ADLINK ND-6013 User Manual

NuDAM-6011/ NuDAM-6014D
NuDAM-6012/D NuDAM-6017
NuDAM-6013/ NuDAM-6018

Analog Input Modules

User’s Guide

©Copyright 1996~2001 ADLINK Technology Inc.
All Rights Reserved.

Manual Rev. 5.15: October 2, 2001

The information in this document is subject to change without prior
notice in order to improve reliability, design and function and does not
represent a commitment on the part of the manufacturer.

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.

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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.

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NuDAM

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

is registered trademarks of ADLINK Technology Inc.,

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Tech Inc. If you need any help or service, please contact us and get it.

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Contact Person
E-mail Address
Address
Country
TEL FAX
Web Site

Questions

Product Model
Environment to Use

O
Computer

M/B: CPU:
Chipset: BIOS:
Video Card:
Network Interface Card:
Other:

Challenge Description

Suggestions for ADLINK

Table of Contents

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

1.1 About the NuDAM Analog Input Modules ..............................1

1.2 Overview of NuDAM-6011/D.................................................. 1

What is NuDAM-6011/D ?................................................................1

Features of NuDAM-6011/D.............................................................2

Specifications of NuDAM-6011/D.....................................................2

Pin Definitions of ND-6011/D ...........................................................4

Functional Block Diagram of ND-6011/D .........................................4

A Look at ND-6011/D & Pin Assignment..........................................5

1.3 Overview of NuDAM-6012/D.................................................. 6

What is NuDAM-6012/D?.................................................................6

Features of NuDAM-6012/D.............................................................6

Specifications of NuDAM-6012/D.....................................................6

Pin Definitions of ND-6012/D ...........................................................8

Functional Block Diagram of ND-6012/D .........................................8

A Look at ND-6012/D & Pin Assignment..........................................9

1.4 Overview of NuDAM-6013 ...................................................10

What is NuDAM-6013 ? ................................................................ 10

Features of NuDAM-6013 ............................................................. 10

Specifications of NuDAM-6013 ..................................................... 10

Pin Definitions of ND-6013............................................................ 11

Functional Block Diagram of ND-6013 .......................................... 11

A Look at ND-6013 & Pin Assignment .......................................... 12

1.5 Overview of NuDAM-6014D................................................. 13

What is NuDAM-6014D ?.............................................................. 13

Features of NuDAM-6014D........................................................... 13

Specifications of NuDAM-6014D................................................... 13

Pin Definitions of ND-6014D ......................................................... 15

Functional Block Diagram of ND-6014D ....................................... 15

A Look at ND-6014D & Pin Assignment........................................ 16

1.6 Overview of NuDAM-6017 ...................................................17

What is NuDAM-6017 ? ................................................................ 17

Features of NuDAM-6017 ............................................................. 17

Specifications of NuDAM-6017 ..................................................... 17

Pin Definitions of ND-6017............................................................ 18

Functional Block Diagram of ND-6017 .......................................... 18

A Look at ND-6017 & Pin Assignment .......................................... 19

1.7 Overview of NuDAM-6018 ...................................................20

What is NuDAM-6018 ? ................................................................ 20

Features of NuDAM-6018 ............................................................. 20

Specifications of NuDAM-6018 ..................................................... 20

Table of Contents • i

Pin Definitions of ND-6018............................................................ 21

Functional Block Diagram of ND-6018 .......................................... 21

A Look at ND-6018 & Pin Assignment .......................................... 22

Chapter 2 Initialization & Installation............................ 23

2.1 Software Installation.............................................................23

2.2 Initializing a Brand-New Module ..........................................23

Objective of Initializing a Brand-New NuDAM ............................... 23

Default State ................................................................................. 24

Initialization Equipments ............................................................... 24

Initialization Procedure.................................................................. 24

Initialization Wiring ........................................................................ 25

2.3 Install a New NuDAM to a Existing Network........................ 25

Equipments for Install a New Module............................................ 25

Installing Procedures..................................................................... 25

2.4 Application Wiring for NuDAM-601X....................................26

Differential Voltage Input............................................................... 26

Single Ended Voltage Input........................................................... 26

Current Measurement ................................................................... 26

Digital Input Connect with TTL Signal ........................................... 27

Digital Input Used as an Event Counter ........................................ 27

Digital Output Connect with Power Loading.................................. 27

RTD Input (NuDAM-6013)............................................................. 28

Application Wiring for NuDAM-6014D ........................................... 29

Transmitter wiring for NuDAM-6014D ........................................... 30

Chapter 3 Command Set................................................ 31

3.1 Command and Response ....................................................31

Introduction ................................................................................... 31

