NuDAM-6050 NuDAM-6052

NuDAM-6053 NuDAM-6054

NuDAM-6056 NuDAM-6058

NuDAM-6060 NuDAM-6063

# Digital I/O Modules

© Copyright 1995\~2001 ADLINK Technology Inc.

All Rights Reserved.

Manual Rev. 3.51: March 27, 2001

Part No : 50-12003-201

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.

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.

# Trademarks

ND-6050, ND-6052, ND-6053, ND-6054, ND-6056, ND6058, ND-6060 and ND-6063 are registered trademarks of ADLink Technology Inc., IBM PC is a registered trademark of International Business Machines Corporation. Intel is a registered trademark of Intel Corporation. Other product names mentioned herein are used for identification purposes only and may be trademarks and/or registered trademarks of their respective companies.

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# Table of Contents

# Chapter 1 Introduction .........

1.1 About the NuDAM DIO Modules ...
1.2 Overview of NuDAM-6050 . . 2

1.2.1 What is NuDAM-6050? . 2
1.2.2 Features of NuDAM-6050 .. 2
1.2.3 Specifications of NuDAM-6050 .. 2
1.2.4 A Look at ND-6050 & Pin Assignment .. 4
1.2.5 Pin Definitions of NuDAM-6050 .5
1.2.6 ND-6050 Functional Block Diagram.. .6

1.3 Overview of NuDAM-6052 ..

1.3.1 What is NuDAM-6052 ? .
1.3.2 Features of NuDAM-6052 ..
1.3.3 Specifications of NuDAM-6052 .
1.3.4 A Look at ND-6052 & Pin Assignment . 9
1.3.5 Pin Definitions of NuDAM-6052 ..10
1.3.6 ND-6052 Functional Block Diagram.. .11

1.4 Overview of NuDAM-6053 . 12

1.4.1 What is NuDAM-6053 ? . .. 12
1.4.2 Features of NuDAM-6053 . . 12
1.4.3 Specifications of NuDAM-6053 . .12
1.4.4 A Look at ND-6053 & Pin Assignment . .14
1.4.5 Pin Definitions of NuDAM-6053 .. 15
1.4.6 ND-6053 Functional Block Diagram.. ..16

1.5 Overview of NuDAM-6054 . . 17

1.5.1 What is NuDAM-6054 ? . 17
1.5.2 Features of NuDAM-6054 .. .17
1.5.3 Specifications of NuDAM-6054 . .17
1.5.4 A Look at ND-6054 & Pin Assignment .. ..19
1.5.5 Pin Definitions of NuDAM-6054 . .20
1.5.6 ND-6054 Functional Block Diagram.. .21

1.6 Overview of NuDAM-6056 . .. 22

1.6.1 What is NuDAM-6056 ? . .22
1.6.2 Features of NuDAM-6056 .. . 22
1.6.3 Specifications of NuDAM-6056 .. . 22
1.6.4 A Look at ND-6056 & Pin Assignment . .24
1.6.5 Pin Definitions of NuDAM-6056 .24
1.6.5 Pin Definitions of NuDAM-6056 . 25
1.6.6 ND-6056 Functional Block Diagram.. ..26

1.7 Overview of NuDAM-6058 . ... 27

1.7.1 What is NuDAM-6058 ? . ..27
1.7.2 Features of NuDAM-6058 . .27

1.7.3 Specifications of NuDAM-6058 . ..28
1.7.4 A Look at ND-6058 & Pin Assignment . ..30
1.7.5 Pin Definitions of NuDAM-6058.. .31
1.7.6 ND-6058 Functional Block Diagram .. .32

# 1.8 Overview of NuDAM-6060 . 33

1.8.1 What is NuDAM-6060 ? . ..33
1.8.2 Features of NuDAM-6060 . .33
1.8.3 Specifications of NuDAM-6060 .33
1.8.4 Using Relay Output.. .35
1.8.5 A Look at ND-6060 & Pin Assignment . ..36
1.8.6 Pin Definitions of NuDAM-6060.. .37
1.8.7 ND-6060 Functional Block Diagram .. .38

# 1.9 Overview of NuDAM-6063 .. 39

1.9.1 What is NuDAM-6063 ? . ..39
1.9.2 Features of NuDAM-6063 . .39
1.9.3 Specifications of NuDAM-6063 .39
1.9.4 Using Relay Output.. ..40
1.9.5 A Look at ND-6063 & Pin Assignment . ..41
1.9.6 Pin Definitions of NuDAM-6063.. ..42
1.9.7 ND-6063 Functional Block Diagram .. ..43

# Chapter 2 Initialization & Installation .............. . 44

2.1 Software Installation ... .. 44
2.2 Initializing a Brand-New Module.. .. 45

2.2.1 Objective of Initializing a Brand-New NuDAM .. ...45
2.2.2 Default State . ..46
2.2.3 Initialization Equipments.. ..47
2.2.4 Initialization Procedure .. .47
2.2.5 Initialization Wiring . ..48

2.3 Install a New NuDAM to a Existing Network .. ... 49

2.3.1 Equipments for Install a New Module.. ..49
2.3.2 Installing Procedures... ..49

2.4 Application Wiring for NuDAM-6050 . .. 50
2.5 Application Wiring for NuDAM-6052 . ... 51
2.6 Application Wiring for NuDAM-6053 . .. 52
2.7 Application Wiring for NuDAM-6054 . .. 53
2.8 Application Wiring for NuDAM-6056 . .. 53
2.9 Application Wiring for NuDAM-6058 . .. 54
2.10 Application Wiring for NuDAM-6060 . .. 55
2.11 Application Wiring for NuDAM-6063 . .. 56

# Chapter 3 Command Set ........ . 57

3.1 Command and Response . .. 57

3.1.1 Introduction .. .57
3.1.2 Document Conventions.. .58
3.1.3 Format of NuDAM Commands . 58
3.1.4 Response of NuDAM Commands . .59

3.2 Summary of Command Set.. .. 60
3.3 Set Configuration... ... 62
3.4 Read Configuration .. ... 64
3.5 Read Module Name .. ... 66
3.6 Read Firmware Version . ... 67
3.7 Reset Status... .. 68
3.8 Digital Output... ... 69
3.9 Digital Output (Continued)... .. 71
3.10 Digital Output (Continued).. .. 73
3.11 Digital Output (Continued)... .. 75
3.12 Synchronized Sampling . .. 77
3.13 Read Synchronized Data . .. 78
3.14 Digital Input .. ... 81
3.14 Programmable I/O Mode Setting.. ... 84
3.15 Read Leading Code Setting.. .. 86
3.16 Change Leading Code Setting.. .. 88
3.17 Set Host Watchdog Timer & Safety Value ... ... 90
3.18 Read Host Watchdog Timer & Safety Value... .. 93
3.19 Change Polarity. .. 95
3.20 Read Polarity.. .. 96
3.21 Host is OK .. .. 97

# Product Warranty/Service ......... .... 98

![1](.nd-6052-manual-2/b93552f215fd287aac58e3fb60a67b870888172ea9ac8fa6791af9500cb6eede.jpg)

# Introduction

# 1.1 About the NuDAM DIO Modules

The NuDAM provides a series of digital input or output (DIO) modules to sense the digital signal or to control the remote devices.

The specified features of each module are shown here.

• NuDAM-6050 : Digital I/O module
• NuDAM-6052 : Isolated digital input module
• NuDAM-6053 : 16-channel digital input module
• NuDAM-6054 : 15-channel isolated digital input module
• NuDAM-6056 : 15-channel isolated digital output module
• NuDAM-6058 : 28 programmable digital I/O module
• NuDAM-6060 : relay output and isolated digital input module
• NuDAM-6063 : 8-channel relay output module

# 1.2 Overview of NuDAM-6050

# 1.2.1 What is NuDAM-6050?

NuDAM-6050 is a digital input and output module. The digital input channels can monitor active TTL signals, and sense passive switch on/off signal because of the internal pull high resistors. The convenient open collector output channels can sink up to 50 mA current. Combining with the relay devices, it is possible to control the high power devices by programming output channel of the NuDAM-6050.

# 1.2.2 Features of NuDAM-6050

♦ 7 bits digital input
♦ 8 bits open collector digital output
Programmable host watchdog timer for host failure protection
♦ Internal watchdog timer for device failure protection
♦ Easy programming by software
Easy installation and wiring

# 1.2.3 Specifications of NuDAM-6050

♦ Interface
• Interface : RS-485, 2 wires
• Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)

Digital Input

• Channel numbers : 7
• Logical level 0 : +1V maximum
• Logical level 1: +3.5V\~30V
• Pull up resister : 10KΩ
• Maximum current : 0.5mA

# ♦ Digital Output

• Channel numbers : 8
• Output characteristic : open collector transistor
• Maximum current sink : 50mA
• Max. power dissipation : 300mW

# Watchdog Function

• Module internal watchdog timer: 150 ms
• Power failure threshold : 4.65 V
• Safety value : 8 output channels
• Host programmable watchdog :
• 100 ms \~ 25.500 sec

# ♦ Power

• Power supply : +10V to +30V
• Current consumption : 0.5 W

# 1.2.4 A Look at ND-6050 & Pin Assignment

![20 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 DI 0 DO 0 DO 1 DO 2\n11\nND-6050 Digital\nInput/Output\nI/O Type Signal\nDigital Output Bit 0-7\nDigital Input Bit 0-6\n1\nDO 7 DO 6 DO 5 DO 4 DO 3 DEFAULT Y)DATA+\n(G)DATA-\n(R)+Vs (B)GND\n10](.nd-6052-manual-2/de015b40c2dc3c9c6bd3bb5765b8d69f6b4bb8fa7800ac1cc0f094775efef7e7.jpg)

# 1.2.5 Pin Definitions of NuDAM-6050

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DO 7</td><td>Digital output channel 7</td></tr><tr><td>2</td><td>DO 6</td><td>Digital output channel 6</td></tr><tr><td>3</td><td>DO 5</td><td>Digital output channel 5</td></tr><tr><td>4</td><td>DO 4</td><td>Digital output channel 4</td></tr><tr><td>5</td><td>DO 3</td><td>Digital output channel 3</td></tr><tr><td>6</td><td>Default*</td><td>Initial state setting</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +Vs</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>DO 2</td><td>Digital output channel 2</td></tr><tr><td>12</td><td>DO 1</td><td>Digital output channel 1</td></tr><tr><td>13</td><td>DO 0</td><td>Digital output channel 0</td></tr><tr><td>14</td><td>DI 0</td><td>Digital input channel 0</td></tr><tr><td>15</td><td>DI 1</td><td>Digital input channel 1</td></tr><tr><td>16</td><td>DI 2</td><td>Digital input channel 2</td></tr><tr><td>17</td><td>DI 3</td><td>Digital input channel 3</td></tr><tr><td>18</td><td>DI 4</td><td>Digital input channel 4</td></tr><tr><td>19</td><td>DI 5</td><td>Digital input channel 5</td></tr><tr><td>20</td><td>DI 6</td><td>Digital input channel 6</td></tr></table>

# 1.2.6 ND-6050 Functional Block Diagram

![**Labeled Blocks:**\n*   Power Regulator & Filter\n*   Watchdog/Power Failure Supervisor\n*   RS-485 Rec/Drv\n*   Micro Processor\n*   EEPROM Config Data Safe Value\n*   8-bit Digital/Output\n*   7-bit Digital/Input\n*   1-bit Digital/Input\n\n**Connections:**\n*   **Power Input +10V ~ +30V** connects to **Power Regulator & Filter**.\n*   **Power Regulator & Filter** outputs to **+ 5V** (upward arrow) and **GND** (rightward arrow).\n*   **RS-485 Rec/Drv** connects bidirectionally to **Micro Processor**.\n*   **RS-485 Rec/Drv** outputs to **Data +** and **Data -** (leftward arrows).\n*   **Watchdog/Power Failure Supervisor** connects bidirectionally to **Micro Processor**.\n*   **Micro Processor** connects to **EEPROM Config Data Safe Value** (leftward arrow).\n*   **Micro Processor** connects to **8-bit Digital/Output** (upward/rightward arrow).\n*   **8-bit Digital/Output** outputs to **DO0** and **DO7** (rightward arrows).\n*   **Micro Processor** receives input from **7-bit Digital/Input** (leftward arrow).\n*   **7-bit Digital/Input** receives input from **DI0** and **DI6** (leftward arrows).\n*   **Micro Processor** receives input from **1-bit Digital/Input** (leftward arrow).\n*   **1-bit Digital/Input** receives input from **Default* Pin** (leftward arrow).](.nd-6052-manual-2/23de77bd19885b9cd02cdc66af34736ffabbadc0f0c31584515d3753c31f9ae3.jpg)

# 1.3 Overview of NuDAM-6052

# 1.3.1 What is NuDAM-6052 ?

NuDAM-6052 provides 8 isolated digital input channels. Six of the input channels are differential type and two of them are single-ended with common ground. The isolation voltage is up to 5000 Vrms. It is suitable to use NuDAM-6052 in industrial environment with the dangerous of high voltage electric shock.

