and chassis ground pins.

1. Connect DC power cables.
2. Fix the DC connector using the 2 screws.

# 3 EPS System Modules

The EPS Series chassis provides advanced system monitoring and control. Chassis conditions, including internal temperature, fan speed, and DC voltage can all be monitored on the system controller or remote PC.

The EPS Series provides software configurable trigger bus bridges, whereby the user can set the status of each trigger bus line. The EPS Series backplane can also be configured between 4-link x 4 lanes or 2-link x 8 lanes by the configurable PCIe switch fabric.

Communication with the chassis monitoring control unit is available using an embedded controller, such as the ADLINK PXIe-3975, to access the SMBus located on the system slot (1st slot), or, alternatively, using a remote PC to communicate via the RS-232 serial port (D-SUB9 connector on the rear panel).

Please note that the RS-232 serial port can only monitor chassis status, but does not provide the capability to change the trigger bus bridges and PCIe switch fabric settings. Function comparison between the SMBus interface and RS-232 serial port is as follows.

<table><tr><td>Module</td><td>Description</td></tr><tr><td>EPS-1132</td><td>32CH, sourcing, digital input</td></tr><tr><td>EPS-2032</td><td>32CH, sinking, digital output</td></tr><tr><td>EPS-2132</td><td>32CH, sourcing, digital output</td></tr><tr><td>EPS-2308</td><td>8CH, SPST, relay output</td></tr><tr><td>EPS-3032</td><td>32CH, ±10V, 16-bit analog input</td></tr><tr><td>EPS-3216</td><td>16CH, 0-20mA, 16-bit analog input</td></tr><tr><td>EPS-3504</td><td>4CH, thermal input, RTD PT100, PT500, PT1000</td></tr><tr><td>EPS-4008</td><td>8CH, ±10V, 16-bit analog output</td></tr><tr><td>EPS-6000</td><td>EtherCAT bus coupler</td></tr><tr><td>EPS-7002</td><td>2CH, pulse-train motion</td></tr></table>

Table 3-1: EPS Peripheral Modules

![The image shows a yellow triangular warning sign with a thick black border. Inside the triangle is a large black exclamation point. Below the triangle, the text reads 'CAUTION:' in black capital letters.](.epsseries-50-1z188-2000-200-r1-en-en/67b25474a15f5a1f49894da643b12c68e1efa29a692d570ca64b2652126c2e39.jpg)

Unregistered EPS peripheral modules cannot be installed in slots configured and registered to a different EPS peripheral module type. EPS modules can only be swapped out for another of the same type, or the new module must be registered and the ESI file regenerated, to reconfigure the entire EtherCAT system.

# 3.1 EPS-1132

The EPS-1132 high density 32CH sourcing type digital input module operates in environments from $-20^{\circ}$ C to $60^{\circ}$ C and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>32</td></tr><tr><td>Input Type</td><td>Sinking</td></tr><tr><td>EVCC Input</td><td>24V ±10%</td></tr><tr><td>OFF State Input Voltage</td><td>&lt;5V (IEC61131-2 Type1/3)</td></tr><tr><td>OFF State Input Current</td><td>&lt;2.3mA</td></tr><tr><td>ON State Input Voltage</td><td>10V to 30V (IEC61131-2 Type1/3)</td></tr><tr><td>ON State Input Current</td><td>2.3mA (typ.)</td></tr><tr><td>IO Protection Input Voltage</td><td>Up to 30V</td></tr><tr><td>IO Protection Reverse Voltage</td><td>Up to -30V</td></tr><tr><td>IO Protection Current limit</td><td>&lt; 2.3mA (typ.)</td></tr><tr><td>Response Time</td><td>150μs to 3ms</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 600mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr></table>

Figure 3-1: EPS-1132 Specifications

<table><tr><td>1</td><td>DI00</td><td>21</td><td>DI01</td><td rowspan="20">&lt;img src="images/fed2e1c6828b7b2085d85156653bab9f40c334d6835053c8e2e0b9c52f59c720.jpg"/&gt;</td></tr><tr><td>2</td><td>DI02</td><td>22</td><td>DI03</td></tr><tr><td>3</td><td>DI04</td><td>23</td><td>DI05</td></tr><tr><td>4</td><td>DI06</td><td>24</td><td>DI07</td></tr><tr><td>5</td><td>EGND</td><td>25</td><td>EGND</td></tr><tr><td>6</td><td>DI08</td><td>26</td><td>DI09</td></tr><tr><td>7</td><td>DI10</td><td>27</td><td>DI11</td></tr><tr><td>8</td><td>DI12</td><td>28</td><td>DI13</td></tr><tr><td>9</td><td>DI14</td><td>29</td><td>DI15</td></tr><tr><td>10</td><td>EGND</td><td>30</td><td>EGND</td></tr><tr><td>11</td><td>DI16</td><td>31</td><td>DI17</td></tr><tr><td>12</td><td>DI18</td><td>32</td><td>DI19</td></tr><tr><td>13</td><td>DI20</td><td>33</td><td>DI21</td></tr><tr><td>14</td><td>DI22</td><td>345</td><td>DI23</td></tr><tr><td>15</td><td>EGND</td><td>35</td><td>EGND</td></tr><tr><td>16</td><td>DI24</td><td>36</td><td>DI25</td></tr><tr><td>17</td><td>DI26</td><td>37</td><td>DI27</td></tr><tr><td>18</td><td>DI28</td><td>38</td><td>DI29</td></tr><tr><td>19</td><td>DI30</td><td>39</td><td>DI31</td></tr><tr><td>20</td><td>N/C</td><td>40</td><td>N/C</td></tr></table>

Table 3-2: EPS-1132 Pin Assignment

![EPS-1132\n32-CH SINKING TYPE DIGITAL INPUT\nMODULE\nSourcing-Output\nDevice\nDBox\nEGND\nExternal\nPower\nSupply\n01 DI00 21 DI01\n02 DI02 22 DI03\n03 DI04 23 DI05\n04 DI06 24 DI07\n05 EGND 25 EGND\n06 DI08 26 DI09\n07 DI10 27 DI11\n08 DI12 28 DI13\n09 DI14 29 DI15\n10 EGND 30 EGND\n11 DI16 31 DI17\n12 DI18 32 DI19\n13 DI20 33 DI21\n14 DI22 34 DI23\n15 EGND 35 EGND\n16 DI24 36 DI25\n17 DI26 37 DI27\n18 DI28 38 DI29\n19 DI30 39 DI31\n20 NC 40 NC\nADLINK](.epsseries-50-1z188-2000-200-r1-en-en/d3b2d16a8a6c8c94686fc11369911b73608597c8474220f5ad2517694929682e.jpg)

Figure 3-2: EPS-1132 Schematic

# 3.1.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 2x20pin
▶ AWG 16-24 gauge

# 3.1.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protection Module present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr><tr><td>Channel(0-3, 4-7, 8-11, 12-15, 16-19, 20-23, 24-27, 28-31)</td><td>Lit</td><td>Channel active</td></tr></table>

Table 3-3: LED Indicator Legend

# 3.1.3 Signal Connection

![Sourcing-Output\nDevice\nDixx\nEGND\nExternal\nPower\nSupply](.epsseries-50-1z188-2000-200-r1-en-en/dec47407fbd4fa99510454d409f5af03d564f5379140dffc3b922ec78c1c68dc.jpg)

# 3.1.4 Object Dictionary

<table><tr><td>Index</td><td>0x3000</td></tr><tr><td>Sub</td><td>N/A</td></tr><tr><td>Type</td><td>U32</td></tr><tr><td>R/W</td><td>R</td></tr><tr><td>Name</td><td>Read digital input 32 bit</td></tr><tr><td>Description</td><td>Digital input channels 1 to 32</td></tr></table>

# 3.2 EPS-2032

The EPS-2032 high density 32CH sinking type digital output module operates in environments from $-20^{\circ}$ C to $60^{\circ}$ C and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>32</td></tr><tr><td>Output Type</td><td>Sourcing</td></tr><tr><td>EVCC Input</td><td>12V to 24V ±10%</td></tr><tr><td>Output Impedance (Rout)</td><td>200Ω</td></tr><tr><td>Output Current (lout)</td><td>300mA per CH800mA per 4CH</td></tr><tr><td>Output Voltage (Vout)</td><td>EVCC – (lout x Rout)</td></tr><tr><td>IO Protection_Reverse Voltage</td><td>None</td></tr><tr><td>IO Protection_Current limit</td><td>1.2A for 4CH</td></tr><tr><td>IO Protection_Short Circuit</td><td>None</td></tr><tr><td>Power On State</td><td>Off</td></tr><tr><td>Response Time</td><td>4kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 400mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.)@ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-4: EPS-2032 Specifications

<table><tr><td>1</td><td>EVCC</td><td>21</td><td>EVCC</td><td rowspan="20">&lt;img src="images/a70425c3f0719117497bc7ed7bc7e9abc897add1a739cc574c958b579338f355.jpg"/&gt;</td></tr><tr><td>2</td><td>CH00</td><td>22</td><td>CH01</td></tr><tr><td>3</td><td>CH02</td><td>23</td><td>CH03</td></tr><tr><td>4</td><td>CH04</td><td>24</td><td>CH05</td></tr><tr><td>5</td><td>CH06</td><td>25</td><td>CH07</td></tr><tr><td>6</td><td>CH08</td><td>26</td><td>CH09</td></tr><tr><td>7</td><td>CH10</td><td>27</td><td>CH11</td></tr><tr><td>8</td><td>CH12</td><td>28</td><td>CH13</td></tr><tr><td>9</td><td>CH14</td><td>29</td><td>CH15</td></tr><tr><td>10</td><td>EGND</td><td>30</td><td>EGND</td></tr><tr><td>11</td><td>EVCC</td><td>31</td><td>EVCC</td></tr><tr><td>12</td><td>CH16</td><td>32</td><td>CH17</td></tr><tr><td>13</td><td>CH18</td><td>33</td><td>CH19</td></tr><tr><td>14</td><td>CH20</td><td>345</td><td>CH21</td></tr><tr><td>15</td><td>CH22</td><td>35</td><td>CH23</td></tr><tr><td>16</td><td>CH24</td><td>36</td><td>CH25</td></tr><tr><td>17</td><td>CH26</td><td>37</td><td>CH27</td></tr><tr><td>18</td><td>CH28</td><td>38</td><td>CH29</td></tr><tr><td>19</td><td>CH30</td><td>39</td><td>CH31</td></tr><tr><td>20</td><td>EGND</td><td>40</td><td>EGND</td></tr></table>

Table 3-5: EPS-2032 Pin Assignment

![EPS-2032\n32-CH SOURCING TYPE DIGITAL OUTPUT\nMODULE\nEVCC\nDOxx\nDevice\nExternal\nPower\nSupply\nADLINK\n01 EVCC 21 EVCC\n02 DO00 22 DO01\n03 DO02 23 DO03\n04 DO04 24 DO05\n05 DO06 25 DO07\n06 DO08 26 DO09\n07 DO10 27 DO11\n08 DO12 28 DO13\n09 DO14 29 DO15\n10 EGND 30 EGND\n11 EVCC 31 EVCC\n12 DO16 32 DO17\n13 DO18 33 DO19\n14 DO20 34 DO21\n15 DO22 35 DO23\n16 DO24 36 DO25\n17 DO26 37 DO27\n18 DO28 38 DO29\n19 DO30 39 DO31\n20 EGND 40 EGND](.epsseries-50-1z188-2000-200-r1-en-en/253c033b6c04294d32da0cdd3c408f660ea781ba198deed9c9fe37be54b366b3.jpg)

Figure 3-3: EPS-2032 Schematic

# 3.2.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 2x20pin
▶ AWG 16-24 gauge

# 3.2.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protection Module present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr><tr><td>Channel(0-3, 4-7, 8-11, 12-15, 16-19, 20-23, 24-27, 28-31)</td><td>Lit</td><td>Channel active</td></tr></table>

Table 3-6: LED Indicator Legend

# 3.2.3 Signal Connection

![EVCC\nDOxx\nEGND\nDevice\nExternal\nPower\nSupply](.epsseries-50-1z188-2000-200-r1-en-en/53a439277c69af9e212a4c5930c64a098c35b946d7da37458b88282bee35ff48.jpg)

# 3.2.4 Object Dictionary

<table><tr><td>Index</td><td>0x4000</td></tr><tr><td>Sub</td><td>N/A</td></tr><tr><td>Type</td><td>U32</td></tr><tr><td>R/W</td><td>RW</td></tr><tr><td>Name</td><td>Write digital input 32 bit</td></tr><tr><td>Description</td><td>Digital input channels 1 to 32</td></tr></table>