Document Conventions................................................................. 31

Format of NuDAM Commands...................................................... 32

Response of NuDAM Commands ................................................. 33

3.2 Summary of Command Set.................................................. 33

3.3 Set Configuration .................................................................37

3.4 Read Configuration ..............................................................41

3.5 Read Module Name .............................................................42

3.6 Read Firmware Version .......................................................43

3.7 Software Reset.....................................................................44

3.8 Synchronized Sampling .......................................................45

3.9 Read Synchronized Data .....................................................46

3.10 Read Analog Data................................................................ 47

3.11 Span Calibration ..................................................................48

3.12 Span Calibration to each Channel .......................................49

ii • Table of Contents

3.13 Offset Calibration .................................................................50

3.14 Offset Calibration to each Channel......................................51

3.15 Read Analog Data From Channel N ....................................52

3.16 Read All Analog Data Channel ............................................53

3.17 Enable/Disable channels for Multiplexing............................ 54

3.18 Read Channel Status...........................................................55

3.19 Read CJC Status .................................................................56

3.20 Enable/Disable CJC.............................................................57

3.21 Read enable/disable CJC Status.........................................58

3.22 Read Source High/Low Values for Linear Mapping............. 59

3.23 Read Target High/Low Values for Linear Mapping.............. 60

3.24 Write Source High/Low Values for Linear Mapping.............61

3.25 Write Target High/Low Values for Linear Mapping.............. 62

3.26 Enable/Disable Linear Mapping...........................................63

3.27 Read enable/Disable Linear Mapping Status .....................64

3.28 CJC Offset Calibration ......................................................... 65

3.29 Clear Latched Alarm ............................................................ 66

3.30 Clear Event Counter ............................................................67

3.31 Disable Alarm....................................................................... 68

3.32 Read Digital I/O and Alarm Status......................................69

3.33 Set Digital Output.................................................................71

3.34 Enable Alarm........................................................................72

3.35 Set High Alarm..................................................................... 73

3.36 Set Low Alarm...................................................................... 74

3.37 Read Event Counter ............................................................75

3.38 Read High Alarm Limit .........................................................76

3.39 Read Low Alarm Limit..........................................................77

3.40 Read Leading Code Setting.................................................78

3.41 Change Leading Code Setting............................................. 80

3.42 Set Host Watchdog Timer & Safety Value..........................82

3.43 Read Host Watchdog Timer & Safety Value.......................84

3.44 Host is OK ............................................................................ 85

Chapter 4 Data Format and Input Range ...................... 86

4.1 Data Format of Analog Input Modules ................................. 86

Engineering Units.......................................................................... 86

Percent of FSR (Full Scale Range) ............................................... 87

Two’s Complement Hexadecimal.................................................. 88

Ohm .............................................................................................. 89

4.2 Analog Input Range .............................................................90

Table of Contents • iii

Chapter 5 Calibration ..................................................... 93

5.1 How to Calibrate the Analog Input Modules ? .....................93

What do you need to do calibration ?............................................ 93

Calibration Procedure for ND-6011/D, 6012/D,6014D, 6017 ........ 93

Calibration Procedure for ND-6013 (F/W version A3.05) .............. 94

Calibration Procedure for ND-6013 Firmware Rev C4.60 ............. 94

Calibration Procedure for ND-6018 Firmware Rev B1.10 ............. 95

Calibration Procedure for ND-6018 Firmware Rev E1.00

and e1.00 ...................................................................................... 95

CJC Calibration Procedure ........................................................... 96

Analog Input Module‘s Calibration Voltages.................................. 97

Product Warranty/Service.............................................. 99

iv • Table of Contents

1

Introduction

1.1 About the NuDAM Analog Input Modules

The NuDAM provides a series of analog input modules which can sense
the analog signal or to control the remote devices. The basic features of
each module are shown here.

• NuDAM-6011/D: multi-functions high gain analog input module

• NuDAM-6012/D: multi-functions analog input module

• NuDAM-6013: 3 channels RTD input module

• NuDAM-6014D:Analog (Transmitter) input module with LED

display

• NuDAM-6017: 8 channels analog input module

• NuDAM-6018: 8 channels thermocouple input module

The models with an extended D have the same command set and
specification as without D, except the D version has a 5 1/2 LED
Display.

1.2 Overview of NuDAM-6011/D

What is NuDAM-6011/D ?