# 1.3.2 Features of NuDAM-6052

A 8 bits isolated input
♦ 5000 Vrms isolation voltage
♦ Programmable host watchdog timer for host failure protection
♦ Internal watchdog timer for device failure protection
Easy programming by software
♦ Easy installation and wiring

# 1.3.3 Specifications of NuDAM-6052

♦ Interface
• Interface : RS-485, 2 wires
• Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)
♦ Input
• Channel numbers : 6 differential channels, 2 single ended
• Logical level 0 : +1V Max.
• Logical level 1: +3.5V \~ +24V
♦ Watchdog Function
• Module internal watchdog timer : 150ms
• Power failure threshold : 4.65 V

• Safe value : 8 output channels
• Host programmable watchdog :100 ms \~ 25.5 sec

# ♦ Power

• Power supply : +10V to +30V
• Current consumption : 0.4 W

# 1.3.4 A Look at ND-6052 & Pin Assignment

![20\nDI 4-\nDI 4+\nDI 3-\nDI 3+\nDI 2-\nDI 2+\nDI 1-\nDI 1+\nDI 0-\nDI 0+\n11\nND-6052\nIsolated\nDigital Input\nInput Type	Channels\nDiffential	6\nSingle Ended	2\n1\nDI 5+\nDI 5-\nDI 6+\nD.GND	DI 7+\nDEFAULT	Y)DATA+\n(G)DATA-\n(B)+Vs\n(B)GND\n10](.nd-6052-manual-2/1271e62fabe0710e34eeb75eb4d4c3637dfc872012740085fb0ac9f67aee95d9.jpg)

# 1.3.5 Pin Definitions of NuDAM-6052

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DI5+</td><td>Digital Input Channel 5+</td></tr><tr><td>2</td><td>DI5 -</td><td>Digital Input Channel 5 -</td></tr><tr><td>3</td><td>DI6+</td><td>Digital Input Channel 6+</td></tr><tr><td>4</td><td>D.GND</td><td>Digital Input Ground</td></tr><tr><td>5</td><td>DI7+</td><td>Digital Input Channel 7+</td></tr><tr><td>6</td><td>Default*</td><td>Initial state setting</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>DI0+</td><td>Digital Input Channel 0+</td></tr><tr><td>12</td><td>DI0 -</td><td>Digital Input Channel 0 -</td></tr><tr><td>13</td><td>DI1+</td><td>Digital Input Channel 1+</td></tr><tr><td>14</td><td>DI1 -</td><td>Digital Input Channel 1 -</td></tr><tr><td>15</td><td>DI2+</td><td>Digital Input Channel 2+</td></tr><tr><td>16</td><td>DI2 -</td><td>Digital Input Channel 2 -</td></tr><tr><td>17</td><td>DI3+</td><td>Digital Input Channel 3+</td></tr><tr><td>18</td><td>DI3 -</td><td>Digital Input Channel 3 -</td></tr><tr><td>19</td><td>DI4+</td><td>Digital Input Channel 4+</td></tr><tr><td>20</td><td>DI4 -</td><td>Digital Input Channel 4 -</td></tr></table>

# 1.3.6 ND-6052 Functional Block Diagram

![Based on the provided block diagram, here is the accurate and concise description of the labeled blocks and their connections:\n\n**Labeled Blocks:**\n*   **Power Input:** 'Power Input +10V ~ +30V'\n*   **Power Regulation:** 'Power Regulator & Filter'\n*   **Supervision:** 'Watchdog/Power Failure Supervisor'\n*   **Communication:** 'RS-485 Rec/Drv'\n*   **Control Unit:** 'Micro Processor'\n*   **Storage:** 'EEPROM Config Data Safe Value'\n*   **Input Interfaces:** Four dotted rectangular blocks labeled with input pairs:\n    *   'DI0+' / 'DI0-'\n    *   'DI5+' / 'DI5-'\n    *   'DI6+' / 'D.GND'\n    *   'DI7+' / 'D.GND'\n\n**Connections:**\n*   **Power Supply:** 'Power Input +10V ~ +30V' connects to the 'Power Regulator & Filter'. This block outputs '+5V' (indicated by an upward arrow) and 'GND' (indicated by a rightward arrow).\n*   **Watchdog:** The 'Watchdog/Power Failure Supervisor' block is connected bidirectionally to the 'Micro Processor'.\n*   **Communication:** The 'RS-485 Rec/Drv' block is connected bidirectionally to the 'Micro Processor'. It outputs 'Data -' (indicated by two leftward arrows).\n*   **Configuration:** The 'Micro Processor' connects to the 'EEPROM Config Data Safe Value' block (arrow points towards the EEPROM).\n*   **Digital Inputs:** The 'Micro Processor' connects bidirectionally to the four dotted input interface blocks on the right (DI0, DI5, DI6, and DI7).\n*   **Additional Circuitry:**\n    *   A '+5V' source (top center) connects via a resistor to a circuit containing a capacitor and a switch/transistor symbol, which connects to the Micro Processor.\n    *   External terminals labeled 'DI0+' and 'DI0-' (top right) connect through a resistor and a protection circuit (dotted box containing diodes and a capacitor).](.nd-6052-manual-2/d5fc1234a0702ba92d9caa456aaa55006cefcba14ba6b9a779d5931d2dad575c.jpg)

# 1.4 Overview of NuDAM-6053

# 1.4.1 What is NuDAM-6053 ?

NuDAM-6053 provides 16 digital input channels for dry contact or wet contact signals. The effective distance from DI to contact point is up to 500m for dry contact input.

# 1.4.2 Features of NuDAM-6053

• 16 bits digital input
• Programmable host watchdog timer for host failure protection
• Internal watchdog timer for device failure protection
• Easy programming by software
• Easy installation and wiring

# 1.4.3 Specifications of NuDAM-6053

♦ Interface
• Interface : RS-485, 2 wires
Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)

♦ Input

• Channel numbers : 16
• Dry Contact:
• Logical level 0 : close to GND
• Logical level 1 : open
• Wet Contact :
• Logical level 0 : +2V max.
• Logical level 1 : +4V \~ + 30V

Watchdog Function

• Module internal watchdog timer : 150ms

• Power failure threshold : 4.65 V
• Host programmable watchdog : 100 ms \~ 25.5 sec
• Power supply : +10V to +30V
• Current consumption : 0.4 W

# ♦ Power

# 1.4.4 A Look at ND-6053 & Pin Assignment

![20\nDI 9\nDI 8\nDI 7\nDI 6\nDI 5\nDI 4\nDI 3\nDI 2\nDI 1\nDI 0\n16-CH\nND-6053 Digital\nInput Type Channels\nDigital Input 16\n1\nDI 10 DI 11 DI 12 DI 13 DI 14 DEFAULT (Y)DATA+\n(G)DATA-\n(R)+Vs (B)GND 10](.nd-6052-manual-2/6826db3347102c3a80c79893b7fa8cbfe46ebbb8debb66155c54cfeecbd86631.jpg)

# 1.4.5 Pin Definitions of NuDAM-6053

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DI10</td><td>Digital Input Channel 10</td></tr><tr><td>2</td><td>DI11</td><td>Digital Input Channel 11</td></tr><tr><td>3</td><td>DI12</td><td>Digital Input Channel 12</td></tr><tr><td>4</td><td>DI13</td><td>Digital Input Channel 13</td></tr><tr><td>5</td><td>DI14</td><td>Digital Input Channel 14</td></tr><tr><td>6</td><td>Default*/DI15</td><td>Initial state setting/ Digital Input Channel 15</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>DI0</td><td>Digital Input Channel 0</td></tr><tr><td>12</td><td>DI1</td><td>Digital Input Channel 1</td></tr><tr><td>13</td><td>DI2</td><td>Digital Input Channel 2</td></tr><tr><td>14</td><td>DI3</td><td>Digital Input Channel 3</td></tr><tr><td>15</td><td>DI4</td><td>Digital Input Channel 4</td></tr><tr><td>16</td><td>DI5</td><td>Digital Input Channel 5</td></tr><tr><td>17</td><td>DI6</td><td>Digital Input Channel 6</td></tr><tr><td>18</td><td>DI7</td><td>Digital Input Channel 7</td></tr><tr><td>19</td><td>DI8</td><td>Digital Input Channel 8</td></tr><tr><td>20</td><td>DI9</td><td>Digital Input Channel 9</td></tr></table>

# 1.4.6 ND-6053 Functional Block Diagram

\+ 5V

![Based on the provided flowchart, here is the accurate description of the labeled blocks and connections:\n\n**Labeled Blocks:**\n*   Power Regulator & Filter\n*   Watchdog/Power Failure Supervisor\n*   RS-485 Rec/Drv\n*   Micro Processor\n*   EEPROM Config Data Safe Value\n*   15-bit Digital/Input\n*   1-bit Digital/Input\n\n**Labels and External Connections:**\n*   Power Input +10V ~ +30V\n*   Data +\n*   Data -\n*   GND\n*   DI0\n*   DI14\n*   Default* Pin/DI15\n\n**Connections:**\n*   **Power Input +10V ~ +30V**: Two arrows point from this label into the **Power Regulator & Filter** block.\n*   **Power Regulator & Filter**: One arrow points upward (unlabeled), and one arrow points to the right labeled **GND**.\n*   **Watchdog/Power Failure Supervisor**: Connected to the **Micro Processor** via a double-headed arrow.\n*   **RS-485 Rec/Drv**: Connected to the **Micro Processor** via a double-headed arrow. Two arrows point left from this block labeled **Data +** and **Data -**.\n*   **EEPROM Config Data Safe Value**: Connected to the **Micro Processor** via an arrow pointing towards the **Micro Processor**.\n*   **15-bit Digital/Input**: Connected to the **Micro Processor** via a double-headed arrow. Two arrows point left into this block labeled **DI0** and **DI14**.\n*   **1-bit Digital/Input**: Connected to the **Micro Processor** via an arrow pointing towards the **Micro Processor**. One arrow points left into this block labeled **Default* Pin/DI15**.](.nd-6052-manual-2/8760e87ccf7a60c9eaf959b48cb30254a843f72dfb19887628c3c497bcd20ed1.jpg)

# 1.5 Overview of NuDAM-6054

# 1.5.1 What is NuDAM-6054 ?

NuDAM-6054 provides 15 isolated digital input channels. All of the input channels are common power type and one of them is using the same pin with default (use jumper to choose). The isolation voltage is up to 5000 Vrms. It is suitable to use NuDAM-6054 in industrial environment with the dangerous of high voltage electric shock.

# 1.5.2 Features of NuDAM-6054

• 15 bits digital inputs with isolation protection and common power
• 5000 Vrms isolation voltage
• Programmable host watchdog timer for host failure protection
• Internal watchdog timer for device failure protection
• Easy programming by software
• Easy installation and wiring

# 1.5.3 Specifications of NuDAM-6054

♦ Interface
• Interface : RS-485, 2 wires
• Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)
♦ Input
Channel numbers : 15 isolation common power input channels (the fifteenth channel is the same with default pin, but can use jumper to choose)
• Input type : source type
• Effective distance: 500 m
• Common external voltage: 24V
♦ Watchdog Function

• Module internal watchdog timer : 150msec
• Power failure threshold : 4.65 V
• Host programmable watchdog :100 ms \~ 25.5 sec

# ♦ Power

• Power supply : +10V to +30V
• Power consumption : 0.4 W

# 1.5.4 A Look at ND-6054 & Pin Assignment

![20\nDI0 DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9\n11\nND-6054\n15-CH Isolated\nDigital Input\nInput Type Channels\nDI 15\nDI10 DI11 DI12 DI13\nEx24V DEFAULT *\nDI14 Y)DATA+\n(G)DATA-\n(R)+Vs (B)GND 10](.nd-6052-manual-2/b1cb21446e9d0f28c58abe13a8afbb13857db09e34cc6d437ff474c2117b16e3.jpg)

# 1.5.5 Pin Definitions of NuDAM-6054

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DI10</td><td>Digital input channel 10</td></tr><tr><td>2</td><td>DI11</td><td>Digital input channel 11</td></tr><tr><td>3</td><td>DI12</td><td>Digital input channel 12</td></tr><tr><td>4</td><td>DI13</td><td>Digital input channel 13</td></tr><tr><td>5</td><td>Ext24V</td><td>External common +24V</td></tr><tr><td>6</td><td>Default*/DI14</td><td>Initial state setting or digital input channel 14</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>DI9</td><td>Digital input channel 9</td></tr><tr><td>12</td><td>DI8</td><td>Digital input channel 8</td></tr><tr><td>13</td><td>DI7</td><td>Digital input channel 7</td></tr><tr><td>14</td><td>DI6</td><td>Digital input channel 6</td></tr><tr><td>15</td><td>DI5</td><td>Digital input channel 5</td></tr><tr><td>16</td><td>DI4</td><td>Digital input channel 4</td></tr><tr><td>17</td><td>DI3</td><td>Digital input channel 3</td></tr><tr><td>18</td><td>DI2</td><td>Digital input channel 2</td></tr><tr><td>19</td><td>DI1</td><td>Digital input channel 1</td></tr><tr><td>20</td><td>DI0</td><td>Digital input channel 0</td></tr></table>

# 1.5.6 ND-6054 Functional Block Diagram

![**Blocks:**\n*   Power Input +10V ~ +30V\n*   Power Regulator & Filter\n*   +5V\n*   GND\n*   Watchdog/Power Failure Supervisor\n*   Micro Processor\n*   RS-485 Rec/Drv\n*   Data +\n*   Data -\n*   EEPROM Config Data Safe Value\n*   +24V (appearing multiple times)\n*   DI0\n*   DI1\n*   DI12\n*   DI13\n*   DI14\n\n**Connections:**\n*   **Power Input +10V ~ +30V** connects via two arrows to **Power Regulator & Filter**.\n*   **Power Regulator & Filter** outputs **+5V** (arrow up) and **GND** (arrow right).\n*   The **+5V** rail connects via a resistor (zig-zag symbol) to the **Micro Processor**.\n*   **Watchdog/Power Failure Supervisor** connects to the **Micro Processor**.\n*   **RS-485 Rec/Drv** connects bidirectionally to the **Micro Processor**.\n*   **RS-485 Rec/Drv** outputs **Data +** and **Data -** (arrows pointing left).\n*   **EEPROM Config Data Safe Value** connects bidirectionally to the **Micro Processor**.\n*   The **Micro Processor** connects to an input circuit for **DI0**, which involves a resistor and a dotted box containing diodes, receiving **+24V**.\n*   The **Micro Processor** connects to an input circuit for **DI1**, which receives **+24V**.\n*   A vertical line from the **Micro Processor** connects to input circuits for **DI12**, **DI13**, and **DI14**. Each of these circuits receives **+24V**.\n*   A dotted line connects the **DI1** circuit block to the **DI12** circuit block.](.nd-6052-manual-2/0f56f6a880686751bef76d79e8a7cae78cc40ac1faba3773356f0ccea12eff37.jpg)

# 1.6 Overview of NuDAM-6056

# 1.6.1 What is NuDAM-6056 ?

NuDAM-6056 provides 15 isolated digital output channels. All of the output channels are common ground type and one of them is use the same pin with default (use jumper to choose). The isolation voltage is up to 5000 Vrms. It is suitable to use NuDAM-6056 in industrial environment with the dangerous of high voltage electric shock.