# 3.3 EPS-2132

The EPS-2132 high density 32CH sourcing type digital output module operates in environments from $-20^{\circ}$ C to $60^{\circ}$ C and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>32</td></tr><tr><td>Output Type</td><td>Sinking</td></tr><tr><td>EVCC Input</td><td>12V to 24V ±10%</td></tr><tr><td>Output Impedance (Rout)</td><td>250Ω</td></tr><tr><td>Output Current (Iout)</td><td>300mA per CH800mA per 4CH</td></tr><tr><td>Output Voltage (Vout)</td><td>Iout x Rout</td></tr><tr><td>IO Protection_Reverse Voltage</td><td>None</td></tr><tr><td>IO Protection_Current limit</td><td>1.2A for 4CH</td></tr><tr><td>IO Protection_Short Circuit</td><td>None</td></tr><tr><td>Power On State</td><td>Off</td></tr><tr><td>Response Time</td><td>4kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.)@ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-7: EPS-2132 Specifications

<table><tr><td>1</td><td>EGND</td><td>21</td><td>EGND</td><td rowspan="20">&lt;img src="images/19a2f6de1460de3c5b033d8f67d2d222e7383c9cbf3bb5c2cf01c1c6ded3ef66.jpg"/&gt;</td></tr><tr><td>2</td><td>CH00</td><td>22</td><td>CH01</td></tr><tr><td>3</td><td>CH02</td><td>23</td><td>CH03</td></tr><tr><td>4</td><td>CH04</td><td>24</td><td>CH05</td></tr><tr><td>5</td><td>CH06</td><td>25</td><td>CH07</td></tr><tr><td>6</td><td>CH08</td><td>26</td><td>CH09</td></tr><tr><td>7</td><td>CH10</td><td>27</td><td>CH11</td></tr><tr><td>8</td><td>CH12</td><td>28</td><td>CH13</td></tr><tr><td>9</td><td>CH14</td><td>29</td><td>CH15</td></tr><tr><td>10</td><td>EVCC</td><td>30</td><td>EVCC</td></tr><tr><td>11</td><td>EGND</td><td>31</td><td>EGND</td></tr><tr><td>12</td><td>CH16</td><td>32</td><td>CH17</td></tr><tr><td>13</td><td>CH18</td><td>33</td><td>CH19</td></tr><tr><td>14</td><td>CH20</td><td>345</td><td>CH21</td></tr><tr><td>15</td><td>CH22</td><td>35</td><td>CH23</td></tr><tr><td>16</td><td>CH24</td><td>36</td><td>CH25</td></tr><tr><td>17</td><td>CH26</td><td>37</td><td>CH27</td></tr><tr><td>18</td><td>CH28</td><td>38</td><td>CH29</td></tr><tr><td>19</td><td>CH30</td><td>39</td><td>CH31</td></tr><tr><td>20</td><td>EVCC</td><td>40</td><td>EVCC</td></tr></table>

Table 3-8: EPS-2132 Pin Assignment

![EPS-2132\n32-CH SINKING TYPE DIGITAL OUTPUT\nMODULE\n01 EGND 21 EGND\n02 DO00 22 DO01\n03 DO02 23 DO03\n04 DO04 24 DO05\n05 DO06 25 DO07\n06 DO08 26 DO09\n07 DO10 27 DO11\n08 DO12 28 DO13\n09 DO14 29 DO15\n10 EVCC 30 EVCC\n11 EGND 31 EGND\n12 DO16 32 DO17\n13 DO18 33 DO19\n14 DO20 34 DO21\n15 DO22 35 DO23\n16 DO24 36 DO25\n17 DO26 37 DO27\n18 DO28 38 DO29\n19 DO30 39 DO31\n20 EVCC 40 EVCC\nADLINK](.epsseries-50-1z188-2000-200-r1-en-en/68d338cefcee74e26b723dd2ce1680a688b2c576444c861057b160fc0d797f7c.jpg)

Figure 3-4: EPS-2132 Schematic

# 3.3.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 2x20pin
▶ AWG 16-24 gauge

# 3.3.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protection Module present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr><tr><td>Channel(0-3, 4-7, 8-11, 12-15, 16-19, 20-23, 24-27, 28-31)</td><td>Lit</td><td>Channel active</td></tr></table>

Table 3-9: LED Indicator Legend

# 3.3.3 Signal Connection

![EVCC\nDOxx\nDevice\nEGND\nExternal\nPower\nSupply](.epsseries-50-1z188-2000-200-r1-en-en/1ab7301fd39c64f2784020dbdb5a630fa20241dbb93c28d9a8311ea10c375f18.jpg)

# 3.3.4 Object Dictionary

<table><tr><td>Index</td><td>0x4000</td></tr><tr><td>Sub</td><td>N/A</td></tr><tr><td>Type</td><td>U32</td></tr><tr><td>R/W</td><td>RW</td></tr><tr><td>Name</td><td>Write digital output 32 bit</td></tr><tr><td>Description</td><td>Digital output channels 1 to 32</td></tr></table>

# 3.4 EPS-2308

The EPS-2308 8CH SPST relay output module operates in environments from -20°C to 60°C and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>8</td></tr><tr><td>Output Type</td><td>SPST (single pole single throw)</td></tr><tr><td>Maximum switched voltage and current</td><td>30V/2A, 240V/0.5A</td></tr><tr><td>Output Impedance (Rout)</td><td>50mΩ (Typ.)</td></tr><tr><td>IO Protection_Reverse Voltage</td><td>Yes</td></tr><tr><td>Power On State</td><td>Off</td></tr><tr><td>Response Time</td><td>Operate 10ms &amp; release 5ms (Typ.)</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 600mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.)@ EVCC=24V+10%</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>DC 2kV 1 min.</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>DC 2kV 1 min.</td></tr><tr><td>Isolation (Channel-to-Channel) adjacent relay</td><td>250Vrms 1min.</td></tr><tr><td>Isolation (Channel-to-Channel) adjacent pin within a single relay</td><td>250Vrms 1min.</td></tr></table>

Table 3-10: EPS-2308 Specifications

<table><tr><td>1</td><td>RO0a</td><td rowspan="16">&lt;img src="images/7f7453114f336cd45e8dd857500ed91641392a84712df2e3b1c570dce278e414.jpg"/&gt;</td></tr><tr><td>2</td><td>RO0b</td></tr><tr><td>3</td><td>RO1a</td></tr><tr><td>4</td><td>RO1b</td></tr><tr><td>5</td><td>RO2a</td></tr><tr><td>6</td><td>RO2b</td></tr><tr><td>7</td><td>RO3a</td></tr><tr><td>8</td><td>RO3b</td></tr><tr><td>9</td><td>RO4a</td></tr><tr><td>10</td><td>RO4b</td></tr><tr><td>11</td><td>RO5a</td></tr><tr><td>12</td><td>RO5b</td></tr><tr><td>13</td><td>RO6a</td></tr><tr><td>14</td><td>RO6b</td></tr><tr><td>15</td><td>RO7a</td></tr><tr><td>16</td><td>RO7b</td></tr></table>

Table 3-11: EPS-2308 Pin Assignment

![EPS-2308\n8-CH RELAY OUTPUT MODULE\n01 RO0a\n02 RO0b\n03 RO1a\n04 RO1b\n05 RO2a\n06 RO2b\n07 RO3a\n08 RO3b\n09 RO4a\n10 RO4b\n11 RO5a\n12 RO5b\n13 RO6a\n14 RO6b\n15 RO7a\n16 RO7b\nROxa\nROxb\nDevice\nOR AC\nADLINK](.epsseries-50-1z188-2000-200-r1-en-en/426740e8f68ad51002916d63137d61c71d0b1f769544e7ae349b9ce7f7bfdbc4.jpg)

Figure 3-5: EPS-2308 Schematic

# 3.4.1 Connector and Wiring

▶ Connector: Weidmuller, OMNIMATE Signal series BL/SL 5.08, 10145300000
▶ Pitch= 5.08mm
▶ 1x16 pin
▶ AWG 12-26 gauge

# 3.4.2 Signal Connection

![ROxa\nROxb\nDevice\nOR\nAC](.epsseries-50-1z188-2000-200-r1-en-en/219a6395d29648ab8d700662ac8f0955cd84fe97a711f44eb56bef84b758d34d.jpg)

# 3.4.3 Object Dictionary

<table><tr><td>Index</td><td>0x4000</td></tr><tr><td>Sub</td><td>N/A</td></tr><tr><td>Type</td><td>U32</td></tr><tr><td>R/W</td><td>RW</td></tr><tr><td>Name</td><td>Write RO data</td></tr><tr><td>Description</td><td>RO Output Bits 0 to 7, Bits 8 to 31 are reserved</td></tr></table>

# 3.5 EPS-3032

The EPS-3032 high density 32CH ±10V @ 16-bit, analog input module operates in environments from -20°C to 60°C and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>32 single-ended16 differential</td></tr><tr><td>Input Range</td><td>±10V</td></tr><tr><td>Resolution</td><td>16 bit</td></tr><tr><td>Offset Error</td><td>±1mV</td></tr><tr><td>Offset Drift</td><td>0.0004% of range per °C</td></tr><tr><td>Gain Error</td><td>±0.05% of FSR</td></tr><tr><td>Gain Drift</td><td>0.002%FSR per °C</td></tr><tr><td>Voltage Protection</td><td>Power On @ ±24V</td></tr><tr><td>Sampling Rate</td><td>100kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 - 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-12: EPS-3032 Specifications

<table><tr><td>1</td><td>N/C</td><td>21</td><td>N/C</td><td rowspan="20">&lt;img src="images/a36508bd709bdb786103795c757901c12cde20da367300897809d5cd3389c624.jpg"/&gt;</td></tr><tr><td>2</td><td>AI00</td><td>22</td><td>AI16</td></tr><tr><td>3</td><td>AI01</td><td>23</td><td>AI17</td></tr><tr><td>4</td><td>AI02</td><td>24</td><td>AI18</td></tr><tr><td>5</td><td>AI03</td><td>25</td><td>AI19</td></tr><tr><td>6</td><td>AI04</td><td>26</td><td>AI20</td></tr><tr><td>7</td><td>AI05</td><td>27</td><td>AI21</td></tr><tr><td>8</td><td>AI06</td><td>28</td><td>AI22</td></tr><tr><td>9</td><td>AI07</td><td>29</td><td>AI23</td></tr><tr><td>10</td><td>AGND</td><td>30</td><td>AGND</td></tr><tr><td>11</td><td>AI08</td><td>31</td><td>AI24</td></tr><tr><td>12</td><td>AI09</td><td>32</td><td>AI25</td></tr><tr><td>13</td><td>AI10</td><td>33</td><td>AI26</td></tr><tr><td>14</td><td>AI11</td><td>345</td><td>AI27</td></tr><tr><td>15</td><td>AI12</td><td>35</td><td>AI28</td></tr><tr><td>16</td><td>AI13</td><td>36</td><td>AI29</td></tr><tr><td>17</td><td>AI14</td><td>37</td><td>AI30</td></tr><tr><td>18</td><td>AI15</td><td>38</td><td>AI31</td></tr><tr><td>19</td><td>AISE</td><td>39</td><td>AGND</td></tr><tr><td>20</td><td>RSV</td><td>40</td><td>AGND</td></tr></table>

Table 3-13: EPS-3032 Pin Assignment

![EPS-3032\n32-CH ±10V ANALOG INPUT MODULE\nADC\nPGA\nMUX\nA00\nA01\nA02\nA03\nA04\nA05\nA06\nA07\nA08\nA09\nA10\nA11\nA12\nA13\nA14\nA15\nA16\nA17\nA18\nA19\nA20\nA21\nA22\nA23\nAGND\nAGND\nAGND\nAGND\nAGND\nADLINK](.epsseries-50-1z188-2000-200-r1-en-en/2198b7fd54aa22151f2bfef1e4713b47188656e1c0a69a6b7d5721804b82af3f.jpg)

Figure 3-6: EPS-3032 Schematic

# 3.5.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 2x20pin
▶ AWG 16-24 gauge

# 3.5.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protectionModule present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr></table>