NuDAM-6011/D is a multi-functions analog input module with cold
junction compensation (CJC). The maximum input voltage range of
analog input channel is ±2.5V. The high gain feature allows very small
full range of ±15mV. To measure temperature by directly connect the
thermocouple is possible because of using the CJC inside and the high
gain feature. The voltage range of the ADC can be set according to
different types of thermocouple. The ADC can be calibrated by

Introduction • 1

programming without handy adjustment. This features insure the best
performance under different environment.
The module provides the analog signal monitor or the alarm function.
The high and low bound of the alarm limit is programmable. The alarm
status can be sent to digital output channels if this function is ON. The
supervisor of a factory can ‘see’ or ‘hear’ the alarm if the digital output
channel control a real alarm device. The two digital output channels can
be set for general-purpose use if the alarm is disabled.
For example, connecting relay devices to DO channels, the
NuDAM-6011/D can be used to control the high power devices.
The module provides another one digital input channel. This can be
used for general purpose such as monitor digital signal, or be used as
input of the event counter.

Features of NuDAM-6011/D

• 1 analog input channel with differential input

• Programmable voltage range with high gain amplifier

• On board CJC for temperature measurement

• 5000 Vrms isolation voltage for AD channel (2500 Vrms for

NuDAM-6011/D)

• 2 digital output channels of open collector type

• Alarm function with high / low alarm output

• 1 digital input channel / event counter

• Programmable host watchdog timer for host failure protection

• Internal watchdog timer for device failure protection

• Easy programming by software

• Easy installation and wiring

• 5 1/2 digital LED Display (NuDAM-6011/D)

Specifications of NuDAM-6011/D

 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)

 Analog Input

• Input type: Differential input

• Resolution: 16 bits

• Unit Convertion: Thermocouple, mV, V, or mA

• Thermocouple Type: J, K, T, E, R, S, B, N, C

J: 0°C~760°C K: 0°C~1370°C
T: -100°C~400°C E: 0°C~1000°C
R: 500°C~1750°C S: 500°C~1750°C
B: 500°C~1800°C N: -270°C~1300°C

2 • Introduction

(1)

C: 0°C~2320°C

• Voltage Range: Programmable 6 levels
±2.5V, ±1V, ±500mV, ±100mV, ±50mV, ±15mV

• Current Measurement: ±20mA (with external 125Ω resistor)

• Accuracy: ±0.4%

(1)

Note

: F/W version above A4.60 support K-type for 0~1370°C. Lower version

supports K-type for 0~1000°C.

 Digital Output

• Channel numbers: 2

• Output characteristic: open collector transistor

• Maximum current sink: 50mA

• Max. power dissipation: 300mW

 Digital Input

• Channel numbers: 1

• Logical level 0: +1V maximum

• Logical level 1: +2.0V~ +30V

• Pull up resister: 10KΩ

• Maximum current: 0.5mA

 Watchdog Function

• Module internal watchdog timer: 150 ms

• Power failure threshold: 4.65 V

• Safety value: 2 digital output channels

• Host programmable watchdog: 100 ms ~ 25.500 sec

 Power

• Power supply: +10V to +30V

• Current consumption: 0.76W(1.68W for NuDAM-6011/D)

Introduction • 3

Pin Definitions of ND-6011/D

g

r

g

g

g

g

Pin # Signal Name Description

1 IN+ Analog Input Positive Terminal
2 IN- Analog Input Negative Terminal
3 DO 1/ HI Digital Output Channel 1

or High alarm status output

4 DI 0 / EV Digital Input Channel 0

or event counter input

5 DO 0 / LO Digital Output Channel 0

or Low alarm output
6 DEFAULT* Initial state setting
7 (Y) DATA+ RS-485 series signal, positive
8 (G) DATA- RS-485 series signal, negative
9 (R) +Vs Power supply, +10V~+30V
10 (B) GND Ground
11 TC(+) Thermocouple Input positive Terminal
12 TC(-) Thermocouple Input negative Terminal

Functional Block Diagram of ND-6011/D

Power Input
+10V ~ +30V

Data +

Data -

4 • Introduction

Power

ulator & Filter

Re

Watchdog/Power Failure

Superviso

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Micro

Processor

LED Display

(only ND-6011/D)

+ 5V

GND

ADC

2-bits

ital Output

Di

1-bit

ital Input

Di

1-bit

ital Input

Di

Analog

nal

Si
CJC

DO0

DI0

Default*
Pin

A Look at ND-6011/D & Pin Assignment

T/C (-)
T/C (+)

High Gain Analog

ND-6011

Code mV/mA Code T/C

15 mV

00

01

50 mV

02

100 mV

03

500 mV

04

1 V

2.5 V

05

20 mA

06

5 V

Input

0E

0F

10

11

12

13

14

J Type

K Type

T Type

E Type

R Type

S Type

B Type

1

IN (-)

IN (+)

DI0/EV

DO 1/HI

DO 0/LO

DEFAULT*

(Y)DATA+

(G)DATA-

10

(R)+Vs

(B)GND

Introduction • 5

1.3 Overview of NuDAM-6012/D

What is NuDAM-6012/D?