# 1.6.2 Features of NuDAM-6056

♦ 15 bits digital open collector output with isolation protection and common ground
♦ 5000 Vrms isolation voltage
Programmable host watchdog timer for host failure protection
♦ Internal watchdog timer for device failure protection
♦ Easy programming by software
♦ Easy installation and wiring

# 1.6.3 Specifications of NuDAM-6056

# ♦ Interface

• Interface : RS-485, 2 wires
Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)

# Digital Output

Channel numbers : 15 isolation common ground output channels(the fifteenth channel is the same with default pin,but could use jumper to choose).
• Output characteristic:open collector transistor
• Maximum current sink:50mA(300mA for Hardware Reversion.A2)
• Max.power dissiation:200mW(3W for Hardware Reversion.A2)
• Isolation Voltage:5000Vrms

# Watchdog Function

• Module internal watchdog timer : 150msec
• Power failure threshold : 4.65 V
• Safe value : 15 output channels
• Host programmable watchdog :100 ms \~ 25.5 sec

# ♦ Power

• Power supply : +10V to +30V
• Current consumption : 0.3 W(Max 3.5W for Hardware Reversion.A2)

# 1.6.4 A Look at ND-6056 & Pin Assignment

![15-CH Isolated\nDigital Output\nND-6056\nOutput Type Channels\nDO 15\n1 DO10 DO11 DO12 DO13 Ext.GND DEFAULT (Y)DATA+ (G)DATA- (R)+Vs (B)GND 10](.nd-6052-manual-2/ea79fc50e4fb88d593d44252eda3a0e304859e243e4d9a0bafb7f4d5c6d55c53.jpg)

# 1.6.5 Pin Definitions of NuDAM-6056

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DO10</td><td>Digital output channel 10</td></tr><tr><td>2</td><td>DO11</td><td>Digital output channel 11</td></tr><tr><td>3</td><td>DO12</td><td>Digital output channel 12</td></tr><tr><td>4</td><td>DO13</td><td>Digital output channel 13</td></tr><tr><td>5</td><td>ExtGND</td><td></td></tr><tr><td>6</td><td>Default*/DO14</td><td>Initial state settingDigital output channel 14</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>DO0</td><td>Digital output channel 0</td></tr><tr><td>12</td><td>DO1</td><td>Digital output channel 1</td></tr><tr><td>13</td><td>DO2</td><td>Digital output channel 2</td></tr><tr><td>14</td><td>DO3</td><td>Digital output channel 3</td></tr><tr><td>15</td><td>DO4</td><td>Digital output channel 4</td></tr><tr><td>16</td><td>DO5</td><td>Digital output channel 5</td></tr><tr><td>17</td><td>DO6</td><td>Digital output channel 6</td></tr><tr><td>18</td><td>DO7</td><td>Digital output channel 7</td></tr><tr><td>19</td><td>DO8</td><td>Digital output channel 8</td></tr><tr><td>20</td><td>DO9</td><td>Digital output channel 9</td></tr></table>

# 1.6.6 ND-6056 Functional Block Diagram

![**Labeled Blocks:**\n*   Power Regulator & Filter\n*   Watchdog/Power Failure Supervisor\n*   RS-485 Rec/Drv\n*   Micro Processor\n*   EEPROM Config Data Safe Value\n\n**Connections:**\n*   **Power Input:** Two lines enter the **Power Regulator & Filter** block from the left, labeled 'Power Input +10V ~ +30V'.\n*   **Power Output:** Two lines exit the **Power Regulator & Filter** block to the right. The top line has an upward arrow labeled '+5V'. The bottom line has an upward arrow labeled 'GND'. Both lines continue horizontally to the right.\n*   **RS-485 Rec/Drv:** A double-headed arrow connects the **RS-485 Rec/Drv** block to the **Micro Processor**. Two arrows exit to the left labeled 'Data +' and 'Data'.\n*   **Watchdog/Power Failure Supervisor:** A double-headed arrow connects this block to the **Micro Processor**.\n*   **EEPROM Config Data Safe Value:** A double-headed arrow connects this block to the **Micro Processor**.\n*   **Micro Processor Outputs:** Lines extend from the right side of the **Micro Processor** block to five output sections on the right:\n    *   **Top Section:** A dotted box containing a diode and a transistor symbol. It is connected to the Micro Processor and to '+V' via a resistor. It outputs lines labeled 'DO0' and 'COM'.\n    *   **Second Section:** A dotted box connected to the Micro Processor. It outputs lines labeled 'DO1' and 'COM'.\n    *   **Third Section:** A dotted box connected to the Micro Processor. It outputs lines labeled 'DO12' and 'COM'.\n    *   **Fourth Section:** A dotted box connected to the Micro Processor. It outputs lines labeled 'DO13' and 'COM'.\n    *   **Fifth Section:** A dotted box connected to the Micro Processor. It outputs lines labeled 'DO14' and 'COM'.](.nd-6052-manual-2/b4d8cb2acd645bcbb75d0eed495ca63b3260af36e24754454718e147b669446e.jpg)

# 1.7 Overview of NuDAM-6058

# 1.7.1 What is NuDAM-6058 ?

NuDAM-6058 provides 28 digital I/O channels. It emulates industry standard mode zero configuration of 8255 programmable peripheral interface (PPI) chip. The PPI offers 3 ports A, B and C, the C port can also be subdivided into 2 nibble-wide (4-bit) port – C upper and C lower. A 50 pin SCSI connector equipped with ND-6058 which is corresponding to PPI chip with 24 DIO points.

# 1.7.2 Features of NuDAM-6058

Industry standard 8255 programmable peripheral interface mode 0 emulation
24 Programmable I/O channels
♦ 4 dedicated input channels
Completely TTL compatible I/O lines
♦ Status read-back capability
♦ Direct bit set/reset capability
♦ Buffered circuits for higher driving capability
♦ Direct interface with OPTO-22 compatible I/O module
♦ Programmable host watchdog timer for host failure protection
♦ Internal watchdog timer for device failure protection
On board resetable fuse to protect power supply form external devices
Easy programming by software
♦ Easy installation and wiring

# 1.7.3 Specifications of NuDAM-6058

# ♦ Interface

• Interface : RS-485, 2 wires
• Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)

# ♦ Programmable Digital Input/Output

• Channel numbers : 24
• Input Signal:
• Logical level 0 : -0.5 \~ 0.8 V
• Logical level 1: 2.0 \~ 5.25 V
• Output Signal:
• Logical level 0: 0.5 V Maximum
• Logical level 1: 2.4 V Minimum Digital Output

# Watchdog Function

• Module internal watchdog timer : 150msec
• Power failure threshold : 4.65 V
• Safe value : 15 output channels
• Host programmable watchdog :100 ms \~ 25.5 sec

# ♦ Dedicated Digital Input

• Channel numbers : 4
• Input Signal:
• Logical level 0: 2 V max.
• Logical level 1: 3 V \~ 5.25 V

# ♦ Connector

• 10-pin skew terminal block

• 50-pin SCSI II connector

# ♦ Power

• Power supply : +10V to +30V

• Current consumption: 1.7 W

# 1.7.4 A Look at ND-6058 & Pin Assignment

![A0\n1 A7 B0 B7 C0 C7\n50\nND-6058\n28-CH Programmable\nDigital I/O\nType Channels\nPPI 24\nDI 4\n1 D10 D11 D12 D13 DEFAULT* (Y)DATA+ (G)DATA- (R)+Vs (BG)ND 10](.nd-6052-manual-2/7d66184b77d85507b73471308a6991251094ae2ca53849445cd79224eba254cc.jpg)

# 1.7.5 Pin Definitions of NuDAM-6058

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DI0</td><td>Digital input channel 0</td></tr><tr><td>2</td><td>DI1</td><td>Digital input channel 1</td></tr><tr><td>3</td><td>DI2</td><td>Digital input channel 2</td></tr><tr><td>4</td><td>DI3</td><td>Digital input channel 3</td></tr><tr><td>5</td><td></td><td></td></tr><tr><td>6</td><td>Default*</td><td>Initial state setting</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr></table>

![A0\n1\n2\n3\n4\n5\n6\n7\n8\n9\nB0\n10\n11\n12\n13\n14\n15\n16\n17\nC0\n18\n19\n20\n21\n22\n23\n24\n25\n+5V\nFuse\n26\n27\n28\n29\n30\n31\n32\n33\n34\n35\n36\n37\n38\n39\n40\n41\n42\n43\n44\n45\n46\n47\n48\n49\n50\n+Vs\nFuse\n50Pin SCSI](.nd-6052-manual-2/e6043cbaedf116468b4951526bf43452ec05141a3d77c5b8dad85ec6661e51fa.jpg)

# 1.7.6 ND-6058 Functional Block Diagram

![**Central Block:**\n*   A rectangular box labeled 'Power Regulator & Filter'.\n\n**Inputs (Left):**\n*   Two arrows point into the left side of the box.\n*   Above the arrows is the text 'Power Input' followed by '+10V ~ +30V' on the next line.\n\n**Outputs (Right):**\n*   Two lines emerge from the right side of the box.\n*   The top line has an arrow pointing upward labeled '+5V'.\n*   The bottom line has an arrow pointing to the right labeled 'GND'.](.nd-6052-manual-2/3f4bb12e374adddf92de40bac30bd211df4c38c19243e0785face7bdbfdec5c3.jpg)

![This block diagram depicts a system centered around a **Micro Processor**.\n\n**Labeled Blocks:**\n*   **Micro Processor** (Central block)\n*   **Watchdog/Power Failure Supervisor** (Top)\n*   **RS-485 Rec/Drv** (Left)\n*   **EEPROM Config Data Safe Value** (Bottom Left)\n*   **PPI** (Right)\n*   **A0~A7**, **B0~B7**, **C0~C7** (Far Right outputs)\n*   **Data +**, **Data -** (Far Left outputs)\n*   **DI0 .... ... DI3** (Bottom Right input label)\n\n**Connections:**\n*   **Micro Processor** has a bidirectional connection with the **Watchdog/Power Failure Supervisor**.\n*   **Micro Processor** has a bidirectional connection with the **RS-485 Rec/Drv**.\n*   The **RS-485 Rec/Drv** block has two outputs pointing left labeled **Data +** and **Data -**.\n*   **Micro Processor** has a bidirectional connection with the **EEPROM Config Data Safe Value**.\n*   The **PPI** block sends input (arrow pointing left) to the **Micro Processor**.\n*   The **PPI** block has three output lines labeled **A0~A7**, **B0~B7**, and **C0~C7**.\n*   The label **DI0 .... ... DI3** has an arrow pointing up into the **Micro Processor**.](.nd-6052-manual-2/094f614cd41c4b1dfdb40a08c8171f31bf3d634bf6a492159225e5ea2e2b154f.jpg)

# 1.8 Overview of NuDAM-6060

# 1.8.1 What is NuDAM-6060 ?

NuDAM-6060 provides four relay output channels, two are form A and two are form C. It can control high power devices without external circuits. The isolation guarantees the industrial safety.

# 1.8.2 Features of NuDAM-6060

♦ 4 channels relay output
♦ 4 channels isolated digital input
Programmable host watchdog timer for host failure protection
♦ Internal watchdog timer for device failure protection
Easy programming by software
Easy installation and wiring

# 1.8.3 Specifications of NuDAM-6060

♦ Interface
• Interface : RS-485, 2 wires
Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)
♦ Input
• Channel numbers : 4
• Common External Voltage : +24 V
• Input Type : Source Type

♦ Output

• Channel numbers : 4 relay output
• Output type : 2 form C channels, 2 form A channels
• Contact rating : AC 0.6A /125 V, 0.3A / 250V

• DC 2A / 30V, 0.6A / 110V
• Relay ON/OFF time interval : 3 ms / 1ms
• Breakdown voltage : 500 V
• Expected life : ${ 1 0 } ^ { 8 }$ times
• Insulation resistance : 1000 MΩ minimum

# ♦ Watchdog Function

• Module internal watchdog timer : 150ms
• Power failure threshold : 4.65 V
• Safety value : 4 output channels
• Host programmable watchdog : 100 ms \~ 25.5 sec

# ♦ Power

• Power supply : +10V to +30V
• Current consumption : 0.8 W

# 1.8.4 Using Relay Output

The ND-6060 contains two types of relay : Form C and Form A. The relay R3 and R4 are form C relays, and R1 and R2 are plain form A type. The difference between these two types of relay are:

# 1. Form C Relay : ( R3, R4)

![Based on the provided image, here is the accurate and concise description of the flowchart/block diagram:\n\n**Labeled Blocks:**\n*   **NO**: Located at the top left.\n*   **NC**: Located at the bottom left.\n*   **COM**: Located at the right.\n*   **Control Bit = High (1)**: Located at the bottom center.\n\n**Visual Elements & Connections:**\n*   **Solid Black Circle**: Located directly below the 'NO' label.\n*   **Open Circles**: There are two open (hollow) circles; one is next to the 'NC' label and the other is next to the 'COM' label.\n*   **Arrows**:\n    *   A **downward-pointing arrow** originates from the solid black circle and points toward a central switch arm.\n    *   An **upward-pointing arrow** originates from the open circle next to 'NC' and points toward the central switch arm.\n*   **Switch Arm**: A line segment representing a switch lever. One end connects to the open circle labeled 'COM', and the other end is positioned near the arrows and the solid black circle.](.nd-6052-manual-2/d6af300f730ceab81e333372c292f505c13c9f095d1ae331cb40290d09f2847f.jpg)

![The image displays a flowchart or block diagram representing an electrical contact, specifically a 'Normally Closed' (NC) contact state.\n\n**Labeled Blocks:**\n*   **NO** (Top Left)\n*   **NC** (Bottom Left)\n*   **COM** (Bottom Right)\n*   **Control Bit = Low (0)** (Bottom Center)\n\n**Connections and Diagram Description:**\n*   **NO:** The text 'NO' is at the top left. Below it is a black dot, and below that is a downward-pointing arrow. This arrow points to the left end of a diagonal line (switch arm).\n*   **NC:** The text 'NC' is at the bottom left. Next to it is a circle. An upward-pointing arrow originates near the 'NC' text/circle and points to the left end of the diagonal line.\n*   **COM:** The text 'COM' is at the bottom right. To its left is a circle. The right end of the diagonal line is positioned above this circle.\n*   **Switch Arm:** A diagonal line connects the left side (near the 'NC' label and circle) to the right side (near the 'COM' label and circle). The arrows from 'NO' and 'NC' both point to the left end of this line, indicating the switching mechanism.\n*   **State:** The text '**Control Bit = Low (0)**' indicates the condition under which this diagram applies. In this state, the switch arm connects the **NC** terminal and the **COM** terminal (as indicated by the upward arrow from NC and the physical connection of the line). The **NO** label indicates the alternative terminal position which is currently open.](.nd-6052-manual-2/0990f9607f4fca1b3faee309bab350a73e8ab9364aeea042a813eeb6c2607e62.jpg)

Form C relay has three contacts : NC ( Normal Close), NO ( Normal Open), and COM( Common). The CM post, located at the middle, can make contact either NO post or NC post. When the control bit is high (1), the COM post and NO post are contacted. If the control bit is low (0), the COM post and NC post make contact.

In normal power-up and reset, the relay is in low status.

# 2. Form A Relay : ( R1, R2)

![NO\nCOM\nControl Bit = High (1)](.nd-6052-manual-2/97e7cbe877ceadcef9facdb91d50447c3ff22f504e38b752048809b5f205b17c.jpg)

![Based on the image provided, here is the description of the diagram:\n\n**Labeled Blocks:**\n*   **NO** (Top Left)\n*   **COM** (Middle Right, next to a small circle)\n*   **Control Bit = Low (0)** (Bottom)\n\n**Connections and Visual Flow:**\n*   Below the text '**NO**' is a black circle with a downward-pointing arrow.\n*   The arrow points towards a switch symbol, which consists of a diagonal line connected to a small circle.\n*   The small circle at the end of the diagonal line is labeled '**COM**'.\n*   The text '**Control Bit = Low (0)**' is situated at the bottom of the diagram, below the switch symbol.](.nd-6052-manual-2/d771c9845e3492c2c83bff61dfe90512f58f2d7e0ba710b7e3712fe509334340.jpg)

Form A relay only has two contacts : NO (Normal Open) and COM( Common). The COM post can make contact either NO post or not contact NO post. When the control bit is high (1), the COM post and NO post are contacted. If the control bit is low (0), the COM post and NO post does not make contact. In normal power-up and reset, the relay is in low status.