Table 3-14: LED Indicator Legend

# 3.5.3 Signal Connection

![The diagram illustrates a signal path from left to right containing the following labeled blocks and connections:\n\n*   **ADC**: A rectangular block on the far left.\n*   **PGA**: A triangle block connected to the right side of the ADC.\n*   **MUX**: A rectangular block connected to the right side of the PGA via two parallel horizontal lines.\n\n**Outputs from the MUX:**\nFour connections extend from the right side of the MUX block:\n1.  **A100** (top)\n2.  Vertical dotted lines indicating intermediate connections\n3.  **A131** (middle)\n4.  **AISE** (bottom)\n\n**Ground:**\nSeparately, at the bottom right, a ground symbol (inverted triangle) is connected via a horizontal line to the label **AGND**.](.epsseries-50-1z188-2000-200-r1-en-en/458af349a2d7cf960f7faf26669ae354faab05c98af7d290b46475d833f49594.jpg)

# 3.5.4 Object Dictionary

<table><tr><td>Index</td><td>Sub</td><td>Type</td><td>RW</td><td>Name</td><td>Description</td></tr><tr><td>0x3000</td><td>0</td><td>U8</td><td>R</td><td>Read Analog Input 16 Bit</td><td></td></tr><tr><td></td><td>1</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 0</td></tr><tr><td></td><td>2</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 1</td></tr><tr><td></td><td>3</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 2</td></tr><tr><td></td><td>4</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 3</td></tr><tr><td></td><td>5</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 4</td></tr><tr><td></td><td>6</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 5</td></tr><tr><td></td><td>7</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 6</td></tr><tr><td></td><td>8</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 7</td></tr><tr><td></td><td>9</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 8</td></tr><tr><td></td><td>10</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 9</td></tr><tr><td></td><td>11</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 10</td></tr><tr><td></td><td>12</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 11</td></tr><tr><td></td><td>13</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 12</td></tr><tr><td></td><td>14</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 13</td></tr><tr><td></td><td>15</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 14</td></tr><tr><td></td><td>16</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 15</td></tr><tr><td></td><td>17</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 16</td></tr><tr><td></td><td>18</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 17</td></tr><tr><td></td><td>19</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 18</td></tr><tr><td></td><td>20</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 19</td></tr><tr><td></td><td>21</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 20</td></tr><tr><td></td><td>22</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 21</td></tr><tr><td></td><td>23</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 22</td></tr><tr><td></td><td>24</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 23</td></tr><tr><td></td><td>25</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 24</td></tr><tr><td></td><td>26</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 25</td></tr><tr><td></td><td>27</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 26</td></tr><tr><td></td><td>28</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 27</td></tr><tr><td></td><td>29</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 28</td></tr><tr><td></td><td>30</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 29</td></tr><tr><td></td><td>31</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 30</td></tr><tr><td></td><td>32</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 31</td></tr></table>

# 3.6 EPS-3216

The EPS-3216 high density 16CH 0-20mA @ 16-bit, analog input module operates in environments from -20°C to 60°C and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>16 single-ended</td></tr><tr><td>Input Range</td><td>0-20mA</td></tr><tr><td>Resolution</td><td>16 bit</td></tr><tr><td>Offset Error</td><td>0.5μA</td></tr><tr><td>Offset Drift</td><td>0.0005% of range per °C</td></tr><tr><td>Gain Error</td><td>±0.05% of FSR</td></tr><tr><td>Gain Drift</td><td>0.0008%FSR per °C</td></tr><tr><td>Voltage Protection</td><td>Power On @ ±24V</td></tr><tr><td>Sampling Rate</td><td>100kHz</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 - 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-15: EPS-3216 Specifications

<table><tr><td>1</td><td>N/C</td><td>21</td><td>N/C</td><td rowspan="20">&lt;img src="images/957394403fc5fd10c131fecfde84bf11b9693336350205a3df781bf490988225.jpg"/&gt;</td></tr><tr><td>2</td><td>AI00</td><td>22</td><td>N/C</td></tr><tr><td>3</td><td>AI01</td><td>23</td><td>N/C</td></tr><tr><td>4</td><td>AI02</td><td>24</td><td>N/C</td></tr><tr><td>5</td><td>AI03</td><td>25</td><td>N/C</td></tr><tr><td>6</td><td>AI04</td><td>26</td><td>N/C</td></tr><tr><td>7</td><td>AI05</td><td>27</td><td>N/C</td></tr><tr><td>8</td><td>AI06</td><td>28</td><td>N/C</td></tr><tr><td>9</td><td>AI07</td><td>29</td><td>N/C</td></tr><tr><td>10</td><td>AGND</td><td>30</td><td>AGND</td></tr><tr><td>11</td><td>AI08</td><td>31</td><td>N/C</td></tr><tr><td>12</td><td>AI09</td><td>32</td><td>N/C</td></tr><tr><td>13</td><td>AI10</td><td>33</td><td>N/C</td></tr><tr><td>14</td><td>AI11</td><td>345</td><td>N/C</td></tr><tr><td>15</td><td>AI12</td><td>35</td><td>N/C</td></tr><tr><td>16</td><td>AI13</td><td>36</td><td>N/C</td></tr><tr><td>17</td><td>AI14</td><td>37</td><td>N/C</td></tr><tr><td>18</td><td>AI15</td><td>38</td><td>N/C</td></tr><tr><td>19</td><td>N/C</td><td>39</td><td>AGND</td></tr><tr><td>20</td><td>RSV</td><td>40</td><td>AGND</td></tr></table>

Table 3-16: EPS-3216 Pin Assignment

![EPS-3216\n16-CH 0-20mA ANALOG INPUT MODULE\nADC PGA MUX\nAI(0) AI(15)\nAGND\nADLINK\n01 NC 21 NC\n02 AI00 22 NC\n03 AI01 23 NC\n04 AI02 24 NC\n05 AI03 25 NC\n06 AI04 26 NC\n07 AI05 27 NC\n08 AI06 28 NC\n09 AI07 29 NC\n10 AGND 30 AGND\n11 AI08 31 NC\n12 AI09 32 NC\n13 AI10 33 NC\n14 AI11 34 NC\n15 AI12 35 NC\n16 AI13 36 NC\n17 AI14 37 NC\n18 AI15 38 NC\n19 NC 39 AGND\n20 RSV 40 AGND](.epsseries-50-1z188-2000-200-r1-en-en/7cdbdb1fd9e007edbf0d12ea2fd2f775bd6bc71d0c3a7be9f85a32dd71e8e8a5.jpg)

Figure 3-7: EPS-3216 Schematic

# 3.6.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 2x20pin
▶ AWG 16-24 gauge

# 3.6.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protectionModule present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr></table>

Table 3-17: LED Indicator Legend

# 3.6.3 Signal Connection

![Sourcing-Output\nDevice\nDixx\nEGND\nExternal\nPower\nSupply](.epsseries-50-1z188-2000-200-r1-en-en/4c4ae17e627f8aa73883933121fecc6f4f802fbe21ffeebc9a2153435a07c636.jpg)

# 3.6.4 Object Dictionary

<table><tr><td>Index</td><td>Sub</td><td>Type</td><td>RW</td><td>Name</td><td>Description</td></tr><tr><td>0x3000</td><td>0</td><td>U8</td><td>R</td><td>Read Analog Input 16 Bit</td><td></td></tr><tr><td></td><td>1</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 0</td></tr><tr><td></td><td>2</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 1</td></tr><tr><td></td><td>3</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 2</td></tr><tr><td></td><td>4</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 3</td></tr><tr><td></td><td>5</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 4</td></tr><tr><td></td><td>6</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 5</td></tr><tr><td></td><td>7</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 6</td></tr><tr><td></td><td>8</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 7</td></tr><tr><td></td><td>9</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 8</td></tr><tr><td></td><td>10</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 9</td></tr><tr><td></td><td>11</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 10</td></tr><tr><td></td><td>12</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 11</td></tr><tr><td></td><td>13</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 12</td></tr><tr><td></td><td>14</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 13</td></tr><tr><td></td><td>15</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 14</td></tr><tr><td></td><td>16</td><td>U16</td><td>R</td><td>Read Analog Input 16 Bit</td><td>Analog Input Channel 15</td></tr></table>

# 3.7 EPS-3504

The EPS-3504 4CH 24-bit, RTD thermal input module supports PT100, PT500 and PT1000 sensors, operates in environments from -20°C to 60°C, and provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>4 RTD</td></tr><tr><td>Sensor Type</td><td>PT100, PT500, PT1000</td></tr><tr><td>Technology</td><td>2-/3-/4-Wire</td></tr><tr><td>Resolution</td><td>24 bit</td></tr><tr><td>Sampling Rate</td><td>5-20Hz</td></tr><tr><td>Temperature Range</td><td>-200°C to +850°C</td></tr><tr><td>Path Resistance</td><td>18 – 3900Ω</td></tr><tr><td>Accuracy (DC)</td><td>± 0.007% of FSR</td></tr><tr><td>Accuracy (Temperature)</td><td>± 0.5°C</td></tr><tr><td>Excitation Current (Max.)</td><td>500μA</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.)@ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 - 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr></table>

Table 3-18: EPS-3504 Specifications

<table><tr><td>1</td><td>AGND</td><td rowspan="20">&lt;img src="images/7263f3d0e5c639671430d99d95070df081c17b829273b6b78335679748918e7d.jpg"/&gt;</td></tr><tr><td>2</td><td>EX0+</td></tr><tr><td>3</td><td>SI0+</td></tr><tr><td>4</td><td>EX1+</td></tr><tr><td>5</td><td>SI1+</td></tr><tr><td>6</td><td>EX2+</td></tr><tr><td>7</td><td>SI2+</td></tr><tr><td>8</td><td>EX3+</td></tr><tr><td>9</td><td>SI3+</td></tr><tr><td>10</td><td>AGND</td></tr><tr><td>11</td><td>AGND</td></tr><tr><td>12</td><td>EX0-</td></tr><tr><td>13</td><td>SI0-</td></tr><tr><td>14</td><td>EX1+</td></tr><tr><td>15</td><td>SI1+</td></tr><tr><td>16</td><td>EX2+</td></tr><tr><td>17</td><td>SI2+</td></tr><tr><td>18</td><td>EX3+</td></tr><tr><td>19</td><td>SI3+</td></tr><tr><td>20</td><td>AGND</td></tr></table>

Table 3-19: EPS-3504 Pin Assignment

![EPS-3504\n4-CH RTD THERMAL INPUT MODULE\nADC\n24-bit\nADLINK\n01 AGND 11 AGND\n02 EX0+ 12 EX0-\n03 SI0+ 13 SI0-\n04 EX1+ 14 EX1-\n05 SI1+ 15 SI1-\n06 EX2+ 16 EX2-\n07 SI2+ 17 SI2-\n08 EX3+ 18 EX3-\n09 SI3+ 19 SI3-\n10 AGND 20 AGND](.epsseries-50-1z188-2000-200-r1-en-en/ae3c04d4911bda2a16873febfce6e87e6e3cc1c3dd1062a1d59866baeddcb7f7.jpg)

Figure 3-8: EPS-3504 Schematic

# 3.7.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 1x20pin
▶ AWG 16-24 gauge

# 3.7.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protection Module present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr></table>

Table 3-20: LED Indicator Legend

# 3.7.3 Signal Connection

![Based on the provided image, here is the accurate description of the flowchart/block diagram:\n\n**Labeled Blocks and Terminals:**\n*   **Current Source:** Represented by a circle with an upward-pointing arrow on the far left.\n*   **ADC 24-bit:** A rectangular block with a pointed right side in the center.\n*   **Terminals:** Four circular terminals on the right side labeled **EXx+** (top), **SIx+** (middle upper), **SIx-** (middle lower), and **EXx-** (bottom).\n\n**Connections:**\n*   **Current Source to Terminals:** The current source connects to a top horizontal line leading to **EXx+** and a bottom horizontal line leading to **EXx-**.\n*   **Switches:**\n    *   An upper switch connects the top horizontal line (from **EXx+**) to the **SIx+** terminal.\n    *   A lower switch connects the bottom horizontal line (from **EXx-**) to the **SIx-** terminal.\n*   **ADC Connections:** The **ADC 24-bit** block is connected directly to the **SIx+** and **SIx-** terminals.](.epsseries-50-1z188-2000-200-r1-en-en/babaeebbc8fbf144df0d3840826a507c6abbd2171a55c93b7e26ef8782028e9c.jpg)

# 3.7.4 Object Dictionary

<table><tr><td>Index</td><td>Sub</td><td>Type</td><td>RW</td><td>Name</td><td>Description</td></tr><tr><td>0x3000</td><td>0</td><td>U8</td><td>R</td><td>RTD Data</td><td></td></tr><tr><td></td><td>1</td><td>U32</td><td>R</td><td>Ch-0</td><td>Channel 0 Data</td></tr><tr><td></td><td>2</td><td>U32</td><td>R</td><td>Ch-1</td><td>Channel 1 Data</td></tr><tr><td></td><td>3</td><td>U32</td><td>R</td><td>Ch-2</td><td>Channel 2 Data</td></tr><tr><td></td><td>4</td><td>U32</td><td>R</td><td>Ch-3</td><td>Channel 3 Data</td></tr></table>

# 3.8 EPS-4008

The EPS-4008 8CH ±10V @ 16-bit, analog output module operates in environments from -20°C to 60°C, and provides high isolation protection and hot-swappability. The EPS-4008 also offers onboard loopback circuitry ensuring integrity of analog output signals.

<table><tr><td>Channels</td><td>8CH Single-ended</td></tr><tr><td>Output Range</td><td>±10V</td></tr><tr><td>Resolution</td><td>16 bit</td></tr><tr><td>Sampling Rate</td><td>100kHz</td></tr><tr><td>Offset Error</td><td>± 0.2mV</td></tr><tr><td>Gain Error</td><td>± 0.05% of FSR</td></tr><tr><td>Offset Drift</td><td>± 0.0075mV /°C</td></tr><tr><td>Gain Drift</td><td>± 0.00025% /°C of FSR</td></tr><tr><td>Output Current Capacity</td><td>5 mA</td></tr><tr><td>Power On State</td><td>Relay off</td></tr><tr><td>Voltage Protection</td><td>± 24V / Relay off when error voltage occurs</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max.)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 2.55W (max.)@ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 - 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-21: EPS-4008 Specifications

<table><tr><td>1</td><td>N/C</td><td rowspan="20">&lt;img src="images/3f36301898919dd8ab6a0793cad74cf70bc5832416239d12fce58abfca1cc293.jpg"/&gt;</td></tr><tr><td>2</td><td>AO01</td></tr><tr><td>3</td><td>AO02</td></tr><tr><td>4</td><td>AO03</td></tr><tr><td>5</td><td>AO04</td></tr><tr><td>6</td><td>AO05</td></tr><tr><td>7</td><td>AO06</td></tr><tr><td>8</td><td>AO07</td></tr><tr><td>9</td><td>AO08</td></tr><tr><td>10</td><td>N/C</td></tr><tr><td>11</td><td>N/C</td></tr><tr><td>12</td><td>AGND</td></tr><tr><td>13</td><td>AGND</td></tr><tr><td>14</td><td>AGND</td></tr><tr><td>15</td><td>AGND</td></tr><tr><td>16</td><td>AGND</td></tr><tr><td>17</td><td>AGND</td></tr><tr><td>18</td><td>AGND</td></tr><tr><td>19</td><td>AGND</td></tr><tr><td>20</td><td>N/C</td></tr></table>

Table 3-22: EPS-4008 Pin Assignment

![EPS-4008\n8-CH ±10V ANALOG OUTPUT MODULE\nDAC\n16-bit\nAMP\nAO(0x7)\nAGND\nADLINK\n01 NC 11 NC\n02 AO01 12 AGND\n03 AO02 13 AGND\n04 AO03 14 AGND\n05 AO04 15 AGND\n06 AO05 16 AGND\n07 AO06 17 AGND\n08 AO07 18 AGND\n09 AO08 19 AGND\n10 NC 20 NC](.epsseries-50-1z188-2000-200-r1-en-en/98e49c7c697f7555e9bb1c78b0cbce51a23c3659e0067eb1d37048a9c5f1cd08.jpg)

Figure 3-9: EPS-4008 Schematic

# 3.8.1 Connector and Wiring

▶ Connector: Phoenix Contact, DFMC series, 1787195
▶ Pitch=3.5mm
▶ 1x20pin
▶ AWG 16-24 gauge

# 3.8.2 LED Indicators

<table><tr><td>LED</td><td>Action</td><td>Status</td></tr><tr><td>STS</td><td>Blinking</td><td>Over temperature protectionModule present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module power status</td></tr></table>

Table 3-23: LED Indicator Legend

# 3.8.3 Signal Connection

![The diagram shows a signal processing chain with the following components and connections:\n\n1.  **DAC 16-bit**: A rectangular block on the left.\n2.  **AMP**: A triangular block to the right of the DAC block.\n3.  **Connection**: A line connects the right side of the 'DAC 16-bit' block to the left (base) of the 'AMP' block.\n4.  **AO(0:7)**: A line extends from the tip of the 'AMP' block to a circular terminal labeled 'AO(0:7)'.\n5.  **AGND**: Below the main signal line, there is a circular terminal labeled 'AGND'. A line connects the left side of this terminal to a downward-pointing ground symbol.](.epsseries-50-1z188-2000-200-r1-en-en/67c2df77c8dbaf92cca8dd3e36e142f20eb6a2e818381062326f2a6d13c57b71.jpg)

# 3.8.4 Object Dictionary

<table><tr><td>Index</td><td>Sub</td><td>Type</td><td>RW</td><td>Name</td><td>Description</td></tr><tr><td>0x3000</td><td>0</td><td>U8</td><td>RW</td><td>Write Analog Output 16 Bit</td><td></td></tr><tr><td></td><td>1</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 0</td></tr><tr><td></td><td>2</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 1</td></tr><tr><td></td><td>3</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 2</td></tr><tr><td></td><td>4</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 3</td></tr><tr><td></td><td>5</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 4</td></tr><tr><td></td><td>6</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 5</td></tr><tr><td></td><td>7</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 6</td></tr><tr><td></td><td>8</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 7</td></tr></table>

# 3.9 EPS-6000

The EPS-6000 EtherCAT bus coupler module, powered by Xilinx Zynq SoC, supports not only EtherCAT transmission but also EPS peripheral module control and measurement functions. The EPS-6000 sustains DC power to the entire EPS slave system and grounds the system to reduce radiation noise, operating in environments from $-20^{\circ}$ C to $60^{\circ}$ C and providing high isolation protection and hot-swappability

<table><tr><td>EPS Module Support</td><td>Up to 4 (slots)</td></tr><tr><td>Ethernet Connectivity</td><td>N/A</td></tr><tr><td>Field Bus Connectivity</td><td>EtherCAT</td></tr><tr><td>Data Transmission Rate</td><td>100 Mbaud</td></tr><tr><td>Bus Interface</td><td>2 x RJ45</td></tr><tr><td>Cable for EtherCAT Connection</td><td>CAT5 / CAT5e (recommended)</td></tr><tr><td>Inner Bus Synchronization</td><td>&gt;0.1μs</td></tr><tr><td>Supply Voltage</td><td>24V DC (± 10%)</td></tr><tr><td>Thermal Dissipation (at max temp.)</td><td>&lt; 6.6W (max.) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 to 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-24: EPS-6000 Specifications

![EPS-6000\nPWR ERR RUN\nX1\nIN\nX2\nOUT\nV-\nV+\n10-30V DC IN](.epsseries-50-1z188-2000-200-r1-en-en/540df120d6e85d56555c13f1c4f6d12e2d200f91dcef9b70bd9035eecfd4f8ca.jpg)

X1 & X2

<table><tr><td>Pin</td><td>Description</td></tr><tr><td>08</td><td>Termination</td></tr><tr><td>07</td><td>Termination</td></tr><tr><td>06</td><td>TX-</td></tr><tr><td>05</td><td>Termination</td></tr><tr><td>04</td><td>Termination</td></tr><tr><td>03</td><td>TX+</td></tr><tr><td>02</td><td>RX-</td></tr><tr><td>01</td><td>RX+</td></tr></table>

Power

<table><tr><td>Pin</td><td>Description</td></tr><tr><td>01</td><td>External Ground</td></tr><tr><td>02</td><td>Shielding Ground</td></tr><tr><td>03</td><td>External Power Input</td></tr></table>

Table 3-25: EPS-6000 Pin Assignment

![Based on the provided image, here is the accurate description of the blocks and connections:\n\n**Labeled Blocks:**\n*   EPS-6000\n*   EtherCAT BUS-COUBLER\n*   I/O Card\n*   FPGA\n*   EtherCAT IN\n*   EtherCAT OUT\n*   ADLINK\n\n**Connections:**\n*   **I/O Card** is connected to **FPGA** via double-headed arrows.\n*   **FPGA** is connected to **EtherCAT IN** via double-headed arrows.\n*   **FPGA** is connected to **EtherCAT OUT** via double-headed arrows.](.epsseries-50-1z188-2000-200-r1-en-en/9626c51ef49b04a1da5f7f201de0cb8cd53c23b12b14263b27ac1a919de7f1f7.jpg)

Figure 3-10: EPS-6000 Schematic

# 3.9.1 Connector and Wiring

Connector: Phoenix Contact, DFMC series, 1787195, pitch=3.5mm, 2x5 pin, AWG 16-24 gauge

SCSI VHDCI 68p: Y cable accessory (for servo connection)

# 3.9.2 LED Indicators

<table><tr><td>LED</td><td>Display</td><td>Function</td><td>Description</td></tr><tr><td rowspan="2">PWR</td><td>Lit</td><td rowspan="2">System Power Status</td><td>Power ON</td></tr><tr><td>Off</td><td>Power OFF / Power level below 20V</td></tr><tr><td rowspan="3">ERR</td><td>Lit</td><td rowspan="3">System Error Handling</td><td>Error</td></tr><tr><td>Blinking</td><td>Warning (XXXX for details)</td></tr><tr><td>Off</td><td>No warning and error</td></tr><tr><td rowspan="2">RUN</td><td>Lit</td><td rowspan="2">EtherCAT Communication Status</td><td>Normal operation</td></tr><tr><td>Off</td><td>No power Under configuration Watchdog counter expired (1 sec)</td></tr></table>

Table 3-26: LED Indicator Legend

# 3.9.3 Object Dictionary

<table><tr><td>Index</td><td>Sub</td><td>Type</td><td>RW</td><td>Name</td><td>Description</td></tr><tr><td>0x4000</td><td>0</td><td>U8</td><td>RW</td><td>Write Analog Output 16 Bit</td><td></td></tr><tr><td></td><td>1</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 0</td></tr><tr><td></td><td>2</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 1</td></tr><tr><td></td><td>3</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 2</td></tr><tr><td></td><td>4</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 3</td></tr><tr><td></td><td>5</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 4</td></tr><tr><td></td><td>6</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 5</td></tr><tr><td></td><td>7</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 6</td></tr><tr><td></td><td>8</td><td>U16</td><td>RW</td><td>Write Analog Output 16 Bit</td><td>Analog Output Channel 7</td></tr></table>

# 3.10 EPS-7002

The EPS-7002 2CH pulse-train motion module supports up to 4MHz pulse output frequency, 20MHz encoder input speed (@4xAB phase mode), and dedicated motion and servo I/O interface, and complies with the CiA402 standard. Operating in environments from -20°C to 60°C, it provides high isolation protection and hot-swappability.