# 1.8.5 A Look at ND-6060 & Pin Assignment

![20\nRL4 COM\nRL4 NC\nRL4 NO\nRL3 COM\nRL3 NC\nRL3 NO\nRL2 COM\nRL2 NO\nRL1 COM\nRL1 NO\n11\nRelay Output\nDigital Input\nND-6060\nType	Channels\nRelay Output	4\nDigital Input	4\nDI 3	DI 2	DI 1	DI 0	Ext24V	DEFAULT	(Y)DATA+	(G)DATA-\n	(R)+Vs	(R)+Vs	(B)GND\n10	(B)GND](.nd-6052-manual-2/1935b6ae8988f89b5ffa554bdbe661eda8482028d81e73fd62ba306bcf08d81d.jpg)

# 1.8.6 Pin Definitions of NuDAM-6060

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>DI3</td><td>Digital Input Channel 3</td></tr><tr><td>2</td><td>DI2</td><td>Digital Input Channel 2</td></tr><tr><td>3</td><td>DI1</td><td>Digital Input Channel 1</td></tr><tr><td>4</td><td>DI0</td><td>Digital Input Channel 0</td></tr><tr><td>5</td><td>Ext24</td><td>External Common +24V</td></tr><tr><td>6</td><td>Default*</td><td>Initial state setting</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>RL1 NO</td><td>Relay 1, normal open</td></tr><tr><td>12</td><td>RL1 COM</td><td>Relay 1, common ground</td></tr><tr><td>13</td><td>RL2 NO</td><td>Relay 2, normal open</td></tr><tr><td>14</td><td>RL2 COM</td><td>Relay 2, common ground</td></tr><tr><td>15</td><td>RL3 NO</td><td>Relay 3, normal open</td></tr><tr><td>16</td><td>RL3 NC</td><td>Relay 3, normal close</td></tr><tr><td>17</td><td>RL3 COM</td><td>Relay 3, common ground</td></tr><tr><td>18</td><td>RL4 NO</td><td>Relay 4, normal open</td></tr><tr><td>19</td><td>RL4 NC</td><td>Relay 4, normal close</td></tr><tr><td>20</td><td>RL4 COM</td><td>Relay 4, common ground</td></tr></table>

# 1.8.7 ND-6060 Functional Block Diagram

![Based on the provided block diagram, here is the accurate and concise description of the blocks and connections:\n\n**Power Supply Section**\n*   **Power Input +10V ~ +30V** connects to the **Power Regulator & Filter**.\n*   The **Power Regulator & Filter** outputs **+5V** and **GND**.\n\n**Central Processing & Supervision**\n*   **+5V** connects to the **Watchdog/Power Failure Supervisor**.\n*   The **Watchdog/Power Failure Supervisor** connects bidirectionally to the **Micro Processor**.\n*   The **Micro Processor** connects bidirectionally to the **RS-485 Rec/Drv** block.\n    *   The **RS-485 Rec/Drv** block outputs **Data+** and **Data -**.\n*   The **Micro Processor** connects bidirectionally to the **EEPROM Config Data Safe Value** block.\n\n**Digital Inputs**\n*   The **Micro Processor** connects to a dotted block labeled **Ext24V** and **DI3**.\n*   There is a circuit labeled **DI0** connected to **+5V**. This circuit includes a resistor, transistor, diode, zener diode, capacitor, and another resistor.\n\n**Relay Outputs**\n*   The **Micro Processor** connects to a transistor circuit. The transistor collector connects to a coil (connected to **+5V**), and the emitter connects to ground. To the right, relay contacts are labeled **RL1 NO** and **RL1 COM**.\n*   The **Micro Processor** connects to a second transistor circuit. The transistor collector connects to a coil (connected to **+5V**), and the emitter connects to ground. To the right, relay contacts are labeled **RL4 NO** and **RL4 COM**.](.nd-6052-manual-2/9fbb99e26d186daeba7dabd85bc0b71fd43e7cd3b339c733612a58efd105a76e.jpg)

# 1.9 Overview of NuDAM-6063

# 1.9.1 What is NuDAM-6063 ?

NuDAM-6063 provides eight from A relay output channels. It can control high power devices without external circuits.

# 1.9.2 Features of NuDAM-6063

♦ 8 channel relay output
Programmable host watchdog timer for host failure protection
♦ Internal watchdog timer for device failure protection
♦ Easy programming by software
♦ Easy installation and wiring

# 1.9.3 Specifications of NuDAM-6063

♦ Interface
• Interface : RS-485, 2 wires
Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K, 115.2K (115.2K only for firmware reversion above A4.00)
Digital Output
• Channel numbers : 8
• Output Type : 8 form A channels
• Contact rating : AC 0.5A / 125V
• DC 1A / 30V
• Relay ON/OFF time interval : 3ms / 3ms
• Breakdown voltage : 1000Vrms
• Expected life : 107
♦ Insulation Resistance: 1,000 MΩ
A Watchdog Function

• Module internal watchdog timer : 150ms
• Power failure threshold : 4.65 V
• Safety value : 8 output channels
• Host programmable watchdog : 100 ms \~ 25.5 sec

♦ Power

• Power supply : +10V to +30V
• Current consumption : 1.2 W

# 1.9.4 Using Relay Output

Form A Relay :
![NO\nCOM\nControl Bit = High (1)](.nd-6052-manual-2/c35e78e6a37e619fc26c46a711395a9294c0a93f6a6e472fb32ca2cedb914e00.jpg)

![NO\nCOM\nControl Bit = Low (0)](.nd-6052-manual-2/1471d142f5561c46a3e3fdb68dbdf53a48948ae1959e453e1d3f685e3d719865.jpg)

Form A relay only has two contacts : NO (Normal Open) and COM( Common). The COM post can make contact either NO post or not contact NO post. When the control bit is high (1), the COM post and NO post are contacted. If the control bit is low (0), the COM post and NO post does not make contact.

In normal power-up and reset, the relay is in low status.

# 1.9.5 A Look at ND-6063 & Pin Assignment

![20\nRL5 COM\nRL5 NO\nRL4 COM\nRL4 NO\nRL3 COM\nRL3 NO\nRL2 COM\nRL2 NO\nRL1 COM\nRL1 NO\n11\nND-6063\n8-CH Isolated\nRelay Output\nType	Channels\nRelay Output	8\n1\nRL6 NO	RL6 COM	RL7 NO	RL7 COM	RL8 NO	DEFAULT*1	RL8 COM	Y)DATA+\n(G)DATA-\n(R)+Vs	(B)GND\n10](.nd-6052-manual-2/ff531827eb625364ea624723729be5c0f7dd60a282dc06675cb40a61f51982b8.jpg)

# 1.9.6 Pin Definitions of NuDAM-6063

<table><tr><td>Pin #</td><td>Signal Name</td><td>Description</td></tr><tr><td>1</td><td>RL6 NO</td><td>Relay 6, normal open</td></tr><tr><td>2</td><td>RL6 COM</td><td>Relay 6, common ground</td></tr><tr><td>3</td><td>RL7 NO</td><td>Relay 7, normal open</td></tr><tr><td>4</td><td>RL7 COM</td><td>Relay 7, common ground</td></tr><tr><td>5</td><td>RL8 NO</td><td>Relay 8, normal open</td></tr><tr><td>6</td><td>Default*/ RL8 NO</td><td>Initial state settingRelay 8, normal open</td></tr><tr><td>7</td><td>(Y) DATA+</td><td>RS-485 series signal, positive</td></tr><tr><td>8</td><td>(G) DATA-</td><td>RS-485 series signal, negative</td></tr><tr><td>9</td><td>(R) +VS</td><td>Power supply, +10V~+30V</td></tr><tr><td>10</td><td>(B) GND</td><td>Ground</td></tr><tr><td>11</td><td>RL1 NO</td><td>Relay 1, normal open</td></tr><tr><td>12</td><td>RL1 COM</td><td>Relay 1, common ground</td></tr><tr><td>13</td><td>RL2 NO</td><td>Relay 2, normal open</td></tr><tr><td>14</td><td>RL2 COM</td><td>Relay 2, common ground</td></tr><tr><td>15</td><td>RL3 NO</td><td>Relay 3, normal open</td></tr><tr><td>16</td><td>RL3 COM</td><td>Relay 3, common ground</td></tr><tr><td>17</td><td>RL4 NO</td><td>Relay 4, normal open</td></tr><tr><td>18</td><td>RL4 COM</td><td>Relay 4, common ground</td></tr><tr><td>19</td><td>RL5 NO</td><td>Relay 5, normal open</td></tr><tr><td>20</td><td>RL5 COM</td><td>Relay 5, common ground</td></tr></table>

# 1.9.7 ND-6063 Functional Block Diagram

![The diagram depicts an electronic control system with the following labeled blocks and connections:\n\n**Power Section**\n*   **'Power Input +10V ~ +30V'** connects to **'Power Regulator & Filter'**.\n*   **'Power Regulator & Filter'** outputs to **'+5V'** and **'GND'**.\n\n**Processing and Memory Section**\n*   **'Micro Processor'** is the central block with bidirectional connections to:\n    *   **'Watchdog/Power Failure Supervisor'**\n    *   **'RS-485 Rec/Drv'**\n*   **'RS-485 Rec/Drv'** outputs to **'Data+'** and **'Data -'**.\n*   **'Micro Processor'** connects to **'EEPROM Config Data Safe Value'**.\n\n**Relay Outputs**\n*   **'Micro Processor'** connects to a transistor circuit controlling a coil associated with a switch labeled **'RL1 NO'** and **'RL1 COM'**. The transistor emitter connects to ground.\n*   **'Micro Processor'** connects to a second transistor circuit. The transistor's collector connects to a coil which connects to **'+5V'**. The transistor emitter connects to ground. This coil is associated with a switch labeled **'RL8 NO'** and **'RL8 COM'**.](.nd-6052-manual-2/6c3bac32be2a50ff91952f0937be5e28ed78f3172e0570c5f8f45273064dfda9.jpg)

![2](.nd-6052-manual-2/43375cd0162336def636445130dcd3d81188d5e271966b4018ab0cea7ae63aae.jpg)

# Initialization & Installation

# 2.1 Software Installation

1. If you have already installed “NuDAM Administration” then skip other steps.
2. Backup your software diskette.
3. Insert “NuDAM Administration” disc into CD-ROM.
4. Change drive to the path of CD-ROM. For example, your drive of CD-ROM is F:, then change the drive to F:
5. Find the setup of NuDAM Administration and run it.
6. Please follow the steps of setup program then you can successful to install the nudism Administration.

# 2.2 Initializing a Brand-New Module

# 2.2.1 Objective of Initializing a Brand-New NuDAM

All NuDAM modules. except NuDAM-6520 and NuDAM-6510, in a RS-485 network must have an unique address ID, however, every brand-new NuDAM has a factory default setting as following :

♦ Address ID is 01.
♦ Baud rate is 9600 bps
♦ Check-sum disable
♦ Host Watchdog timer is disable

Therefore, to configure the brand-new NuDAM before using is necessary, otherwise the address ID will be conflict with others modules because the ID of new modules are identity . The baud rate may also be changed according to user‘s requirements.

The following sections show how to initialize a brand-new module, which is applicable for initializing NuDAM-6050, NuDAM-6052, NuDAM-6053, NuDAM-6054, NuDAM-6056, NuDAM-6058, NuDAM-6060, and NuDAM-6063.

# 2.2.2 Default State

The NuDAM I/O modules must be set at Default State when you want to change the default settings, such as the ID address, baud rate, check-sum status etc. All NuDAM I/O modules have an special pin labeled as DEFAULT\*. The module will be in Default State if the DEFAULT\* pin is shorted to ground when power ON. Under this state, the default configuration is set as following :

♦ Address ID is 00
♦ Baud rate is 9600 bps
♦ Check-sum disable

Therefore, the communication between host and the module will can be easily set as the same configuration, the initialization of a module will be possible no matter what configuration is set under operating state.

For ND-6053, ND-6054 and ND-6056, the pin 6 is used for both DI15(DO15) and DEFAULT\*, and also the ND-6063, the pin 6 is used for both RL8 COM and DEFAULT\*. The jumper setting is as below, and the default setting is DI15(D015) or RL8 COM. When you want to use ND-6053, ND-6054, ND-6056 or ND-6063 as Default\*, you should open the module case to set the JP2.

![JP2\n1 2 3\nDI15 INIT*\n(DO15)\nDI15, DO15, RL8 COM](.nd-6052-manual-2/ac9e40534667e727ef6943de26411f86c7feb238710ab95ec476f38894d4997f.jpg)

![JP2\n1 2 3\nDI15 INIT*\n(DO15)\nINIT*](.nd-6052-manual-2/266ca350fa5a79ec47f614007e20fad9961817a94a33e95ac3bf590294c9e275.jpg)

# 2.2.3 Initialization Equipments

Host computer with an RS-232 port
♦ An installed RS-485 module (NuDAM-6520) with 9600 baud rate
♦ The brand new NuDAM module
Power supply (+10 to +30 VDC) for NuDAM modules
♦ Administration utility software

Note1: Never Connect the DRFAULT\* pin to Vs or power source just left it open or wired to GND.

# 2.2.4 Initialization Procedure

1. Power off the host computer and the installed NuDAM-6520. Be sure of the baud rate of the NuDAM-6520 is 9600 bps.
2. Connect a brand new NuDAM module with the RS-485. Set the module in Default State by shorting the DEFAULT\* pin. Refer to Figure 2.1 for detailed wiring.
3. Power on the host computer.
4. Power on the power supply for NuDAM modules.
5. Use the NuDAM Administrating utility to configure the address ID, Baud rate and check-sum status of the module.

# 2.2.5 Initialization Wiring

![Based on the provided image, here is an accurate and concise description of the block diagram:\n\n**Labeled Blocks:**\n*   **Host Computer**: A rectangular block at the top left.\n*   **RS-232 Interface**: A long rectangular block below the Host Computer containing an empty rectangle, labeled 'RS-232' to its right.\n*   **Local Power Supply**: A block at the bottom left labeled 'Local Power Supply +10 V to +30 V +Vs GND'.\n*   **NuDAM-6520 RS-232/RS-485 Converter**: A central block. The label above reads 'NuDAM-6520 RS-232/RS-485 Converter'. Inside, it lists 'DATA + DATA -' and '+Vs GND'.\n*   **New NuDAM module**: A block to the right. The label above reads 'New NuDAM module'. Inside, it lists 'DATA+ DATA - Default*' and '+Vs GND'.\n\n**Connections:**\n*   **Host Connection**: A line connects the 'RS-232' block to the 'DATA + DATA -' section of the NuDAM-6520 converter.\n*   **Module Interconnection**: Two horizontal lines connect the right side of the NuDAM-6520 converter to the 'DATA+ DATA -' section of the New NuDAM module.\n*   **Power Supply Wiring**:\n    *   Lines run from the 'Local Power Supply' '+Vs' and 'GND' terminals to the corresponding '+Vs' and 'GND' terminals on both the NuDAM-6520 converter and the New NuDAM module.\n*   **Right-Side Loop**: A thick black line connects the bottom 'GND' rail (from the power supply) up the right edge and into the side of the 'New NuDAM module' block.](.nd-6052-manual-2/73f5ecf9e9c2a2174e5b4788c6a3a3e4d0f9ba16590dda5eb79b4e2eeaf37549.jpg)

Figure 2-1 Layout for Configuring the NuDAM module

# 2.3 Install a New NuDAM to a Existing Network

# 2.3.1 Equipments for Install a New Module

♦ A existing NuDAM network
♦ New NuDAM modules.
Power supply (+10 to +30 VDC)

# 2.3.2 Installing Procedures

1. Configure the new NuDAM module according to the initialization procedure in section 2.2.
2. The baud rate and check-sum status of the new module must be identity with the existing RS-485 network. The address ID must not be conflict with other NuDAM modules on the network.
3. Power off the NuDAM power supply of the existing RS-485 network.
4. Power off the host computer.
5. Wire the power lines for the new NuDAM with the existing network. Be careful about the signal polarity as wiring.
6. Wire the RS-485 data lines for the new NuDAM with the existing network. Be careful about the signal polarity as wiring.
7. Wire to the input or output devices. Refer to section 2.4 for illustrations.
8. Power on the host computer.
9. Power on the NuDAM local power supply.
10. Use the NuDAM administration utility to check entire network.