<table><tr><td>Channels</td><td>2</td></tr><tr><td>Output Frequency</td><td>4MHz</td></tr><tr><td>Output Modes</td><td>CW/CCW, OUT/DIR</td></tr><tr><td>Encoder Input Channels</td><td>2</td></tr><tr><td>Encoder Input Frequency</td><td>20MHz @ 4xAB</td></tr><tr><td>Encoder Input Modes</td><td>CW/CCW, 1x/2x/4x AB Phase</td></tr><tr><td>Encoder Input Type</td><td>TTL, Incremental</td></tr><tr><td>Motion I/O Interface</td><td>PEL, MEL, ORG</td></tr><tr><td>Servo I/O Interface</td><td>ALM, INP, RDY, SVON, ERC, RST</td></tr><tr><td>Input Type</td><td>Sinking</td></tr><tr><td>Input Current</td><td>IEC 61131-2, Type 1/3</td></tr><tr><td>Output Current (Single Node) (Sinking / Sourcing)</td><td>50mA</td></tr><tr><td>Power Consumption from Chassis</td><td>&lt; 450mW (max)</td></tr><tr><td>Thermal Dissipation (at max temp)</td><td>&lt; 2.55W (max) @ EVCC=24V+10%</td></tr><tr><td>Operating Temperature</td><td>-20 - 60°C</td></tr><tr><td>Isolation (Channel-to-DGND)</td><td>2kV (DC)</td></tr><tr><td>Isolation (Channel-to-Chassis)</td><td>2kV (DC)</td></tr></table>

Table 3-27: EPS-7002 Specifications

![EPS-7002\nEMG STS PWR\nMotion Jack\n01 06\n02 07\n03 08\n04 09\n05 10](.epsseries-50-1z188-2000-200-r1-en-en/413f01851a498bdaa05557e7c99de1706aefbf07907a301b5794a65c83b44719.jpg)

Motion I/O

<table><tr><td>Pin</td><td>Description</td></tr><tr><td>01</td><td>GND</td></tr><tr><td>02</td><td>MEL1</td></tr><tr><td>03</td><td>PEL2</td></tr><tr><td>04</td><td>MEL2</td></tr><tr><td>05</td><td>GND</td></tr><tr><td>06</td><td>PEL1</td></tr><tr><td>07</td><td>ORG1</td></tr><tr><td>08</td><td>COM</td></tr><tr><td>09</td><td>ORG2</td></tr><tr><td>10</td><td>EMG</td></tr></table>

# D-SUB26P

<table><tr><td>#</td><td>Name</td><td>I/O</td><td>Function</td></tr><tr><td>1</td><td>SVON</td><td>O</td><td>Servo On signal</td></tr><tr><td>2</td><td>INP</td><td>I</td><td>In-position signal</td></tr><tr><td>3</td><td>ERC</td><td>O</td><td>Dev ctr, clr. Signal</td></tr><tr><td>4</td><td>RDY</td><td>I</td><td>servo ready signal</td></tr><tr><td>5</td><td>OUT-</td><td>O</td><td>Pulse signal (-)</td></tr><tr><td>6</td><td>OUT+</td><td>O</td><td>Pulse signal (+)</td></tr><tr><td>7</td><td>EA-</td><td>I</td><td>Encoder A-phase(-)</td></tr><tr><td>8</td><td>EA+</td><td>I</td><td>Encoder A-phase(+)</td></tr><tr><td>9</td><td>Rsv</td><td>-</td><td>Reserved</td></tr><tr><td>10</td><td>RST</td><td>O</td><td>Reset driver signal</td></tr><tr><td>11</td><td>ALM</td><td>I</td><td>Servo alarm signal</td></tr><tr><td>12</td><td>COM</td><td>-</td><td>Ext. power supply, +24V</td></tr><tr><td>13</td><td>GND</td><td>-</td><td>Ext. power ground</td></tr><tr><td>14</td><td>Rsv</td><td>-</td><td>Reserved</td></tr><tr><td>15</td><td>GND</td><td>-</td><td>Ext. power ground</td></tr><tr><td>16</td><td>EB-</td><td>I</td><td>Encoder B-phase(-)</td></tr><tr><td>17</td><td>EB+</td><td>I</td><td>Encoder B-phase(+)</td></tr><tr><td>18</td><td>GND</td><td>-</td><td>Ext. power ground</td></tr><tr><td>19</td><td>EMG</td><td>O</td><td>Emergency signal</td></tr><tr><td>20</td><td>GND</td><td>-</td><td>Ext. power ground</td></tr><tr><td>21</td><td>GND</td><td>-</td><td>Ext. power ground</td></tr><tr><td>22</td><td>GND</td><td>-</td><td>Ext. power ground</td></tr><tr><td>23</td><td>DIR-</td><td>O</td><td>Dir. Signal(-)</td></tr><tr><td>24</td><td>DIR+</td><td>O</td><td>Dir. Signal(+)</td></tr><tr><td>25</td><td>EZ-</td><td>I</td><td>Encoder Z-phase(-)</td></tr><tr><td>26</td><td>EZ+</td><td>I</td><td>Encoder Z-phase(+)</td></tr></table>

Table 3-28: EPS-7002 Pin Assignment

![The image displays a graphic icon of a document or file. It features a white sheet of paper with the top-right corner folded down (a 'dog-ear'). Faint gray horizontal lines appear across the lower portion of the page, resembling lined paper. A large red checkmark is superimposed on the left side of the document. There is no text present in the image.](.epsseries-50-1z188-2000-200-r1-en-en/f53c4a5ca6bfaea8b4a9719cd5f903849ab23792d1949b38e9f7f84812f8011f.jpg)
NOTE:

It is recommended to connect signal to specific servo drives with dedicated cables. Docking connector is DSUB-26p.

![EPS-7002\n2-CH PULSE-TRAIN MOTION CONTROL\nMODULE\nFPGA\nIsolator\nOUT+, DIR+\nOUT-, DIR-\nSVON, RST, ERC,\nEMG_OUT\nPEL, MEL, ORG, ALM,\nINP, RDY, EMG_IN\nEA+, EB+, EZ+\nEA-, EB-, EZ-\nADLINK\n10 RST\n01 SVON 19 EMG\n02 INP 11 ALM 20 GND\n03 ERC 12 COM 21 GND\n04 RDY 13 GND 22 GND\n05 OUT- 14 NC 23 DIR-\n06 OUT+ 15 GND 24 DIR-\n07 EA- 16 EB- 25 EZ-\n08 EA+ 17 EB+ 26 EZ+\n09 NC 18 GND\n01 19\n09 2S\n01 GND 06 PEL1\n02 MEL1 07 ORG1\n03 PEL2 08 COM\n04 MEL2 09 ORG2\n05 GND 10 EMG](.epsseries-50-1z188-2000-200-r1-en-en/f0d2121ce522ff2310767f9de896f2bb7aa6221de9cd7bfae46cd89b92d63e7b.jpg)

Figure 3-11: EPS-7002 Schematic

# 3.10.1 LED Indicators

<table><tr><td>LED</td><td>Status</td><td>Function</td></tr><tr><td>EMG</td><td>Lit</td><td>Emergency Stop Input</td></tr><tr><td>STS</td><td>Blinking</td><td>Over Temperature Protection Module Present</td></tr><tr><td>PWR</td><td>Lit</td><td>Module Power Status</td></tr></table>

Table 3-29: LED Indicator Legend

# 3.10.2 Signal Connection

![Based on the provided image, here is the accurate description of the flowchart/block diagram:\n\n**Blocks:**\n*   **FPGA**: A square block on the left.\n*   **Isolator**: A tall, vertical rectangular block in the center.\n\n**Connections:**\n*   **FPGA to Isolator**: A bidirectional connection indicated by a double-headed arrow with a zig-zag line crossing it.\n*   **Isolator to Output Terminals (Right Side)**:\n    *   Two lines connect to the top terminals. Each line passes through a diagonal slash (isolation barrier) and a buffer symbol (triangle with a circle at the output).\n        *   Top terminal label: **OUT+, DIR+**\n        *   Second terminal label: **OUT-, DIR-**\n    *   One line connects to the third terminal. It passes through a diagonal slash and a buffer symbol (triangle with a circle at the output).\n        *   Terminal label: **SVON, RST, ERC, EMG_OUT**\n    *   Two lines connect to the bottom terminals. Each line passes through a diagonal slash and a triangle pointing right.\n        *   Terminal label: **EA+, EB+, EZ+**\n        *   Terminal label: **EA-, EB-, EZ-**\n*   **Input Terminal to Isolator (Right Side)**:\n    *   One line originates from a terminal and enters the Isolator. It is marked with an arrow pointing left (into the Isolator) and passes through a diagonal slash.\n        *   Terminal label: **PEL, MEL, ORG, ALM, INP, RDY, EMG_IN**](.epsseries-50-1z188-2000-200-r1-en-en/6e4923b9860bdbcfa9f623329bb7ffdd662cdd148348944e8c1c28e15f370161.jpg)

# 3.10.3 Object Dictionary

<table><tr><td>Index</td><td>Sub</td><td>Type</td><td>RW</td><td>Name</td></tr><tr><td>0x6040</td><td></td><td>U16</td><td>RW</td><td>Control Word</td></tr><tr><td>0x6041</td><td></td><td>U32</td><td>R</td><td>Status Word</td></tr><tr><td>0x6064</td><td></td><td>U32</td><td>R</td><td>Position Actual Value</td></tr><tr><td>0x607A</td><td></td><td>U32</td><td>RW</td><td>Target Position</td></tr><tr><td>0x60B8</td><td></td><td>U16</td><td>RW</td><td>Touch Probe Ctrl</td></tr><tr><td>0x60B9</td><td></td><td>U16</td><td>R</td><td>Touch Probe Response</td></tr><tr><td>0x60BA</td><td></td><td>U32</td><td>R</td><td>Touch Probe 0 Positive Edge Value</td></tr><tr><td>0x60BB</td><td></td><td>U32</td><td>R</td><td>Touch Probe 1 Positive Edge Value</td></tr><tr><td>0x60BC</td><td></td><td>U32</td><td>R</td><td>Touch Probe 0 Negative Edge Value</td></tr><tr><td>0x60BD</td><td></td><td>U32</td><td>R</td><td>Touch Probe 1 Negative Edge Value</td></tr><tr><td>0x60FD</td><td></td><td>U32</td><td>RW</td><td>Axis 0 Motion Output</td></tr><tr><td>0x60FE</td><td></td><td>U32</td><td>R</td><td>Axis 0 Motion Input</td></tr><tr><td>0x6840</td><td></td><td>U16</td><td>RW</td><td>Control Word</td></tr><tr><td>0x6841</td><td></td><td>U32</td><td>R</td><td>Status Word</td></tr><tr><td>0x6864</td><td></td><td>U32</td><td>R</td><td>Position Actual Value</td></tr><tr><td>0x687A</td><td></td><td>U32</td><td>RW</td><td>Target Position</td></tr><tr><td>0x68B8</td><td></td><td>U16</td><td>RW</td><td>Touch Probe Ctrl</td></tr><tr><td>0x68B9</td><td></td><td>U16</td><td>R</td><td>Touch Probe Response</td></tr><tr><td>0x68BA</td><td></td><td>U32</td><td>R</td><td>Touch Probe 0 Positive Edge Value</td></tr><tr><td>0x68BB</td><td></td><td>U32</td><td>R</td><td>Touch Probe 1 Positive Edge Value</td></tr><tr><td>0x68BC</td><td></td><td>U32</td><td>R</td><td>Touch Probe 0 Negative Edge Value</td></tr><tr><td>0x68BD</td><td></td><td>U32</td><td>R</td><td>Touch Probe 1 Negative Edge Value</td></tr><tr><td>0x68FD</td><td></td><td>U32</td><td>RW</td><td>Axis 1 Motion Output</td></tr><tr><td>0x68FE</td><td></td><td>U32</td><td>R</td><td>Axis 1 Motion Input</td></tr></table>

# Appendix A - LinkMasterPro™

LinkMasterPro™, ADLINK's EtherCAT utility, enables configuration of EPS slave systems and generation of corresponding ESI files for EtherCAT master controllers.

LinkMasterPro™ further provides intuitive I/O control dialogues to assess the integrity of each EPS peripheral module's wiring.

![The image displays a yellow triangular warning sign with a black border containing a black exclamation point. Below the triangle, the text 'CAUTION:' is printed in black capital letters.](.epsseries-50-1z188-2000-200-r1-en-en/aaa008c79874d19201cfc3c86b23ede68bb1ac97639d2a81c9bacb072a2a1190.jpg)

Ensure that all hardware setup and wiring is complete before executing LinkMasterPro $^{™}$ .

# LinkMasterPro™ enables:

▶ Identification of all EPS elements in the EtherCAT system
▶ Export of ESI (EtherCAT Slave Information) files and conversion of content to EEPROM
▶ Complete EtherCAT communication
▶ CAN application protocol over EtherCAT (COE)
▶ File access over EtherCAT (FOE)
▶ Direct access to general purpose I/O

![Based on the provided image, here are the labeled blocks and their connections:\n\n**Labeled Blocks:**\n*   LinkMasterPro.exe application tool\n*   Scan bus coupler to detect slaves\n*   Export ESI file & update to EEPROM\n*   Update binary file or Get OD\n*   EtherCAT (text label above the computer)\n\n**Connections and Flow:**\n*   **LinkMasterPro.exe application tool** connects via a downward arrow to **Scan bus coupler to detect slaves**.\n*   **Scan bus coupler to detect slaves** connects via a rightward arrow to **Export ESI file & update to EEPROM**.\n*   Below **Export ESI file & update to EEPROM**, there is a screenshot of an XML file (EtherCATInfo). A downward arrow points from this area to the block **Update binary file or Get OD**.\n\n**Additional Visual Flow (Hardware/Scanning):**\n*   A computer setup labeled **EtherCAT** has an arrow pointing right to a bus coupler module.\n*   From that module, an arrow points right to a second module.\n*   From the second module, an arrow points down to a third module.\n*   From the third module, an arrow points left to a fourth module.\n*   Below the fourth module is a screenshot of a data table (showing Index and Value columns) with a 'Get OD' button visible.](.epsseries-50-1z188-2000-200-r1-en-en/8caf7dc47670c6d821374b653432674abed8d21ea98bbbd129aa73dc56932ba3.jpg)

Figure A-1: LinkMasterPro™ Operational Overview

# A.1 Interface

![LinkMasterPro\nFile - About\nScan for Devices Export ESI (1* unit)\nPositive Jitter: 35 us Negative Jitter: 35 us\nMILC address 74D4J5GA5A-61\nB\nEtherCAT\nADLINK-EPS_80\nEPS_80\nControl Panel | EPS 6000 | EPS 2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag |\nIndex Value\nEPS 6000\nEPS 2032\nEPS-1132\nEPS-4008\nEPS-3032\nEPS PMR\n10-80V DC IN\nFOE Get 00\nF\nD\nG\n9000015 2.25.08 PM RoB Download: BCATPW_tscV1500X701.htm to EPS_80 done\n9000015 2.25.08 PM conduaPosDenu: RoB download success, stenu 2, please return EPS system.\nExport Log Clear](.epsseries-50-1z188-2000-200-r1-en-en/2e09e5ff5c18abf0272ced878534d96bf4a54dc73b9e62c9670cf4ee1edd08c2.jpg)

Figure A-2: LinkMasterPro™ Interface

<table><tr><td>A</td><td>MAC Address Selection</td></tr><tr><td>B</td><td>Scan for Devices Button</td></tr><tr><td>C</td><td>Export ESI (*.xml) Button</td></tr><tr><td>D</td><td>Tree View Window</td></tr><tr><td>E</td><td>Device Window</td></tr><tr><td>F</td><td>Object Dictionary Window</td></tr><tr><td>G</td><td>Message Window</td></tr></table>

Table A-1: LinkMasterPro™ Interface Legend

# A.2 Installation

Install the LinkMasterPro\_v1.0.exe SDK to the suggested path

C:\Program Files\ADLINK\LinkMasterPro

Click Next and Install through until installation is complete.

![LinkMasterPro - InstallShield Wizard\nDestination Folder\nClick Next to install to this folder, or click Change to install to a different folder.\nInstall LinkMasterPro to:\nc:\Program Files\ADLINK\LinkMasterPro\\nChange...\nInstallShield\n( Back	Next )	Cancel](.epsseries-50-1z188-2000-200-r1-en-en/aca5f73b62417a769e2a4a2ba58765b386ea47b1dce4e57d71dcc46eaf20deb5.jpg)

![LinkMasterPro - InstallShield Wizard\nReady to Modify the Program\nThe wizard is ready to begin installation.\nClick Install to begin the installation.\nIf you want to review or change any of your installation settings, click Back. Click Cancel to exit the wizard.\nInstallShield\n( Back	Install	Cancel](.epsseries-50-1z188-2000-200-r1-en-en/76aa32268b981b3c3148eedadd3c615df9b1943226e1c3e9278b55f050e66f48.jpg)

Once installation is complete, the application can be launched by following Start>All Programs>ADLINK>LinkMasterPro or by going to C:\Program Files\ADLINK\LinkMasterPro and executing LinkMasterPro.exe.

![icon\nslot\nADLINK_BC6000.xml\nADLINK_SHELL.xml\nAdMaster.dll\nEcatMaster.dll\nEtherCAT_BusCouple-01-4.xml\nEtherCAT_BusCouple-01-5.xml\nLinkMasterPro.exe\nLinkMasterPro.ini](.epsseries-50-1z188-2000-200-r1-en-en/29cf5d56fe3c48aa8c50c65c8792e803ef1bb4739cef7043dea5f86651a71c9c.jpg)

Figure A-3: LinkMasterPro™ Folder

# A.3 Controls and Function

# A.3.1 Selecting MAC Address

To begin with LinkMasterPro $^{™}$ , the physical MAC address on the master must be entered, or hte application is unable to scan the EtherCAT device properly. If the incorrect MAC is entered, an error message appears as shown.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nPositive Jitter 35 us Negative Jitter -35 us MAC address 74-D4-35-6A-5A-61\nEtherCAT\n9/00/2015.2:21:49 PM (Error) -13: Scan(). Start EtherCAT Master fail\nExport Log Clear](.epsseries-50-1z188-2000-200-r1-en-en/cfb801a695a6266ab74686895ac31cfd1300dcefca344001e1a18085f9955ae6.jpg)

Figure A-4: Scan Failure Notification

![The image displays a standard warning sign featuring a yellow triangle with a black border. Inside the triangle is a large black exclamation point. Below the triangle, the text 'CAUTION:' is printed in black capital letters.](.epsseries-50-1z188-2000-200-r1-en-en/350430ee152141cb8e806134c5c29ab28ea9718996a4860ebbb35755415d1d5c.jpg)

Before operating any controls, ensure all slave modules are properly connected and no other fieldbus devices or applications are in use.

# A.3.2 Scanning for Devices

When the Scan for Devices button is activated, the EPS slave system is displayed in the device tree view as shown.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nEtherCAT\nADLINK-EPS_#0](.epsseries-50-1z188-2000-200-r1-en-en/9dd3bb8d779194f0eda00fdf08c087d0e71d078c2c85db74bdeeaa75b73a718d.jpg)

Figure A-5: EPS Slave System in Tree View

# A.3.3 Exporting ESI

When the Export ESI button is activated, the ESI file (\*.xml) is saved to disk and the EPS system simultaneously, with the Save path selected as shown.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nEtherCAT\n-ADLINK-EPS_H0\nMAC address\nSave As\nSave in:\nESI\nRecent Items\nDesktop\nNetwork\nLibraries\nTalos\nComputer\nLocal Disk (C:)\nESI\nRecent Places\nDesktop\nLibraries\nComputer\nNetwork\nDate modified Type\nsearch.\nFile name: EPS_01\nSave as type: xml files (*.xml)\nSave\nCancel](.epsseries-50-1z188-2000-200-r1-en-en/4bb5906bacd89a11e521bac2ec645f17d9023d876d07ff835bc5c4b1aeb54c11.jpg)

Figure A-6: Save ESI Path Selection

The ESI (EtherCAT slave information) file includes product code, vendor ID, TxPDO/RxPDO, and other slave data. It recognizes peripheral module types and locates memory space required to control the I/O on the EPS peripheral modules thru EtherCAT. When ESI export begins, a progress bar appears as shown.

![LinkMasterPro\nFile About\nScan for Devices - Export ESI (*.xml)\nEtherCAT\n- ADLINK-EPS_#0\nMAC address 74:D4:35:6A:5A:61\nEPS_#0\nControl Panel | EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag | Index | Value\nEPS-6000\nPWR ENR RUN\nEPS-2032\nSTS PWR\nEPS-1132\nSTS PWR\nEPS-4008\nSTS PWR\nEPS-3032\nSTS PWR\nExporting: 80%\n10-30V DC IN\nFOE\nGet OD](.epsseries-50-1z188-2000-200-r1-en-en/640603bc128cf1500f74399d7ad3bdb21e2c4b834de63363a1e3ee33fdae14f9.jpg)

Figure A-7: ESI Export Progress Display

The action also programs the content to EEPROM on the individual EPS slave system. When ESI generation is complete a notification appears as shown.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nPositive Jitter 35 us Negative Jitter 35 us MAC address 74:D4:35:6A:5A:61\nEtherCAT\nADLINK-EPS_#0\nEPS_#0\nControl Panel EPS-6000 EPS-2032 EPS-1132 EPS-4008 EPS-3032 DC Diag t\nIndex Value\nEPS-6000\nPWR ERR RUN\nEPS-2032\nSTS PWR\nEPS-1132\nSTS PWR\nEPS-4008\nSTS PWR\nEPS-3032\nSTS PWR\n10-30V DC IN\n9/30/2015 2:24:43 PM Export(): Update slave 0 EEPROM completed\n9/30/2015 2:25:22 PM xmlParts(): C:\ProgramData\CODESYS\Devices\65\144A_0BBB600000000A\Revision%3D16%2300000A\device.xml done\nExport Log Clear](.epsseries-50-1z188-2000-200-r1-en-en/766c7be87510569183263e9cc7be98b983810eb86e7a0e9aea11ec8348bea34f.jpg)

Figure A-8: Export Successful Display

The ESI file can further be used for CoDeSys, configuring EtherCAT for integration into the IEC 61131-3 Development System. To save time, LinkMasterPro automatically copies the ESI file of EPS system to the specific CoDeSys path, named device.xml.

![The image displays a square icon featuring a white document sheet with faint horizontal gray lines running across it. The top right corner of the document is folded down (dog-eared). A large, bold red checkmark is centered on the document, slanting upwards from left to right. The entire graphic is enclosed within a thin black border.](.epsseries-50-1z188-2000-200-r1-en-en/dfa7dd6020982963bdbaf55b0719b4b29eb980d382c6e1f4d1a11219d4b87540.jpg)
NOTE:

The CoDeSys environment must be properly installed and functional before exporting ESI files.

# A.3.4 Device Tree View

The device tree view displays the entire installed EPS slave system in the EtherCAT line.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nEtherCAT\nADLINK-EPS_#0](.epsseries-50-1z188-2000-200-r1-en-en/2921e49ea3cf760326028ecbc49d082b8ba39bc01276c77237d8e1b5c0cbdaf0.jpg)

Corresponding EPS module dialogue appears when the specific slave system is selected.

![EPS_#0\nControl Panel | EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag |\nIndex Value\nA\nB\nEPS-6000\nPWR ERR RUN\nX1\nIN\nX2\nOUT\nEPS-2032\nSTS PWR\nEPS-1132\nSTS PWR\nEPS-4008\nSTS PWR\nEPS-3032\nSTS PWR\n10-30V DC IN\nC\nFOE Get OD\nD](.epsseries-50-1z188-2000-200-r1-en-en/925ed99ba2fbf09f5cfee1bb6760559ac697232bf6b5cef6df1e628b5f2cca76.jpg)

Figure A-9: EPS Slave System Panel

<table><tr><td></td><td>Item</td><td>Function</td></tr><tr><td>A</td><td>Module Tab Panel</td><td>Switching tab panel displays individual module information</td></tr><tr><td>B</td><td>I/O Panel</td><td>Opens I/O display</td></tr><tr><td>C</td><td>FOE (File Over EtherCAT) Button</td><td>Transfers files over EtherCAT (write *.bin file over EtherCAT)</td></tr><tr><td>D</td><td>OD Info Button</td><td>Displays OD infoabove list</td></tr></table>

Table A-2: EPS Slave System Panel Operations

When the tab is switched, information for the specific module is displayed. If the EPS-6000 bus coupler module (the default installation in Slot 1) tab is opened, the configuration page that appears includes vendor ID, product code, revision number, serial number, HW version, FW version, SW version, and ADLINK serial number, as well as error code, as shown.

Control Panel EPS-6000 EPS-2032 EPS-1132 EPS-4008 EPS-3032 DC Diag

![EPS-6000\nPWR ERR RUN\nBlue CAT®\nX1\nIN\nX2\nOUT\nV-\nV+\n10-30V DC IN](.epsseries-50-1z188-2000-200-r1-en-en/edecfb78b527f5d1681dd5ddd53347f75084171aa27fd5fb23b92344e3d61d04.jpg)

Vendor ID

0x0000144A

Product code

0x4B426000

Revision number

0x000000A1

Serial number

0x00000000

HW version

0x000000A1

FW version

0x15062301

SW version

0x15070601

ADLINK serial number

FFFF

Error code

0

Figure A-10: EPS-6000 Product Page (default Slot 1 installation)

Generally, individual EPS module pages display the module type, module identification, HW version, SW version, and ADLINK serial number, as well as error code. The page for the EPS-2032 module (installed here in Slot 2) is shown as an example.

![Control Panel | EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag |\nEPS-2032\nSTS PWR\nModule Type D032\nModule Ident 0x00002032\nHW version 0x000000A2\nFW version 0x14110501\nADLINK serial number\nError code 0](.epsseries-50-1z188-2000-200-r1-en-en/4234458a641c48bb9f3fa1ae78a1a3f9c54dee5775272d729181852eefe2c149.jpg)

Figure A-11: EPS-2032 Product Page (exemplary Slot 2 installation)

To optimize data transmission between the EtherCAT master and EPS slave system, time offset can be adjusted via the Distribute Clock (DC) tab, as shown.