# 2.4 Application Wiring for NuDAM-6050

Digital Input Connect with TTL Signal
![NuDAM-6050 Digital Input Channel\nTTL Buffer\n+5V\nTTL Device\nDI n\nGND\nTo Micro Processor](.nd-6052-manual-2/9ed92a2efc2e072ba230c4f86410c58b836ef966ee3629023995ac8de40f9f21.jpg)

Digital Input Connect with Switch or Push Button
![NuDAM-6050 Digital Input Channel\nSwitch or Push Button\nDI n\nGND\n+5V\nTTL Buffer\nTo Micro Processor](.nd-6052-manual-2/f589534cb1e4d059eed2d5942f7753023a3dd3c9221e893d90d0b80919cfa962.jpg)

Digital Output Connect with Power Loading

![**Labeled Blocks:**\n*   **NuDAM-6050 Digital Output Channel** (enclosed in a dashed box)\n*   **From Micro Processor**\n*   **open collector**\n*   **DO n**\n*   **GND**\n*   **LED, SSR, Relay etc.**\n*   **Power Loading**\n*   **+Vs**\n*   **R**\n*   **External Power Supply**\n\n**Connections:**\n*   An arrow labeled **From Micro Processor** points to the base of a transistor inside the **NuDAM-6050 Digital Output Channel** box.\n*   The transistor's collector connects to the terminal labeled **DO n**.\n*   The transistor's emitter connects to the terminal labeled **GND**.\n*   A line extends from **DO n** to the left side of the **Power Loading** box.\n*   A line extends from **GND** to the ground symbol at the bottom right.\n*   **External Power Supply** (indicated by a vertical double-headed arrow) connects **+Vs** to the system ground.\n*   **+Vs** connects through a resistor labeled **R** to the right side of the **Power Loading** box.\n*   An arrow labeled **LED, SSR, Relay etc.** points to the **Power Loading** box.](.nd-6052-manual-2/ba2895911366d37ab3f3be7764aaaf42292dd42db70febf0d4b63a4330dd4f8a.jpg)

R : current limit resistor

# 2.5 Application Wiring for NuDAM-6052

Isolated Differential Input
![Based on the provided image, here is the description of the flowchart/block diagram:\n\n**Main Title:**\n*   'NuDAM-6052 Differential Input Channel'\n\n**Blocks and Labels:**\n*   **Input Block:** 'Floating Digital Signal Source'\n*   **Input Terminals (inside the dashed boundary):**\n    *   'DI n+'\n    *   'DI n-'\n    *   'GND'\n*   **Processing Component:** 'Photo Coupler'\n*   **Output Label:** 'To Micro Processor'\n\n**Connections:**\n*   Two lines connect from the 'Floating Digital Signal Source' to the 'DI n+' and 'DI n-' terminals.\n*   The 'GND' terminal is connected to a ground symbol at the bottom right.\n*   The 'Photo Coupler' block is situated to the right of the input terminals.\n*   An arrow extends from the 'Photo Coupler' block to the text 'To Micro Processor'.](.nd-6052-manual-2/2002db7585392c38eb42439b64dba15132b19fdcf2e5e016d50ff11e067babda.jpg)

Isolated Single Ended Input
![This block diagram is titled **NuDAM-6052 Single-ended Input Channel**. It illustrates a signal path starting from a block on the left labeled **Digital Signal Source**.\n\nTwo lines connect the **Digital Signal Source** to a dashed enclosure:\n1.  The top line connects to a terminal labeled **DI n+**.\n2.  The bottom line connects to a terminal labeled **GND**.\n\nInside the dashed enclosure:\n*   The **DI n+** terminal connects to the input side (LED) of a component labeled **Photo Coupler**.\n*   The **GND** terminal connects to the emitter side of the **Photo Coupler** and also connects to a ground symbol (three horizontal lines).\n*   The collector side of the **Photo Coupler** connects to an output arrow pointing to the right labeled **To Micro Processor**.](.nd-6052-manual-2/b36aa3395c3296016736fff7520d53f66f4b776b633d2885b379cf2c16a0afa1.jpg)

# 2.6 Application Wiring for NuDAM-6053

Wet Contact Input
![0~+30VDC\nDI n\nGND\nVcc\nDigital\nGND](.nd-6052-manual-2/f13579f9d730114d808ef6386c853baac25c34f00cbbc4fce60f1ca54ae29d9c.jpg)

Contact Closure Input
![Contact\nClosure\nDI n\nGND\nVcc\nDigital\nGND](.nd-6052-manual-2/7e9fdeb912ff1a777a856080467e16d46fbcbc873a2611c71f1eb81e65b3913c.jpg)

# 2.7 Application Wiring for NuDAM-6054

Isolated Common Power Input

NuDAM-6054 Common Power Channel
![The diagram depicts an interface circuit with input sources on the left and a processing block enclosed in a dashed line on the right.\n\n**Labeled Blocks:**\n*   'Common Power.'\n*   'Digital Signal Source'\n*   'Ext.24V'\n*   'DI n'\n*   'GND'\n*   'Photo Coupler'\n*   'To Micro Processor'\n\n**Connections:**\n*   An arrow connects 'Common Power.' to the terminal labeled 'Ext.24V'.\n*   An arrow connects 'Digital Signal Source' to the terminal labeled 'DI n'.\n*   Inside the dashed box, the 'DI n' terminal connects to the input side (LED) of the 'Photo Coupler'.\n*   The output side (phototransistor) of the 'Photo Coupler' connects to an arrow pointing right labeled 'To Micro Processor'.\n*   The emitter of the phototransistor connects to the 'GND' terminal line.](.nd-6052-manual-2/dbd529acf3e22da4de3499f7e26668399bc0d3e050d64f578342fd9b951ecae1.jpg)

# 2.8 Application Wiring for NuDAM-6056

Isolated Common Ground Output

NuDAM-6056 Common Ground Channel
![The diagram features two rectangular blocks on the left labeled **'Digital Output'** and **'Common GND'**. Arrows from these blocks point to the left side of a vertical terminal strip.\n\nThis strip contains three circular terminals labeled:\n*   **'DO n'** (top)\n*   **'COM'** (middle)\n*   **'GND'** (bottom)\n\nThese terminals are enclosed within a larger dashed rectangle along with a block labeled **'Photo Coupler'** (text stacked as 'Photo' and 'Coupler'). The connections are as follows:\n*   A line connects the **'DO n'** terminal to the left side of the **'Photo Coupler'** block.\n*   A line connects the **'COM'** terminal to the left side of the **'Photo Coupler'** block.\n*   A line connects the **'GND'** terminal downwards to a ground symbol.\n*   An arrow labeled **'From Micro Processor'** points left into the top of the **'Photo Coupler'** block.\n\nInside the **'Photo Coupler'** block, there is a schematic symbol containing a transistor, a resistor, and a diode.](.nd-6052-manual-2/3fc4ab753057dc9a2be89e2bcfba4a28ff78c3b7ecbeb22ae893ce0b586d1c42.jpg)

# 2.9 Application Wiring for NuDAM-6058

Digital Input Connect with TTL Signal
![NuDAM-6058 Digital Input Channel\nTTL Device\n+5V\nDTI n\nGND\nTTL Buffer\nTo Micro Processor](.nd-6052-manual-2/095e3d0cdc6f9ba211fe25fd49f0820c61d50fa3616e2a4a2212db3a8aebb03b.jpg)

![This is a simple block diagram showing a connection between two components:\n\n*   **Left Block:** A square box containing the text **'6058'**.\n*   **Right Block:** A square box containing a list of four text items:\n    *   **DIN-24P**\n    *   **DIN-24R**\n    *   **DIN-24G**\n    *   **DIN-50S**\n\n**Connections:**\nTwo wavy lines connect the right side of the '6058' block to the left side of the right block. At the connection points on both blocks, there are grey trapezoidal shapes resembling cable connectors.](.nd-6052-manual-2/7ad3f39b8097827df4088a9546553feef2d6ef061916b2982149c2dc2a756e22.jpg)

# DIN-24P

24-CH Opt-Isolated Digital Input Termination Board with DIN Socket.

# DIN-24R

24-CH Relay Output Termination Board with DIN Socket.

# DIN-24G

24-CH Grayhill I/O Modules Termination Board with DIN Socket.

# DIN-50S

50-Pin SCSI Connector Termination Board with DIN Socket.

# 2.10 Application Wiring for NuDAM-6060

Form C Relay Output
![Based on the provided image, here is an accurate and concise description of the flowchart:\n\n**Title:** NuDAM-6060 Relay Output Channel\n\n**Labeled Blocks:**\n*   **NuDAM-6060 Relay Output Channel** (enclosed in a dotted box)\n*   **From Micro Processor**\n*   **RL n**\n*   **NO**\n*   **COM**\n*   **NC**\n*   **External Power Source+Vs**\n*   **Power Loading** (appears twice)\n*   **External power ground**\n\n**Connections:**\n*   **Input:** Arrows from 'From Micro Processor' point into a coil symbol inside the 'NuDAM-6060 Relay Output Channel' box.\n*   **Relay Switch:** Inside the box, a switch symbol connects the middle terminal (**COM**) to the bottom terminal (**NC**). The top terminal (**NO**) is open. The labels 'RL n' and 'NO' are associated with the top terminal.\n*   **Output to Loads:**\n    *   The **NO** terminal connects via a line to the left side of the top 'Power Loading' block.\n    *   The **NC** terminal connects via a line to the left side of the bottom 'Power Loading' block.\n*   **Ground Connection:** The **COM** terminal connects via a line down to the 'External power ground' symbol.\n*   **Power Source:** The 'External Power Source+Vs' connects to the right side of both 'Power Loading' blocks (indicated by arrows pointing into the blocks).](.nd-6052-manual-2/4d41243a5f94c71037cfed924e05e66a8e9cdd564e37ea932211bfedafbfd2fe.jpg)

Form A Relay Output

![This diagram, titled '**NuDAM-6060 Relay Output Channel**', illustrates a relay circuit contained within a dotted boundary.\n\n**Inside the boundary:**\n*   **Input:** Text labeled '**From Micro Processor**' has arrows pointing into a relay coil symbol.\n*   **Relay Switch:** A switch symbol connects two terminals.\n*   **Terminal Labels:** The top terminal is labeled '**RL n NO**' and the bottom terminal is labeled '**COM**'.\n\n**External Connections:**\n*   **Power Load:** The '**RL n NO**' terminal connects to a block labeled '**Power Loading**'.\n*   **Power Source:** An '**External Power Source**' labeled '**+Vs**' connects to the right side of the '**Power Loading**' block.\n*   **Ground:** The '**COM**' terminal connects to a ground symbol, which is labeled '**External power ground**'.](.nd-6052-manual-2/ebb3a01508108d49a5a17f0fd6cc2fee512c50d8b1693d4e3c059a7784df1047.jpg)

Digital Input : Contact Mode
![This is a block diagram for the **NuDAM-6060 Digital Input Channel**, enclosed in a dotted rectangle.\n\n**Labeled Blocks:**\n*   **Title:** NuDAM-6060 Digital Input Channel\n*   **Input:** Ext24V\n*   **Input Terminal:** DI n+ (accompanied by a coil symbol)\n*   **Input Terminal:** DI n- (accompanied by a coil symbol)\n*   **Component:** Photo Coupler (enclosed in a rounded rectangle containing a diode, an arrow, and a transistor)\n*   **Output:** To Micro Processor\n*   **Input:** External Switch (connected to a ground symbol)\n\n**Connections:**\n*   **Ext24V** connects to the **DI n+** terminal.\n*   **External Switch** connects to the **DI n-** terminal and the ground symbol.\n*   Inside the channel, **DI n+** connects to the anode of the diode inside the **Photo Coupler**.\n*   **DI n-** connects to the cathode of the diode and the emitter of the transistor inside the **Photo Coupler**.\n*   The collector of the transistor inside the **Photo Coupler** connects to the arrow labeled **To Micro Processor**.\n*   The transistor emitter connects to the ground symbol via the bottom rail.](.nd-6052-manual-2/7ff67e44c4448539a881c09e9e989819ca7381e72f3ea37547672a0ba44a2a9b.jpg)

Digital Input : Transistor Mode
![**Blocks and Labels:**\n*   **NuDAM-6060 Digital Input Channel** (Main container title)\n*   **Ext24V** (Input source)\n*   **DI n+** (Terminal inside the channel)\n*   **DI n-** (Terminal inside the channel)\n*   **External Signal** (Label near a switch)\n*   **Photo Coupler** (Component inside the channel)\n*   **To Micro Processor** (Output label)\n*   Ground symbols (hatched lines)\n\n**Connections:**\n*   **Ext24V** connects to the **DI n+** terminal.\n*   **DI n-** connects to a switch labeled **External Signal**, which connects to ground.\n*   **DI n+** and **DI n-** connect to the input side (LED) of the **Photo Coupler**.\n*   The output side (transistor) of the **Photo Coupler** connects to **To Micro Processor**.\n*   The emitter of the transistor within the **Photo Coupler** connects to ground.](.nd-6052-manual-2/a259e828f34616b3de4fcbb41056a772f60d49c190fd1fe740f4f4f3247ec4c1.jpg)

# 2.11 Application Wiring for NuDAM-6063

Form A Relay Output
![This diagram illustrates the circuit connections for the **NuDAM-6063 Relay Output Channel**.\n\n**Labeled Blocks and Text:**\n*   **NuDAM-6063 Relay Output Channel** (enclosed in a dotted box)\n*   **From Micro Processor** (input text)\n*   **RL n** and **NO** (terminal labels)\n*   **COM** (terminal label)\n*   **External Power Source** (label)\n*   **+Vs** (terminal label)\n*   **Power Loading** (rectangular block)\n*   **External power ground** (label)\n\n**Connections:**\n*   Arrows from **From Micro Processor** point to an electromagnet coil symbol inside the dotted box.\n*   A relay switch symbol is positioned next to the coil.\n*   The top wire from the relay switch connects to the terminal labeled **RL n** and **NO**.\n*   This **RL n NO** terminal connects via a line to the left side of the **Power Loading** block.\n*   The **External Power Source** (+**Vs**) connects to the right side of the **Power Loading** block.\n*   The bottom wire from the relay switch connects to the terminal labeled **COM**.\n*   The **COM** terminal connects via a line to the ground symbol (labeled **External power ground**).](.nd-6052-manual-2/af1cd82738eb1dec8cfab6a0243cc00596c802c02bd603ed7fe96e4678c480ab.jpg)

![3](.nd-6052-manual-2/6e3d1a208025f5ab650d8df06e716af3f4fc5413e4425e23da2ec29c609e3aea.jpg)

# Command Set

# 3.1 Command and Response

# 3.1.1 Introduction

The NuDAM command is composed by numbers of characteristics, including the leading code, address ID, the variables, the optional check-sum byte, and a carriage return to indicate the end of a command. The host computer can only command only one NuDAM module except those syncronized commands with wildcard address “\*\*”. The NuDAM may or may not give response to the command. The host should check the response to handshake with the modules.

# 3.1.2 Document Conventions

The following syntax conventions are used to describe the NuDAM commands in this manual.

<table><tr><td>(Leading Code)</td><td>Leading Code is the first characteristic of the NuDAM command. All NuDAM commands need a command leading code, such as %,$,#,@,...etc.1- character</td></tr><tr><td>(Addr)</td><td>Module&#x27;s address ID, the value is in the range of 00 - FF (Hexadecimal) if no specified in the following2- character</td></tr><tr><td>(Command Variable)</td><td>Items indicate command codes or value of variablesVariable length</td></tr><tr><td>[Data]</td><td>Some output command need dataVariable length</td></tr><tr><td>[Checksum]</td><td>Checksum in brackets indicate optional parameter, only checksum is enable then this field is required2- character</td></tr><tr><td>&lt; &gt;</td><td>Identifies a control code character, such asfor carriage return, its value is 0x0D.1- character</td></tr></table>

# 3.1.3 Format of NuDAM Commands

```txt
(Leading Code)(Addr)(Command)[Data][Checksum]&lt;CR&gt;
```

When checksum is enable then [Checksum] is needed, it is

2-character.

How to calculate checksum value ?

```powershell
[Checksum] = ((LeadingCode)+(Addr)+(Command)+[Data]) MOD 0x100
```

Example 1: checksum is disable

```txt
User Command: $012&lt;CR&gt;
Response: !01400600&lt;CR&gt;
```

```txt
$ : LeadingCode
01 : Address
2 : Command (Read Configuration)
&lt;CR&gt; : Carriage return 0x0D
```

Example 2: checksum is enable
User Command: $012B7&lt;CR&gt;
Response: !01400600AC&lt;CR&gt;

    $ : LeadingCode
    01 : Address
    2 : Command (Read Configuration)
    B7 : Checksum value
    &lt;CR&gt; : Carriage return 0x0D

' $' = 0x24    '0' = 0x30    '1' = 0x31    '2' = 0x30

B7 = ( 0x24 + 0x30 + 0x31 + 0x32 ) MOD 0x100

'!' = 0x24    '0' = 0x30    '1' = 0x31    '4' = 0x34
'6' = 0x36

AC = ( 0x24 + 0x30 + 0x31 + 0x34 + 0x30 + 0x30 + 0x36 + 0x30 + 0x30 ) MOD 0x100

Note : 1.There is no spacing between characters.

2. At end of command need a &lt;CR&gt; carriage return 0x0D.
3. Checksum is optional parameter.

# 3.1.4 Response of NuDAM Commands

The response message depends on NuDAM command. The response is also composed with several characteristics, including leading code, variables, and carriage return for ending. There are two kinds of leading code for response message, ”!“ or ”>“ means valid command and ”?“ means invalid. By checking the response message, user can monitor the command is valid or invalid.

Note : Under the following conditions, there will have no response message.

1. The specified address ID is not exist.
2. Syntax error.
3. Communication error
4. Some special commands does not have response.

# 3.2 Summary of Command Set

There are three categories of NuDAM commands. One is the general commands, including set configuration command, read configuration, reset, read module‘s name or firmware version, etc. Every NuDAM can response to the general commands.

The second category is the functional commands, which depends on functions of each module, not every module can execute all functions.

The third category is the special commands, including functions about the programmable watchdog timer, safe values, and the programmable leading code.

<table><tr><td colspan="3">Command Set of Digital I/O Modules</td></tr><tr><td>Command</td><td>Syntax</td><td>Module</td></tr><tr><td colspan="3">General Commands</td></tr><tr><td>Set Configuration</td><td>%(OldAddr)(NewAddr)(TypeCode)(BaudRate)(CheckSumFlag)</td><td>ALL</td></tr><tr><td>Read Configuration</td><td>$(Addr)2</td><td>ALL</td></tr><tr><td>Read Module Name</td><td>$(Addr)M</td><td>ALL</td></tr><tr><td>Read Firmware Version</td><td>$(Addr)F</td><td>ALL</td></tr><tr><td>Reset Status</td><td>$(Addr)5</td><td>ALL</td></tr><tr><td colspan="3">Functional Commands</td></tr><tr><td>Synchronized Sampling</td><td>#**</td><td>6050, 6052, 6053, 6054, 6058, 6060</td></tr><tr><td>Read Synchronized Data</td><td>$(Addr)4</td><td>6050, 6052, 6053, 6054, 6058, 6060</td></tr><tr><td>Digital Output</td><td>#(Addr)(ChannelNo)(OutData)</td><td>6050, 6060, 6063</td></tr><tr><td></td><td>#(Addr)(Port)(Odata)</td><td>6056, 6058</td></tr><tr><td></td><td>#(Addr)(Port)(ChannelNo)(BitData)</td><td>6056,6058</td></tr><tr><td></td><td>#(Addr)T(OdataA)(OdataB)(OdataC)</td><td>6058</td></tr><tr><td>Digital Input</td><td>$(Addr)6</td><td>ALL</td></tr><tr><td>Set Programmable I/O Mode</td><td>$(Addr)S(IOSsts)</td><td>6058</td></tr><tr><td colspan="3">Special Commands</td></tr><tr><td>Read Command Leading Code Setting</td><td>~(Addr)0</td><td>ALL</td></tr><tr><td>Change Command Leading Code Setting</td><td>~(Addr)10(C1)(C2)(C3)(C4)(C5)(C6)</td><td>ALL</td></tr><tr><td>Set Host Watchdog / Safety Value</td><td>~(Addr)2(Flag)(TimeOut)(SafeValue)</td><td>ALL</td></tr><tr><td>Read Host WatchDog / Safe Value</td><td>~(Addr)3</td><td>ALL</td></tr><tr><td>Change Polarity</td><td>~(Addr)CP(Status)</td><td>ALL</td></tr><tr><td>Read Polarity</td><td>~(Addr)CR</td><td>ALL</td></tr><tr><td>Host is OK</td><td>~**</td><td>ALL</td></tr></table>

# 3.3 Set Configuration

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Configure the basic setting about address ID, baud rate, and checksum.

# @Syntax

%(OldAddr)(NewAddr)(TypeCode)(BaudRate)(CheckSumFlag)&lt;CR&gt;

<table><tr><td>%</td><td>Command leading code.(1-character)</td></tr><tr><td>(OldAddr)</td><td>NuDAM module original address ID. The default address ID of a brand new module is 01. The value range of address ID is 00 to FF in hexadecimal. (2-character)</td></tr><tr><td>(NewAddr)</td><td>New address ID, if you don’t want to change address ID, let new address ID equals to the old one. (2-character)</td></tr><tr><td>(TypeCode)</td><td>Type Code is fixed 40H for Digital I/O modules. (2-character)</td></tr><tr><td>(BaudRate)</td><td>Communication baud rate, refer to Table 3-1 for details. (2-character)</td></tr><tr><td>(CheckSumFlag)</td><td>Define check-sum status, refer to Table 3-2 for details. (2-character)</td></tr></table>

# @Response

!(Addr)&lt;CR&gt;

or

?(Addr)&lt;CR&gt;

(Addr)

!

?

Address ID.

Command is valid.

Command is invalid. Invalid parameter values, When you wanted to change the setting without grounding the DEFAULT\* pin.

Note : When you want to change the checksum or baud rate then the DEFAULT\* pin should be grounded at first.

# @Example

User command: %0130400600&lt;CR&gt; Response: !30&lt;CR&gt;

<table><tr><td>Item</td><td>Meaning</td><td>Description</td></tr><tr><td>%</td><td>(Leading Code)</td><td>Command leading code.</td></tr><tr><td>01</td><td>(OldAddr)</td><td>Original address ID is 01H.</td></tr><tr><td>30</td><td>(NewAddr)</td><td>New address ID is 30H (Hexadecimal).</td></tr><tr><td>40</td><td>(TypeCode)</td><td>Digital I/O module.</td></tr><tr><td>06</td><td>(BaudRate)</td><td>Baud rate is 9600.</td></tr><tr><td>00</td><td>(CheckSumFlag)</td><td>00 means checksum is disable.</td></tr><tr><td></td><td>Carriage return</td><td>0x0D.</td></tr></table>

<table><tr><td>Code</td><td>Baudrate</td></tr><tr><td>03</td><td>1200 bps</td></tr><tr><td>04</td><td>2400 bps</td></tr><tr><td>05</td><td>4800 bps</td></tr><tr><td>06</td><td>9600 bps</td></tr><tr><td>07</td><td>19200 bps</td></tr><tr><td>08</td><td>38400 bps</td></tr><tr><td>09</td><td>115200 bps</td></tr></table>

Table 0-1 Baud rate setting code

![Checksum\n0 : disable\n1 : enable\n\n7 6 5 4 3 2 1 0\n\nReserved\nMust to be 0\nReserved\nMust to be 000000](.nd-6052-manual-2/a6fbe4e54cb954e90fcf2dede428f716c021b82bdbec085f04b1898900672975.jpg)

Table 0-2 Check sum flag setting

# 3.4 Read Configuration

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Read the configuration of module on a specified address ID.

# @Syntax

```txt
$(Addr)2&lt;CR&gt;
```

\$ Command leading code

(Addr) Address ID.

2 Command code for reading configuration

# @Response

```asp
!(Addr)(TypeCode)(BaudRate)(CheckSumFalg)&lt;CR&gt;
```

```txt
?(Addr)&lt;CR&gt;
```

! Command is valid.

? Command is invalid.

(Addr) Address ID.

(TypeCode) It always be 40 (Hex) for digital I/O modules.

(BaudRate) Current setting of communication baud rate, refer to Table 3-1 for details.

(CheckSumFlag) Current setting of check-sum flag, refer to Table 3-3. for details.

Checksum

0 : disable

1 : enable

![Reserved\nMust to be 000\nReserved\nMust to be 0](.nd-6052-manual-2/30ffc7d4cfb905059da38df367b8c40aded3e81a69f711efe6daa7a1a22d9bac.jpg)

Module Type

000: ND-6050

001: ND-6060

010: ND-6052

011: ND-6053

100: ND-6058

101: ND-6063

110: ND-6054

111: ND-6056

Table 0-3 Response of check sum flag
@Example

<table><tr><td>User command:</td><td>$302</td></tr><tr><td>Response:</td><td>!30400600</td></tr><tr><td>!</td><td>Command is valid.</td></tr><tr><td>30</td><td>Address ID.</td></tr><tr><td>40</td><td>Digital I/O module.</td></tr><tr><td>06</td><td>Baud rate is 9600 bps.</td></tr><tr><td>00</td><td>checksum is disable.</td></tr></table>

# 3.5 Read Module Name

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Read NuDAM module‘s name.

# @Syntax

\$(Addr)M&lt;CR&gt;

\$ Command leading code.

(Addr) Address ID.

M Read module name.

# @Response

!(Addr)(ModuleName) &lt;CR&gt;

or

?(Addr)&lt;CR&gt;

! Command is valid.

? Command is invalid.

(Addr) Address ID.

(ModuleName) NuDAM module‘s name.

# @Example

User command: \$30M&lt;CR&gt;

Response: !306050&lt;CR&gt;

! Command is valid

30 Address.

6050 ND-6050 (Digital I/O module).

# 3.6 Read Firmware Version

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Read NuDAM module‘s firmware version.

# @Syntax

\$(Addr)F&lt;CR&gt;

\$ Command leading code.

(Addr) Address ID

F Read module firmware version.

# @Response

!(Addr)(FirmRev) &lt;CR&gt;

?(Addr)&lt;CR&gt;

! Command is valid.

? Command is invalid.

Address ID.

(FirmRev) NuDAM module‘s firmware version.

# @Example

User command: \$30F&lt;CR&gt;

Response: !30A1.50&lt;CR&gt;

! Command is valid.

30 Address

A1.50 Firmware Version

# 3.7 Reset Status

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Checks the reset status of module at specified address to see whether it has been reset since the last reset status command was issued to the module.

# @Syntax

```txt
$(Addr)5&lt;CR&gt;
```

\$ Command leading code.

(Addr) Address ID.

5 Reset Status Command.

# @Response

```txt
!(Addr)(Status)&lt;CR&gt;
```

or

```txt
?(Addr)&lt;CR&gt;
```

! Command is valid.

? Command is invalid.

(Addr) Address ID.

(Status) 0 : It has not been reset since the last reset status command was issued.

1 : It has been reset since the last reset status command was issued.

# @Example

User command: \$305&lt;CR&gt;

Response: !300&lt;CR&gt;

Status is 0 means this digital I/O module has not been reset, since the last reset status command was issued.

# 3.8 Digital Output

( 6050, 6060, 6063 )

# @Description

Set digital output channel value at specified address. This command is only available to modules involving the digital output function.

# @Syntax

#(Addr)(ChannelNo)(OutData)&lt;CR&gt; (6050,6060,6063 Only)

```txt
# Command leading code. (1-character)
(Addr) Address ID (2-character)
00 : Set value to all channels
(ChannelNo) 1X : Set value to single channel
First character is 1, Second character is channel number. (2-character)
Set value to all channels :
Each bit is mapping to each channel number
(OutData) Set value to single channel :
First character is 0, second character is set to value 0 or 1. (2-character)
```

# @Response

&lt;CR&gt;

or

?(Addr)&lt;CR&gt;

> Command is valid

? Command is invalid.

(Addr) Address ID.

# @Example

User command: #300003&lt;CR&gt;

Response: >&lt;CR&gt;

30 Address ID

00 Set output to all channels

03 03 (00000011), Channel 0 and 1 are set ON other channels are set to OFF

User command: #2F1201&lt;CR&gt;

Response: >&lt;CR&gt;

2F Address ID

12 1 : Set output to single channel

2 : Output single channel is channel 2

01 Set single channel to ON

# 3.9 Digital Output (Continued)

( 6056, 6058 )

# @Description

Set digital output channel value at specified address. This command is only available to modules involving the multiport digital output function.

# @Syntax

#(Addr)T(OutDataH)(OutDataL)&lt;CR&gt; (6056 only)

#(Addr)T(OutDataA)(OutDataB)(OutDataC) (6058 only)

<table><tr><td>#</td><td>Command leading code. (1-character)</td></tr><tr><td>(Addr)</td><td>Address ID (2-character)</td></tr><tr><td>T</td><td>Set value to all channels</td></tr><tr><td>(OutDataH)</td><td>Each bit is mapping to each channel number from 14 to 8. (2-character)</td></tr><tr><td>(OutDataL)</td><td>Each bit is mapping to each channel number from 7 to 0. (2-character)</td></tr><tr><td>(OutDataA)</td><td>Output data for port A. Each bit is mapping to each channel number from 7 to 0. (2-character)</td></tr><tr><td>(OutDataB)</td><td>Output data for port B. Each bit is mapping to each channel number from 7 to 0. (2-character)</td></tr><tr><td>(OutDataC)</td><td>Output data for port C. Each bit is mapping to each channel number from 7 to 0. (2-character)</td></tr></table>

\* if the port of ND-6058 is in input mode, output data to this port will be ignore.