![**Header:** Control Panel | EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag\n\n**Labeled Blocks:**\n*   Mode 0, 0x1c34.1=0\n*   Offset + I/O delay(Input) + 0x1c33.9 + 0x1c33.6 ) 0x1c32.2\n*   SM2 (Vertical lines)\n*   Sync0\n*   Calc & Copy time\n*   I/O delay time(Input module) = 0x1c34.3\n*   I/O delay time(Output module) = 0x1c34.2\n*   0x1c32.6\n*   Output conversion time\n*   0x1c32.9\n*   Offset\n*   Cycle time = 0x1c32.2/0x1c33.2\n*   Input conversion time = 0x1c33.9\n*   0x1c33.6\n*   Input conversion time\n*   Mode 1, 0x1c34.1=1\n*   Offset + I/O delay(Input) + 0x1c33.9 + SM2 0x1c33.6 ( 0x1c32.2\n\n**Connections (Arrows and Timelines):**\n\n**Mode 0 Section:**\n*   **Left Timeline Segment:** A series of horizontal and vertical double-headed arrows representing time durations. From top to bottom/left:\n    *   'Calc & Copy time' (Vertical)\n    *   'Sync0' (Horizontal)\n    *   'I/O delay time(Input module) = 0x1c34.3' (Horizontal)\n    *   'I/O delay time(Output module) = 0x1c34.2' (Horizontal)\n    *   '0x1c32.6' (Vertical)\n    *   'Output conversion time' (Horizontal)\n    *   '0x1c32.9' (Horizontal)\n    *   'Offset' (Horizontal)\n    *   'Cycle time = 0x1c32.2/0x1c33.2' (Long horizontal double arrow spanning the width)\n*   **Middle Timeline Segment:**\n    *   'Input conversion time = 0x1c33.9' (Horizontal)\n    *   '0x1c33.6' (Vertical)\n    *   'Calc & Copy time' (Horizontal)\n*   **Right Timeline Segment:**\n    *   'Sync0' (Horizontal arrow pointing left)\n    *   'I/O delay' (Horizontal arrow pointing left)\n    *   'Input conversion time' (Horizontal arrow pointing right)\n    *   'Calc & Copy time' (Horizontal arrow pointing right)\n\n**Mode 1 Section:**\n*   **Left Timeline Segment:** A series of horizontal and vertical double-headed arrows. From top to bottom/left:\n    *   'Sync0' (Horizontal)\n    *   'Calc & Copy time' (Vertical)\n    *   'I/O delay time(Output module) = 0x1c34.3' (Horizontal)\n    *   'I/O delay time(Output module) = 0x1c34.2' (Horizontal)\n    *   '0x1c32.6' (Vertical)\n    *   'Output conversion time' (Horizontal)\n    *   '0x1c32.9' (Horizontal)\n    *   'Offset' (Horizontal)\n    *   'Cycle time = 0x1c32.2/0x1c33.2' (Long horizontal double arrow spanning the width)\n*   **Middle Timeline Segment:**\n    *   'Input conversion time = 0x1c33.9' (Horizontal)\n    *   '0x1c33.6' (Vertical)\n    *   'Calc & Copy time' (Horizontal)\n*   **Right Timeline Segment:**\n    *   'Sync0' (Arrow pointing upwards)](.epsseries-50-1z188-2000-200-r1-en-en/9b4ce9e947a492c2fb2100487c78187a53641b0a6a03bde55626e52bd6fdfb41.jpg)

Figure A-12: DC Dialog Page

![EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag | DC Para. | Error\nRx PDO   Tx PDO\nSynchronization Type 0x0000 0x0000\nCycle Time 0x00000000 0x00000000\nSynchronization Types supported 0x401E 0x401E\nMinimum Cycle Time 0x000186A0 0x000186A0\nCalc and Copy Time 0x000061A8 0x0009C40\nGet Cycle Time 0x0000 0x0000\nDelay Time 0x00000000 0x00000000\nSyncO Cycle Time 0x00000000 0x00000000\nSM-Event Missed 0x0000 0x0000\nCycle Time Too Small 0x0000 0x0000\nSync error 0x00 0x00\nDC Parameter Setting 0x3\nCyclic mode 0x01\nOutput delay 0x00000000\nInput delay 0x0000000](.epsseries-50-1z188-2000-200-r1-en-en/a9086bd5d39829102536af6f5d3a4f297609c063dccb1e50070a4a116b1d3a5b.jpg)

Figure A-13: DC Parameters Page

# A.3.5 Error Logging and History

Error logging provides error history saved in the EPS-6000's onboard flash memory. Capacity in the memory is 256 error codes. Refresh displays the error data and corresponding description in the Information Panel (right side) when each value is selected. Clear removes data from both the display and flash memory.

![EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag | DC Para. Error Log\nIndex Value\n0 0x0000000000000002\n1 0x0000000000000002\n2 0x000000000400000\n3 0x000000000000002\n4 0x000000000000002\n5 0x00000000000002\n6 0x000000000002\n7 0x000000040002\n8 0x00000002\n9 0x0000002\n10 0x00002222222222222222222222222222222222222222222222222\n11 0x0002222222222222222222222222222222\n12 0x0016666666666666666666666666666666666666666666666666666666666666666666666666666666\n13 1x1111111111111111111111111111111111111111111111111111\n14 1x188888888888888888888888888888888888888888888888888888888\n15 1x3333333333333333333333333333333333333333333333333333333333\n16 1x455555555555555555555555555555555555555555555555555\n17 1x5777777777777777777777777777777777777777777777777777\n18 1x79999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999999\nBit 1: EtherCAT link is broken\nRefresh Clear](.epsseries-50-1z188-2000-200-r1-en-en/dc9a2600f1a92132de8f1a718589d0df984bc06b242f446edd8f3d4bcbfb9b04.jpg)

Figure A-14: Error Log Page (w/ Index 0 selected)

# A.3.6 FOE (File Over EtherCAT)

Slave functions can be reprogrammed dynamically by updating slave code (\*bin). The FOE button opens the binary file listing and enables download to the EEPROM of the EPS slave system.

![The image displays a yellow triangular warning sign with a thick black border. Inside the triangle is a large black exclamation point. Below the triangle, the text 'CAUTION:' is printed in black capital letters.](.epsseries-50-1z188-2000-200-r1-en-en/92b1e76d60719422cea48bf70754d69ada3b3ba6627d68693c2ad4bec2fe1e81.jpg)

Ensure that no other LinkMasterPro $^{™}$ operations are active during the procedure.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nEthorCAT\nADLINK-EPS_00\nMAC address 00-30-64-2F-DF-72\nOpen\nLook in:\nLinkMasterPro\nName Date modified Type\nIcon 7/29/2015 11:45 AM File folder\nslot 7/29/2015 11:45 AM File folder\nECATFW_sscV0.53.bin 9/24/2015 5:17 PM BIN File\nRecent Places\nDesktop\nLibraries\nComputer\nNetwork\nFile name: GCATFW_sscV0.53.bin Open\nFiles of type: bin files (*.bin) Cancel\n10.000.000\nFOE Get OD](.epsseries-50-1z188-2000-200-r1-en-en/5de42e1033fa336a25a5cd618443f0634fd0ab7e900984777f43f67588206388.jpg)

Figure A-15: Binary File Selection

When the procedure is complete, a notification appears, as shown.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nPositive Jitter 35 us Negative Jitter -35 us MAC address\nEtherCAT\nADLINK-EPS_#0\nEPS_#0\nControl Panel | EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC Diag | Index\nEPS-6000\nPWR ERR. RUN\nEPS-2032\nSTS PWR\nEPS-1132\nSTS PWR\nEPS-4008\nSTS PWR\nEPS-3032\nSTS PWR\n10-30V DC IN\n9/30/2015 2:25:08 PM FoE Download : BCATFW_sscV15090701.bin to EPS_#0 done\n9/30/2015 2:25:08 PM confirmFoeStatus0: FoE download success, status 2, please restart EPS system.](.epsseries-50-1z188-2000-200-r1-en-en/ebc4803cf43e49d98086491ee4798321d29d393e4da0be5720264ab88426613b.jpg)

Figure A-16: Binary File Download Success Notification

Restart the EPS system to activate the functions. If the procedure fails, the slave code may need to be downloaded again. If failure persists, please contact ADLINK technical support.

# A.3.7 Getting OD Info

The Get OD button displays values corresponding to each index/sub-index in the table for review.

<table><tr><td>Index</td><td>Value</td></tr><tr><td>0x1C34:00</td><td>0x03</td></tr><tr><td>0x1C34:01</td><td>0x00</td></tr><tr><td>0x1C34:02</td><td>0x00000000</td></tr><tr><td>0x1C34:03</td><td>0x00000000</td></tr><tr><td>0x3FFF:00</td><td>0x00000000</td></tr><tr><td>0x4FFF:00</td><td>0x00000000</td></tr><tr><td>0xF000:00</td><td>0x02</td></tr><tr><td>0xF000:01</td><td>0x0010</td></tr><tr><td>0xF000:02</td><td>0x0004</td></tr><tr><td>0x1600:00</td><td>0x01</td></tr><tr><td>0x1600:01</td><td>0x40000020</td></tr><tr><td>0x4000:00</td><td>0x00000000</td></tr><tr><td>OxC000:02</td><td>D 32</td></tr><tr><td>OxC000:03</td><td>EPS-2032</td></tr><tr><td>OxC000:04</td><td>OxOC81389</td></tr><tr><td>OxC000:05</td><td>OxOOOO144A</td></tr><tr><td>OxC000:06</td><td>Ox144A2O32</td></tr><tr><td>OxCOOO:O7</td><td>OxOOOOOC3</td></tr><tr><td>OxCOOO:O8</td><td>OxOOOOOOO</td></tr><tr><td>OxCOOO:O9</td><td>OxOOO1</td></tr><tr><td>OxCOOO:OA</td><td>OxOOOO2O32</td></tr><tr><td>OxCOOO:OB</td><td>OxOOOO</td></tr><tr><td>OxCOOO:OE</td><td>OxOOOO</td></tr></table>

Figure A-17: OD List

# A.3.8 Module I/O Panels

Selecting a module in the Device Window opens the I/O panel for that module.

![EPS_#0\nControl Panel | EPS-6000 | EPS-2032 | EPS-1132 | EPS-4008 | EPS-3032 | DC\nEPS-6000\nPWR ERR RUN\nX1\nPN\nX2\nOUT\nV-\nV+\n10-30V DC IN\nEPS-2032\nSTS PWR\nEPS-1132\nSTS PWR\nEPS-4008\nSTS PWR\nClick to open the I/O panel](.epsseries-50-1z188-2000-200-r1-en-en/a41f79a0b61198d1c9fcf20eaae7172f182f76a21c25feb6fd02028fff583f66.jpg)

Figure A-18: Module Selection

Each module's I/O panel displays its I/O information, as shown.

# EPS-2032

![EPS-2032_0\nDO0 DO1\nDO2 DO3\nDO4 DO5\nDO6 DO7\nDO8 DO9\nDO10 DO11\nDO12 DO13\nDO14 DO15\nDO16 DO17\nDO18 DO19\nDO20 DO21\nDO22 DO23\nDO24 DO25\nDO26 DO27\nDO28 DO29\nDO30 DO31](.epsseries-50-1z188-2000-200-r1-en-en/78d8dd6e7b1bc059c1db1ebb22e2024014b503440412e1597c234939249f38ba.jpg)

Indicator represents 1 bit, clicking allows status to be changed.

# EPS-2132

![EPS-2132_0\nDO0	DO1\nDO2	DO3\nDO4	DO5\nDO6	DO7\nDO8	DO9\nDO10	DO11\nDO12	DO13\nDO14	DO15\nDO16	DO17\nDO18	DO19\nDO20	DO21\nDO22	DO23\nDO24	DO25\nDO26	DO27](.epsseries-50-1z188-2000-200-r1-en-en/d6f5b697ff2a18bd06cf4356adc7d2aa9233188d80383c9aa8add2b688177180.jpg)

Indicator represents 1 bit, clicking allows status to be changed.