# @Response

<table><tr><td>&lt;CR&gt;</td><td></td></tr><tr><td>or</td><td></td></tr><tr><td>?(Addr)&lt;CR&gt;</td><td></td></tr><tr><td>&gt;</td><td>Command is valid</td></tr><tr><td>?</td><td>Command is invalid.</td></tr><tr><td>(Addr)</td><td>Address ID.</td></tr></table>

# @Example

<table><tr><td>User command:</td><td>#30T0303(for ND-6056)</td></tr><tr><td>Response:</td><td></td></tr><tr><td>30</td><td>Address ID</td></tr><tr><td>T</td><td>Set output to all port</td></tr><tr><td>0303</td><td>0303 (0000001100000011), Channel 0, 1, 8 and 9 are set ON other channels are set to OFF</td></tr><tr><td>User command:</td><td>#2FT010203(for ND-6058)</td></tr><tr><td>Response:</td><td></td></tr><tr><td>2F</td><td>Address ID</td></tr><tr><td>T</td><td>Set output to all port</td></tr><tr><td>01</td><td>Set channel 0 of port A ON</td></tr><tr><td>02</td><td>Set channel 1 of port B ON</td></tr><tr><td>03</td><td>Set channel 0 and 1 of port C ON</td></tr></table>

# 3.10 Digital Output (Continued)

( 6056, 6058 )

# @Description

Set digital output port channel value at specified address. This command is only available to modules involving the multiport digital output function.

# @Syntax

#(Addr)(Port)(OutData)&lt;CR&gt; (6056, 6058 only)

<table><tr><td>#</td><td>Command leading code. (1-character)</td></tr><tr><td>(Addr)</td><td>Address ID (2-character)</td></tr><tr><td></td><td>Set value to individual port</td></tr><tr><td></td><td>0H: for 6056 channel 14 to 8</td></tr><tr><td>(Port)</td><td>0L: for 6056 channel 7 to 0</td></tr><tr><td></td><td>0A: for 6058 port A</td></tr><tr><td></td><td>0B: for 6058 port B</td></tr><tr><td></td><td>0C: for 6058 port C (2-character)</td></tr><tr><td>(OutData)</td><td>Each bit is mapping to each channel number (2-character)</td></tr></table>

\* if the port of ND-6058 is in input mode, output data to this port will be ignore.

# @Response

&lt;CR&gt;

or

?(Addr)&lt;CR&gt;

> Command is valid.

? Command is invalid.

(Addr) Address ID.

# @Example

<table><tr><td>User command:</td><td>#30H03(for ND-6056)</td></tr><tr><td>Response:</td><td></td></tr></table>

30 Address ID

0H Set output to high byte

03 03 (00000011), Channel 8 and 9 are set ON other

03 channels are set to OFF

User command: #2F0A10&lt;CR&gt;

Response: &lt;CR&gt;

2F Address ID

0A Set output to port A

10 Set channel 4 of port A ON

# 3.11 Digital Output (Continued)

( 6056, 6058 )

# @Description

Set direct digital output channel value at specified address. This command is only available to modules involving the multiport digital output function.

# @Syntax

#(Addr)(Port)(ChNo)(OutData)&lt;CR&gt; (6056,6058 only)

```txt
# Command leading code. (1-character)
(Addr) Address ID (2-character)
Set direct channel value to individual port
H: for 6056 channel 14 to 8
L: for 6056 channel 7 to 0
A: for 6058 port A
B: for 6058 port B
C: for 6058 port C (1-character)
(ChNo) Channel value 7 ~ 0
1: ON
(OutData) 0: OFF
(1-character)
```

\* if the port of ND-6058 is in input mode, output data to this port will be ignore.

# @Response

```txt
&lt;CR&gt;
or
?(Addr)&lt;CR&gt;
> Command is valid
? Command is invalid.
(Addr) Address ID.
```

# @Example

<table><tr><td>User command:</td><td>#30H31(for ND-6056)</td></tr><tr><td>Response:</td><td></td></tr><tr><td>30</td><td>Address ID</td></tr><tr><td>H</td><td>Set output to high byte</td></tr><tr><td>3</td><td>Channel number is 3, that is channel 11</td></tr><tr><td>1</td><td>Set corresponding channel to ON</td></tr><tr><td>User command:</td><td>#2FA20</td></tr><tr><td>Response:</td><td></td></tr><tr><td>2F</td><td>Address ID</td></tr><tr><td>A</td><td>Set output to port A</td></tr><tr><td>2</td><td>Channel number is 2</td></tr><tr><td>0</td><td>Set corresponding channel to OFF</td></tr></table>

# 3.12 Synchronized Sampling

( 6050, 6052, 6053, 6054,6058, 6060, )

# @Description

Synchronized all modules to sample input values and stored the values in the module’s register at the same time and use “Read Synchronized Data” command to read the data and process it one by one.

For digital I/O module, this command is only available to modules involving the digital input function, such as NuDAM-6050, NuDAM-6052, NuDAM-6053, NuDAM-6054, NuDAM-6058 and NuDAM-6060.

# @Syntax

#\*\*&lt;CR&gt;

\#

\*\*

Command leading code.

Synchronized sampling command

# @Response

Note : Synchronized sampling command has NO response.

# @Example

User command: #\*\*&lt;CR&gt;

Synchronized sampling command has no response.

# 3.13 Read Synchronized Data

( 6050, 6052, 6053,6054, 6058, 6060 )

# @Description

After a synchronized sampling command #\*\* was issued, you can read the input value that was stored in the addressed module’s register and use same method to process other module‘s data one by one.

# @Syntax

```txt
$(Addr)4&lt;CR&gt;
```

\$ Command leading code.

Address ID.

4 Read synchronized data.

# @Response

ND-6050 module response :

```txt
!(Status)(DataOut)(DataIn)00&lt;CR&gt;
```

ND-6052 module response :

```asp
!(Status)(DataIn)0000&lt;CR&gt;
```

ND-6053 module response :

```asp
!(Status)(DataInH)(DataInL)00&lt;CR&gt;
```

ND-6054 module response :

```asp
!(Status)(DataInH)(DataInL)00&lt;CR&gt;
```

ND-6058 module response :

```asp
!(Status)(IOFlag)(DIn)(DataInA)(DataInB)(DataInC)&lt;CR&gt;
```

ND-6060 module response :

```txt
!(Status)(DataOut)(DataIn)00&lt;CR&gt;
```

or

```txt
?(Addr)&lt;CR&gt;
```

! Command is valid.

? Command is invalid.

<table><tr><td>(Status)</td><td>0 : Data has been sent at least once before.1 : Data has been sent for the first time since a synchronized sampling command was issued.(1-character)</td></tr><tr><td>(IOFlag)</td><td>Status of programmable I/O0x00: A(O/P) B(O/P) CH(O/P) CL(O/P)0x01: A(O/P) B(O/P) CH(O/P) CL(I/P)0x02: A(O/P) B(O/P) CH(I/P) CL(O/P)0x03: A(O/P) B(O/P) CH(I/P) CL(I/P)0x04: A(O/P) B(I/P) CH(O/P) CL(O/P)0x05: A(O/P) B(I/P) CH(O/P) CL(I/P)0x06: A(O/P) B(I/P) CH(I/P) CL(O/P)0x07: A(O/P) B(I/P) CH(I/P) CL(I/P)0x08: A(I/P) B(O/P) CH(O/P) CL(O/P)0x09: A(I/P) B(O/P) CH(O/P) CL(I/P)0x0A: A(I/P) B(O/P) CH(I/P) CL(O/P)0x0B: A(I/P) B(O/P) CH(I/P) CL(I/P)0x0C: A(I/P) B(I/P) CH(O/P) CL(O/P)0x0D: A(I/P) B(I/P) CH(O/P) CL(I/P)0x0E: A(I/P) B(I/P) CH(I/P) CL(O/P)0x0F: A(I/P) B(I/P) CH(I/P) CL(I/P)*I/P input mode, O/P output mode.</td></tr><tr><td>(DataOut)(DataIn)</td><td>Value of digital output channel. (2-character)Value of digital input channel. (2-character)</td></tr><tr><td>(DIn)</td><td>Value of dedicated digital input channel 3-0 for ND-6058. The first character is 0 (2-character)</td></tr><tr><td>(DataInH)(DataInL)(DataInA)(DataInB)(DataInC)</td><td>Value of digital input channel 15-8 (2-character)Value of digital input channel 7-0 (2-character)Value of port A channel 7-0 (2-character)Value of port B channel 7-0 (2-character)Value of port C channel 7-0 (2-character)</td></tr></table>

Example for NuDAM-6050 :

<table><tr><td>User command:</td><td>$304</td></tr><tr><td>Response:</td><td>!1065200</td></tr><tr><td>!</td><td>Command is valid.</td></tr><tr><td>1</td><td>Data has not been sent before.</td></tr><tr><td>06</td><td>06 (00000110) means digital output channel 1,2 are ON, channel 0,3,4,5,6,7 are OFF.</td></tr><tr><td>52</td><td>52(01010010) means digital input channel 1,4, 6 are HIGH, channel 0,2,3,5,7 are LOW..</td></tr></table>

Example for NuDAM-6058 :

<table><tr><td>User command:</td><td>$304</td></tr><tr><td>Response:</td><td>!10C0F010203</td></tr><tr><td>!</td><td>Command is valid.</td></tr><tr><td>1</td><td>Data has not been sent before.</td></tr><tr><td>0C</td><td>Port A and B are input mode, high and low half byte of port C are output mode.</td></tr><tr><td>0F</td><td>Channel 0,1,2,3 of digital input is HIGH.</td></tr><tr><td>01</td><td>01 (00000001) means port A digital input channel 0 is HIGH, others are LOW.</td></tr><tr><td>02</td><td>02 (00000010) means port B digital input channel 1 is HIGH, others are LOW.</td></tr><tr><td>03</td><td>03 (00000011) mean port C digital output channel 0,1 are ON, others are OFF.</td></tr></table>

# 3.14 Digital Input

( 6050, 6052, 6053, 6054, 6058, 6060 )

# @Description

Read the digital input channel value and readback the digital output channel value.

# @Syntax

```txt
$(Addr)6&lt;CR&gt;
$ Command leading code.
(Addr) Address ID
6 Digital data input command.
```

# @Response

ND-6050 module response :

```txt
!(DataOut)(DataIn)00&lt;CR&gt;
```

ND-6052 module response :

```asp
!(DataIn)0000&lt;CR&gt;
```

ND-6053 module response :

```txt
!(DataInH)(DataInL)00&lt;CR&gt;
```

ND-6054 module response :

```txt
!(DataInH)(DataInL)00&lt;CR&gt;
```

ND-6056 module response :

```txt
!(DataOutH)(DataOutL)00&lt;CR&gt;
```

ND-6058 module response :

```asp
!(loFlag)(DataIn)(DataA)(DataB)(DataC)&lt;CR&gt;
```

ND-6060 module response :

```txt
!(DataOut)(DataIn)00&lt;CR&gt;
```

ND-6063 module response :

```txt
!(DataOutH)0000&lt;CR&gt;
```

or ?(Addr)&lt;CR&gt;

<table><tr><td>!</td><td>Command is valid.</td></tr><tr><td>?</td><td>Command is invalid.</td></tr><tr><td>(DataOut)</td><td>Value of digital output channel. (2-character)</td></tr><tr><td>(DataIn)</td><td>Value of digital input. (2-character)</td></tr><tr><td>(DataInH)</td><td>Value of digital input channel 15-8. (2-character)</td></tr><tr><td>(DataInL)</td><td>Value of digital input channel 7-0.(2-character)</td></tr><tr><td>(DataOutH)</td><td>Value of digital output channel 15-8. (2-character)</td></tr><tr><td>(DataOutL)</td><td>Value of digital output channel 7-0.(2-character)</td></tr><tr><td>(DataA)</td><td>Value of digital channel 7-0.(2-character)</td></tr><tr><td>(DataB)</td><td>Value of digital channel 7-0.(2-character)</td></tr><tr><td>(DataB)</td><td>Value of digital channel 7-0.(2-character)</td></tr></table>

<table><tr><td rowspan="9"></td><td>Status of programmable I/O</td></tr><tr><td>0x00: A(O/P) B(O/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x01: A(O/P) B(O/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x02: A(O/P) B(O/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x03: A(O/P) B(O/P) CH(I/P) CL(I/P)</td></tr><tr><td>0x04: A(O/P) B(I/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x05: A(O/P) B(I/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x06: A(O/P) B(I/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x07: A(O/P) B(I/P) CH(I/P) CL(I/P)</td></tr><tr><td rowspan="9">(IOFlag)</td><td>0x08: A(I/P) B(O/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x09: A(I/P) B(O/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x0A: A(I/P) B(O/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x0B: A(I/P) B(O/P) CH(I/P) CL(I/P)</td></tr><tr><td>0x0C: A(I/P) B(I/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x0D: A(I/P) B(I/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x0E: A(I/P) B(I/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x0F: A(I/P) B(I/P) CH(I/P) CL(I/P)</td></tr><tr><td>*I/P input mode, O/P output mode.</td></tr></table>

# @Example

Example for NuDAM-6050 :

<table><tr><td>User command:</td><td>$306</td></tr><tr><td>Response:</td><td>!321100</td></tr><tr><td>!</td><td>Command is valid.</td></tr><tr><td>32</td><td>32 (00110010) means digital output channel 1,4,5 are ON, channel 0, 2, 3, 6, 7 are OFF.</td></tr><tr><td>11</td><td>11 (00000011) means digital input channel 0, 1are HIGH and channel 2, 3, 4, 5, 6, 7 are LOW.</td></tr><tr><td>00</td><td>No used</td></tr></table>

Example for NuDAM-6058 :

<table><tr><td>User command:</td><td>$304</td></tr><tr><td>Response:</td><td>!0C0F010203</td></tr><tr><td>!</td><td>Command is valid.</td></tr><tr><td>0C</td><td>Port A and B are input mode, high and low half byte of port C are output mode.</td></tr><tr><td>0F</td><td>Channel 0,1,2,3 of digital input is HIGH.</td></tr><tr><td>01</td><td>01 (00000001) means port A digital input channel 0 is HIGH, others are LOW.</td></tr><tr><td>02</td><td>02 (00000010) means port B digital input channel 1 is HIGH, others are LOW.</td></tr><tr><td>03</td><td>03 (00000011) mean port C digital output channel 0,1 are ON, others are OFF.</td></tr></table>

# 3.14 Programmable I/O Mode Setting

( 6058)

# @Description

Set the programmable input or output mode for ND-6058.

# @Syntax

```txt
$(Addr)S(IOFlag)&lt;CR&gt; (6058 only)
```

\$ Command leading code.