# EPS-1132

![EPS-1132_0\nDI0 DI1\nDI2 DI3\nDI4 DI5\nDI6 DI7\nDI8 DI9\nDI10 DI11\nDI12 DI13\nDI14 DI15\nDI16 DI17\nDI18 DI19\nDI20 DI21\nDI22 DI23\nDI24 DI25\nDI26 DI27\nDI28 DI29\nDI30 DI31](.epsseries-50-1z188-2000-200-r1-en-en/ebf60be26b8c3a34bd177651810bc744db20292eee58f627be2dfb34a5220ca5.jpg)

Indicator represents 1 bit, and is read-only.

# EPS-4008

![EPS-4008_#0\nAO Output Range: -10 (V) -) +10 (V)\nCh 0\nCh 1\nCh 2\nCh 3\nCh 4\nCh 5\nCh 6\nCh 7\nApply Reset](.epsseries-50-1z188-2000-200-r1-en-en/bde6bb44049b18cf767ad68c6d650b8ac23d94a24545e95ff14229fd691275b5.jpg)

Enables voltage to be changed, with current value displayed on the right. Apply implements changes, and Reset rolls values back to 0.

# EPS-3032

![Read AI Range: -10 (V) -) +10 (V)\n| Channel | Read Al Range (V) |\n|---|---|\n| Ch 0 | -10.000 |\n| Ch 1 | -10.000 |\n| Ch 2 | -10.000 |\n| Ch 3 | -10.000 |\n| Ch 4 | -10.000 |\n| Ch 5 | -10.000 |\n| Ch 6 | -10.000 |\n| Ch 7 | -10.000 |\n| Ch 8 | -10.000 |\n| Ch 9 | -10.000 |\n| Ch 10 | -10.000 |\n| Ch 11 | -10.000 |\n| Ch 12 | -10.000 |\n| Ch 13 | -10.000 |\n| Ch 14 | -10.000 |\n| Ch 15 | -10.000 |\n| Ch 16 | -10.000 |\n| Ch 17 | -10.000 |\n| Ch 18 | -10.000 |\n| Ch 19 | -10.000 |\n| Ch 20 | -10.000 |\n| Ch 21 | -10.000 |\n| Ch 22 | -10.000 |\n| Ch 23 | -10.000 |\n| Ch 24 | -10.000 |\n| Ch 25 | -10.000 |\n| Ch 26 | -10.000 |\n| Ch 27 | -10.000 |\n| Ch 28 | -10.000 |\n| Ch 29 | -10.000 |\n| Ch 30 | -10.000 |\n| Ch 31 | -10.000 |](.epsseries-50-1z188-2000-200-r1-en-en/43f9afd12f8dbdd1d5b79028199df68070a7444f97c315057b744975381fcb1f.jpg)

Displays voltage data, and is read-only.

# EPS-3216

![EPS-3216_#0\nRead AI Range:\n0 (mA) -) 20 (mA)\nCh 0	-0.004\nCh 1	-0.004\nCh 2	-0.004\nCh 3	-0.004\nCh 4	-0.004\nCh 5	-0.004\nCh 6	-0.004\nCh 7	-0.004\nCh 8	-0.004\nCh 9	-0.004\nCh 10	-0.004\nCh 11	-0.004\nCh 12	-0.004\nCh 13	-0.004\nCh 14	-0.004\nCh 15	-0.004](.epsseries-50-1z188-2000-200-r1-en-en/2ddff1fdc35b3a5101da90afab74dad5b8995256732ad48dfd56a3482379cd15.jpg)

Displays current data, and is read-only.

# EPS-2308

![EPS-2308_#0\nRO0\nRO1\nRO2\nRO3\nRO4\nRO5\nRO6\nRO7](.epsseries-50-1z188-2000-200-r1-en-en/e12a51bf324ad7cfc6057a6fd3fa9715dc1c12d826ce9bed7c24fa11d0f886c7.jpg)

Enables status to be switched on and off.

# EPS-3504

![Read Ohm Range: 0(ohm) -) 4300(ohm)\n| Category | Value |\n|---|---|\n| Data | 4 |\n| Ch 0 | 2168 |\n| Ch 1 | 4300 |\n| Ch 2 | 4300 |\n| Ch 3 | 4300 |](.epsseries-50-1z188-2000-200-r1-en-en/00423b99d18b98d79d89ce361042f761af926b8bcca34b2a62e7cd0bf743796f.jpg)

Displays channel data in ohms ( $\Omega$ ).

# EPS-7002

![EPS-7002_0\nAxis 0\nEncoder value\n0\nMEL	PEL\nORG	EMG\nALM	EZ\nINP	RDY\nEA	EB\nAxis 1\nEncoder value\n0\nMEL	PEL\nORG	EMG\nALM	EZ\nINP	RDY\nEA	EB](.epsseries-50-1z188-2000-200-r1-en-en/1615debb57c37b09f3aa4703f7d406ce052bcbf1aa1fc65ae376f9b2498b3963.jpg)

Displays Softmotion encoder data and status.

3rd party EtherCAT devices installed in the same line merely show vendor ID in the tree view.

![LinkMasterPro\nFile About\nScan for Devices Export ESI (*.xml)\nEtherCAT\nADLINK-EPS #0\nUnknown-Vendor_ID_0002\nADLINK-EPS_1](.epsseries-50-1z188-2000-200-r1-en-en/280031d857ec4b2a5487c7de18000d569d2175022984613a2a009073fd20a924.jpg)

# A.3.9 Exporting Log Messages

9/30/2015 2:25:08 PM FoE Download : ECATFW\_sscV15090701.bin to EPS\_#0 done
9/30/2015 2:25:08 PM confirmFoStatus(): FoE download success, status 2, please restart EPS system.

![The image displays two rectangular buttons side-by-side with red borders. The left button contains the text 'Export Log' and the right button contains the text 'Clear'.](.epsseries-50-1z188-2000-200-r1-en-en/c05e98febafb3a782b9d3e03dd4f3573063aee2ab5c9887d8d37946b76e7a3b1.jpg)

All currently displayed messages can be exported by clicking Export Log. Log filenames follow a "Log\_year-month-date\_hour-min-sec.txt" format. Files are saved in the LinkMasterPro™ directory. All current messages can be cleared by clicking Clear.

# A.3.10 Version Information

![About LinkMasterPro\nLinkMasterPro Version:0.9.15.07021\nCopyright ADLINK Technology Inc.\nSupport Products\nEPS-6000\nEPS-9805\nEPS-4008\nEPS-3216\nEPS-3032\nEPS-1132\nEPS-2032\nEPS-2132\nEPS-2308\nEPS-3504\nEPS-7002\nOK](.epsseries-50-1z188-2000-200-r1-en-en/794d8f4432d51831fded123069ba59e7fdf1139cfca9e98bea437afedbb9fe61.jpg)

LinkMasterPro™ version information, as well as that of supported modules is displayed when About is selected from the toolbar.

# Important Safety Instructions

For user safety, please read and follow all instructions, WARNINGS, CAUTIONS, and NOTES marked in this manual and on the associated equipment before handling/operating the equipment.

▶ Read these safety instructions carefully.
- Keep this user’s manual for future reference.
▶ Read the specifications section of this manual for detailed information on the operating environment of this equipment.
▶ When installing/mounting or uninstalling/removing equipment:

▷ Turn off power and unplug any power cords/cables.

▶ To avoid electrical shock and/or damage to equipment:

▷ Keep equipment away from water or liquid sources;
▷ Keep equipment away from high heat or high humidity;
▷ Keep equipment properly ventilated (do not block or cover ventilation openings);

▶ Make sure to use recommended voltage and power source settings;

▶ Always install and operate equipment near an easily accessible electrical socket-outlet;

▷ Secure the power cord (do not place any object on/over the power cord);

▶ Only install/attach and operate equipment on stable surfaces and/or recommended mountings; and,

▷ If the equipment will not be used for long periods of time, turn off and unplug the equipment from its power source.

▶ Never attempt to fix the equipment. Equipment should only be serviced by qualified personnel.
▶ A Lithium-type battery may be provided for uninterrupted, backup or emergency power.

![The image displays a graphic consisting of a dark red, upward-pointing triangle. Centered inside the triangle is a large white exclamation mark. Above the triangle is a white background, and a thin black horizontal line runs across the very top edge of the image.](.epsseries-50-1z188-2000-200-r1-en-en/ee475403c1b60aab914f1e33172b2b7a62690918b3ffe0803a04a8c822aac15e.jpg)

WARNING:

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

▶ Equipment must be serviced by authorized technicians when:

▷ The power cord or plug is damaged;
▷ Liquid has penetrated the equipment;
▷ It has been exposed to high humidity/moisture;
$\triangleright$ It is not functioning or does not function according to the user's manual;
▷ It has been dropped and/or damaged; and/or,
▷ It has an obvious sign of breakage.

# Getting Service

Contact us should you require any service or assistance.

# ADLINK Technology, Inc.

Address: 9F, No.166 Jian Yi Road, Zhonghe District
New Taipei City 235, Taiwan
新北市中和區建一路 166 號 9 樓

Tel: +886-2-8226-5877

Fax: +886-2-8226-5717

Email: service@adlinktech.com

# Ampro ADLINK Technology, Inc.

Address: 5215 Hellyer Avenue, #110
San Jose, CA 95138, USA

Tel: +1-408-360-0200

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

Fax: +1-408-360-0222

Email: info@adlinktech.com

# ADLINK Technology (China) Co., Ltd.

Address: 上海市浦东新区张江高科技园区芳春路300号(201203)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 Beijing

Address: 北京市海淀区上地东路 1 号盈创动力大厦 E 座 801 室(100085)
Rm. 801, Power Creative E, No. 1 Shang Di East Rd.
Beijing, 100085 China

Tel: +86-10-5885-8666

Fax: +86-10-5885-8626

Email: market@adlinktech.com

# ADLINK Technology Shenzhen

Address: 深圳市南山区科技园南区高新南七道 数字技术园
A1 栋 2 楼 C 区 (518057)
2F, C Block, Bldg. A1, Cyber-Tech Zone, Gao Xin Ave. Sec. 7
High-Tech Industrial Park S., Shenzhen, 518054 China

Tel: +86-755-2643-4858

Fax: +86-755-2664-6353

Email: market@adlinktech.com

# LiPPERT ADLINK Technology GmbH

Address: Hans-Thoma-Strasse 11, D-68163
Mannheim, Germany

Tel: +49-621-43214-0

Fax: +49-621 43214-30

Email: emea@adlinktech.com

# ADLINK Technology, Inc. (French Liaison Office)

Address: 6 allée de Londres, Immeuble Ceylan
91940 Les Ulis, France

Tel: +33 (0) 1 60 12 35 66

Fax: +33 (0) 1 60 12 35 66

Email: france@adlinktech.com

# ADLINK Technology Japan Corporation

Address: 〒101-0045 東京都千代田区神田鍛冶町3-7-4
神田374ビル4F
KANDA374 Bldg. 4F, 3-7-4 Kanda Kajicho,
Chiyoda-ku, Tokyo 101-0045, Japan

Tel: +81-3-4455-3722

Fax: +81-3-5209-6013

Email: japan@adlinktech.com

# ADLINK Technology, Inc. (Korean Liaison Office)

Address: 137-881 서울시 서초구 서초대로 326, 802 (서초동, 모인터빌딩)
802, Mointer B/D, 326 Seocho-daero, Seocho-Gu,
Seoul 137-881, Korea

Tel: +82-2-2057-0565

Fax: +82-2-2057-0563

Email: korea@adlinktech.com

# ADLINK Technology Singapore Pte. Ltd.

Address: 84 Genting Lane #07-02A, Cityneon Design Centre Singapore 349584

Tel: +65-6844-2261

Fax: +65-6844-2263

Email: singapore@adlinktech.com

# ADLINK Technology Singapore Pte. Ltd. (Indian Liaison Office)

Address: #50-56, First Floor, Spearhead Towers Margosa Main Road (between 16th/17th Cross) Malleswaram, Bangalore - 560 055, India

Tel: +91-80-65605817, +91-80-42246107

Fax: +91-80-23464606

Email: india@adlinktech.com

# ADLINK Technology, Inc. (Israeli Liaison Office)

Address: 27 Maskit St., Corex Building
PO Box 12777
Herzliya 4673300, Israel

Tel: +972-54-632-5251

Fax: +972-77-208-0230

Email: israel@adlinktech.com

# ADLINK Technology, Inc. (UK Liaison Office)

Tel: +44 774 010 59 65

Email: UK@adlinktech.com
[🔗 Link to the original document](.epsseries-50-1z188-2000-200-r1-en-en/epsseries-50-1z188-2000-200-r1-en-en.pdf)