(Addr) Address ID

S Set programmable I/O mode

<table><tr><td rowspan="9"></td><td>Status of programmable I/O</td></tr><tr><td>0x00: A(O/P) B(O/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x01: A(O/P) B(O/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x02: A(O/P) B(O/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x03: A(O/P) B(O/P) CH(I/P) CL(I/P)</td></tr><tr><td>0x04: A(O/P) B(I/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x05: A(O/P) B(I/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x06: A(O/P) B(I/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x07: A(O/P) B(I/P) CH(I/P) CL(I/P)</td></tr><tr><td rowspan="9">(IOFlag)</td><td>0x08: A(I/P) B(O/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x09: A(I/P) B(O/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x0A: A(I/P) B(O/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x0B: A(I/P) B(O/P) CH(I/P) CL(I/P)</td></tr><tr><td>0x0C: A(I/P) B(I/P) CH(O/P) CL(O/P)</td></tr><tr><td>0x0D: A(I/P) B(I/P) CH(O/P) CL(I/P)</td></tr><tr><td>0x0E: A(I/P) B(I/P) CH(I/P) CL(O/P)</td></tr><tr><td>0x0F: A(I/P) B(I/P) CH(I/P) CL(I/P)</td></tr><tr><td>*I/P input mode, O/P output mode.</td></tr></table>

# @Response

```asp
!(Addr)&lt;CR&gt;
```

or

```txt
?(Addr)&lt;CR&gt;
```

! Command is valid.

? Command is invalid.

Address ID

# @Example

User command: \$060C&lt;CR&gt;

Response: !06&lt;CR&gt;

! Command is valid.

0C Port A and B are input mode, high and low half byte of port C are output mode.

# 3.15 Read Leading Code Setting

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Read command leading code setting and host watchdog status.

# @Syntax

\~(Addr)0&lt;CR&gt;

Command leading code.

(Addr) Address ID

0 Read command leading code setting.

# @Response

!(Addr)(Status)(C1)(C2)(C3)(C4)(C5)(C6)&lt;CR&gt;

or

?(Addr)&lt;CR&gt;

! Command is valid.

? Command is invalid.

Address ID

(2-character)

Bit 0 : Reserved

(Status) Bit 1 : Power failure or watchdog failure

Bit 2 : Host watchdog is enable

Bit 3 : Host failure

Leading code 1, for read configuration status,

(C1) firmware version, etc. default is \$.

(1-character)

(C2) Leading code 2, for read synchronize sampling,digital output ,default is #. (1-character)

(C3) Leading code 3, for change configuration.

default is %. (1-character)

(C4) Leading code 4, for read alarm status, enablealarm, etc. default is @. (1-character)

Leading code 5, for read command leading code,

(C5) change command leading code, etc. default is \~.

(1-character)

(C6) Leading code 6, this leading code is reserved.

Default is \*. (1-character)

# @Example

```txt
User command: ~060&lt;CR&gt;
Response: !0600$#%@~*&lt;CR&gt;
```

Command leading code setting is \$#%@\~\* for module address ID is 06, current status is factory default setting.

# 3.16 Change Leading Code Setting

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

User can use this command to change command leading code setting as he desired.

# @Syntax

\~(Addr)10(C1)(C2)(C3)(C4)(C5)(C6)&lt;CR&gt;

<table><tr><td>~</td><td>Command leading code.</td></tr><tr><td>(Addr)</td><td>Address ID, range (00 - FF).</td></tr><tr><td>10</td><td>Change command leading code setting.</td></tr><tr><td></td><td rowspan="2">Leading code 1, for read configuration status, firmware version, etc. default is $. (1-character)</td></tr><tr><td>(C1)</td></tr><tr><td>(C2)</td><td>Leading code 2, for read synchronize sampling, digital output ,default is #. (1-character)</td></tr><tr><td>(C3)</td><td>Leading code 3, for change configuration. default is %. (1-character)</td></tr><tr><td>(C4)</td><td>Leading code 4, for read alarm status, enable alarm, etc. default is @. (1-character)</td></tr><tr><td>(C5)</td><td>Leading code 5, for read command leading code, change leading code, etc. default is ~. (1-character)</td></tr><tr><td>(C6)</td><td>Leading code 6, this leading code is reserved. default is *. (1-character)</td></tr></table>

# @Response

<table><tr><td colspan="2">!(Addr)&lt; CR&gt;</td></tr><tr><td colspan="2">or</td></tr><tr><td colspan="2">?(Addr)&lt;CR&gt;</td></tr><tr><td>!</td><td>Command is valid.</td></tr><tr><td>?</td><td>Command is invalid.</td></tr><tr><td>(Addr)</td><td>Address ID.</td></tr></table>

# @Examples

```txt
User command: ~060&lt;CR&gt;
Response: !0600$#%@~*&lt;CR&gt;
User command: ~0610A#%@~*&lt;CR&gt;
Response: !06&lt;CR&gt;
User command: A06F
Response: !06A1.8&lt;CR&gt;
```

Read leading code setting is \$#%@\~\* for module address 06 and change leading code \$ to A, then use A06F to read firmware version of module on address 06.

# \*\*\* WARNING \*\*\*

We do not recommend users to change the default setting of leading code, because it will make you confuse

The leading code change only use the command conflicts other devices on the network.

# 3.17 Set Host Watchdog Timer & Safety Value

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Set host watchdog timer, module will change to safety state when host is failure. Define the output value in this command.

# @Syntax

\~(Addr)2(Flag)(TimeOut)(SafeValue)&lt;CR&gt;

\~(Addr)2(Flag)(TimeOut)(SafeH)(SafeL)&lt;CR&gt; (6056 only)

\~(Addr)2(Flag)(TimeOut)(SafeA)(SafeB)(SafeC)&lt;CR&gt; (6058only)

<table><tr><td>~</td><td>Command leading code.</td></tr><tr><td>(Addr)</td><td>Address ID, range (00 - FF).</td></tr><tr><td>2</td><td>Set host watchdog timer and safe state value.</td></tr><tr><td>(Flag)</td><td>0 : Disable host watchdog timer1 : Enable host watchdog timer (1-character)</td></tr><tr><td></td><td>Host timeout value, between this time periodhost must send (Host is OK) command tomodule, otherwise module will change to safetystate.</td></tr><tr><td>(TimeOut)</td><td>Range 01 - FF. (2-character)One unit is 100 ms01 = 1 * 100 = 100 msFF = 255 * 100 = 25.5 sec</td></tr><tr><td>(SafeValue)</td><td>8 channels safety value of digital outputchannels when host is failure. (2-character)</td></tr><tr><td>(SafeH)</td><td>Safety value of digital output channels 14 ~ 8when host is failure. (2-character)</td></tr><tr><td>(SafeL)</td><td>Safety value of digital output channels 7 ~ 0when host is failure. (2-character)</td></tr><tr><td>(SafeA)</td><td>Safety value of port A channels 7 ~ 0 when hostis failure while A in output mode. (2-character)</td></tr><tr><td>(SafeB)</td><td>Safety value of port B channels 7 ~ 0 when hostis failure while B in output mode. (2-character)</td></tr><tr><td>(SafeC)</td><td>Safety value of port C channels 7 ~ 0 when hostis failure while C in output mode. (2-character)</td></tr></table>

@Response
```c
!(Addr)&lt;CR&gt;
or
?(Addr)&lt;CR&gt;
!
? (Addr)
Command is valid.
Command is invalid.
Address ID
```

# @Example

Example for NuDAM-6050 :

<table><tr><td>User command:</td><td>~0621121C</td></tr><tr><td>Response:</td><td>!06</td></tr><tr><td>06</td><td>Address ID</td></tr><tr><td>2</td><td>Set host watchdog timer and safe state value.</td></tr><tr><td>1</td><td>Enable host watchdog timer.</td></tr><tr><td>12</td><td>Timeout value. 0x12 = 1818 * 100 = 1800 ms</td></tr><tr><td>1C</td><td>1C (00011100) Digital output channel DO2, DO3 and DO4 are high, the others are low.</td></tr></table>

Example for NuDAM-6056 :

<table><tr><td>User command:</td><td>~0621121C1C</td></tr><tr><td>Response:</td><td>!06</td></tr><tr><td>06</td><td>Address ID</td></tr><tr><td>2</td><td>Set host watchdog timer and safe state value.</td></tr><tr><td>1</td><td>Enable host watchdog timer.</td></tr><tr><td></td><td>Timeout value. 0x12 = 18</td></tr><tr><td>12</td><td>18 * 53.3 = 959 ms</td></tr><tr><td></td><td>18 * 100 = 1800 ms</td></tr><tr><td>1C1C</td><td>1C1C (0001110000011100) Digital output channel DO2, DO3, DO4, DO10, DO11, DO12 are high, the others are low.</td></tr></table>

Example for NuDAM-6058 :

<table><tr><td>User command:</td><td>~0621121C1C1C</td></tr><tr><td>Response:</td><td>!06</td></tr><tr><td>06</td><td>Address ID</td></tr><tr><td>2</td><td>Set host watchdog timer and safe state value.</td></tr><tr><td>1</td><td>Enable host watchdog timer.</td></tr><tr><td>12</td><td>Timeout value. 0x12 = 1818 * 100 = 1800 ms</td></tr><tr><td>1C1C1C</td><td>1C (00011100) port A, B and C channel 2, 3 and4 are high, the other are low.</td></tr></table>

# 3.18 Read Host Watchdog Timer & Safety Value

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

# @Description

Read host watchdog timer setting and the safety value.

# @Syntax

```txt
~(Addr)3&lt;CR&gt;
~ Command leading code.
(Addr) Address ID
3 Read host watchdog setting and module safety state value.
```

# @Response

```fortran
!(Addr)(Flag)(TimeOut)(SafeValue)&lt;CR&gt;
!(Addr)(Flag)(TimeOut)(SafeH)(SafeL)&lt;CR&gt; (6056 only)
!(Addr)(Flag)(TimeOut)(SafeA)(SafeB)(SafeC)&lt;CR&gt; (6058only)
or
?(Addr)&lt;CR&gt;
!
(Addr)
(Flag)
(TimeOut)
(SafeValue)
Command is valid.
Command is invalid.
Address ID, range (00 - FF).
0 : Host watchdog timer is disable
1 : Host watchdog timer is enable(1-character)
Host timeout value.
Range 01 - FF. (2-character)
One unit is 100 ms
01 = 1 * 100 = 100 ms
FF = 255 * 100 = 25.5 sec
8 channels safety state digital output value when host is failure. (2-character)
```

# @Example

<table><tr><td>User command:</td><td>~063</td></tr><tr><td>Response:</td><td>!061121C</td></tr></table>

<table><tr><td>06</td><td>Address ID</td></tr><tr><td>1</td><td>Host watchdog timer is enable.</td></tr><tr><td>12</td><td>Timeout value. 0x12 = 18</td></tr><tr><td></td><td>18 * 100 = 1800 ms</td></tr><tr><td>1C</td><td>1C (00011100) Digital output channel DO3, DO4 and DO5 are high, the others are low.</td></tr></table>

Between 1800 ms time period, if host does not send (Host is OK) then digital output will change to safety state 1C ( 00011100) means digital output DO3 , DO4 and DO5 is high, others are low.

# 3.19 Change Polarity

# @Description

To change the polarity state of digital inputs and outputs of the module.

# @Syntax

\~(Addr)CP(State)&lt;CR&gt;
```txt
~ Command leading code (1 character)
(Addr) Address ID (2 characters)
CP Change Polarity (2 characters)
Polarity state of digital inputs and outputs (2characters)
00 : Do not change polarity
(State) 01 : Change the polarity of digital inputs
02 : Change the polarity of digital outputs
03 : Change the polarity both the digital inputs and outputs
```

@Response
```txt
!(Addr)&lt;CR&gt;
or
?(Addr)&lt;CR&gt;
! Command is valid.
? Command is invalid.
(Addr) Address ID.
```

# @Example

```txt
User command: ~06CP01&lt;CR&gt;
Response: !06&lt;CR&gt;
```

To change the polarity of digital inputs of the DI/O module which ID is 06H.

Note : For this command ,you could define the logic level which you want, For example, if the input connect to high level signal ,and you want to read back the input as a “0”,then you could change the polarity to fit your requirement .

# 3.20 Read Polarity

# @Description

To read the polarity state of digital inputs and outputs of the module.

# @Syntax

```lisp
~(Addr)CR&lt;CR&gt;
~ Command leading code (1 character)
(Addr) Address ID (2 character)
CR Read Polarity (2 character)
```

# @Response

```txt
!(Addr)(State)&lt;CR&gt;
or
```

?(Addr)&lt;CR&gt;
```txt
! Command is valid.
? Command is invalid.
(Addr) Address ID.
```

```txt
(Polarity state of digital inputs and outputs
00 : Polarity were not changed
01 : Change the polarity of digital inputs
02 : Change the polarity of digital outputs
03 : Change the polarity both the digital inputs and outputs
```

# @Example

```txt
User command: ~03CR&lt;CR&gt;
Response: !0602&lt;CR&gt;
```

Read the polarity of the DI/O module which ID is 03H.

# 3.21 Host is OK

# @Description

When host watchdog timer is enable, host computer must send this command to every module before timeout otherwise “host watchdog timer enable” module‘s output value will go to safety state output value.

Timeout value and safety state output value is defined in 3.14. “Set Host Watchdog Timer & Safety Value”.

@Syntax
```txt
~**&lt;CR&gt;
    ~ Command leading code.
    ** Host is OK.
```
@Response

Note : Host is OK command has NO response.

@Example

User command: \~\*\*&lt;CR&gt;

# Warranty Policy

Thank you for choosing ADLINK. To understand your rights and enjoy all the after-sales services we offer, please read the following carefully.

1. Before using ADLINK’s products please read the user manual and follow the instructions exactly. When sending in damaged products for repair, please attach an RMA application form which can be downloaded from: http://rma.adlinktech.com/policy/.
2. All ADLINK products come with a limited two-year warranty, one year for products bought in China.

The warranty period starts on the day the product is shipped from ADLINK’s factory.
Peripherals and third-party products not manufactured by ADLINK will be covered by the original manufacturers' warranty.
For products containing storage devices (hard drives, flash cards, etc.), please back up your data before sending them for repair. ADLINK is not responsible for any loss of data.
Please ensure the use of properly licensed software with our systems. ADLINK does not condone the use of pirated software and will not service systems using such software. ADLINK will not be held legally responsible for products shipped with unlicensed software installed by the user.
For general repairs, please do not include peripheral accessories. If peripherals need to be included, be certain to specify which items you sent on the RMA Request & Confirmation Form. ADLINK is not responsible for items not listed on the RMA Request & Confirmation Form.

3. Our repair service is not covered by ADLINK's guarantee in the following situations:

Damage caused by not following instructions in the User's Manual.
Damage caused by carelessness on the user's part during product transportation.
Damage caused by fire, earthquakes, floods, lightening, pollution, other acts of God, and/or incorrect usage of voltage transformers.
Damage caused by inappropriate storage environments such as with high temperatures, high humidity, or volatile chemicals.

Damage caused by leakage of battery fluid during or after change of batteries by customer/user.
Damage from improper repair by unauthorized ADLINK technicians.
Products with altered and/or damaged serial numbers are not entitled to our service.
This warranty is not transferable or extendible.
Other categories not protected under our warranty.

4. Customers are responsible for all fees necessary to transport damaged products to ADLINK.

For further questions, please e-mail our FAE staff: service@adlinktech.com
[🔗 Link to the original document](.nd-6052-manual-2/nd-6052-manual-2.pdf)