NuDAM-6012/D is a multi-functions analog input module. The
programmable input voltage range of analog input channel is from ±10V
maximum to ±150mV minimum.
The module also provides the alarm function and the event counter just
like NuDAM-6011/D. In fact, the NuDAM-6012/D provides almost all
functions that NuDAM-6011/D has except the CJC and temperature
measurement function.

Features of NuDAM-6012/D

• 1 analog input channel with differential input

• Programmable voltage range

• 5000 Vrms isolation voltage for AD channel (2500 Vrms for

ND-6012/D)

• 2 digital output channels of open collector type

• Alarm function with high / low alarm output

• 1 digital input channel / event counter

• Programmable host watchdog timer for host failure protection

• Internal watchdog timer for device failure protection

• Easy programming by software

• Easy installation and wiring

• 51/2 digital LED display (NuDAM-6012/D)

Specifications of NuDAM-6012/D

 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)

 Analog Input

• Input type: Differential input

• Resolution: 16 bits

• Unit Convertion: mV, V, or mA

• Voltage Range: Programmable 5 levels
±10V, ±5V, ±1V, ±500mV, ±150mV

• Current Measurement: ±20mA (with external 125Ω resistor)

• Accuracy: ±0.05%

• Isolation Voltage: 5000 Vrms(2500 Vrms for NuDAM-6012/D)

6 • Introduction

 Digital Output

• Channel numbers: 2

• Output characteristic: open collector transistor

• Maximum current sink: 50mA

• Max. power dissipation: 300mW

 Digital Input

• Channel numbers: 1

• Logical level 0: +1V maximum

• Logical level 1: +2.0V~30V

• Pull up resister: 10KΩ

• Maximum current: 0.5mA

 Watchdog Function

• Module internal watchdog timer: 150 ms

• Power failure threshold: 4.65 V

• Host programmable watchdog: 100 ms ~ 25.500 sec

 Power

• Power supply: +10V to +30V

• Current consumption: 1.1 W(2.0W for NuDAM-6012/D)

Introduction • 7

Pin Definitions of ND-6012/D

g

r

g

g

g

g

Pin # Signal Name Description

1 IN+ Analog Input Positive Terminal
2 IN- Analog Input Negative Terminal
3 DO 1/ HI Digital Output Channel 1

or High alarm status output
4 DI 0 / EV Digital Input Channel 0

or event counter input
5 DO 0 / LO Digital Output Channel 0

or Low alarm output
6 DEFAULT* Initial state setting
7 (Y) DATA+ RS-485 series signal, positive
8 (G) DATA- RS-485 series signal, negative
9 (R) +Vs Power supply, +10V~+30V
10 (B) GND Ground

Functional Block Diagram of ND-6012/D

+ 5V

Power Input
+10V ~ +30V

Watchdog/Power Failure

Data +

Data -

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Superviso

Power

ulator & Filter

Re

Micro

Processor

ADC

2-bits

ital Output

Di

1-bit

ital Input

Di

1-bit

ital Input

Di

GND

Analog

nal

Si

DO0

Default*
Pin

LED Display

( only ND-6012/D)

8 • Introduction

A Look at ND-6012/D & Pin Assignment

20

High Gain Analog

ND-6012

Code mV/mA

08
09

0A

0B

0C

0D

Input

10V

5 V

1 V

500 mV

150 mV

100 mV

0 - 20 mA

1

IN (-)

IN (+)

DI0/EV

DO 1/HI

DO 0/LO

DEFAULT*

(Y)DATA+

(G)DATA-

11

10

(R)+Vs

(B)GND

Introduction • 9

1.4 Overview of NuDAM-6013

What is NuDAM-6013 ?

NuDAM-6013 is a RTD input module with 3 input channels. It supports
2, 3 or 4 wires RTD input device.

Features of NuDAM-6013

• 3 RTD input channels

• 2, 3 or 4 wire RTD input support

• Programmable RTD input range

• Internal watchdog timer for device failure protection

• Easy programming by software

• Easy installation and wiring

(2)

Note

: for H/W version C1.2 or above and F/W version C4.6 or above.

Specifications of NuDAM-6013

 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)

 RTD Input

• Input type: Pt or Ni input, 2, 3 or 4 wires

• Channels Numbers: 3

• Resolution: 16 bits

• Unit Conversion: °C or Ohm

• Temperature Range: Programmable 5 levels, ±100°C, 0~100°C,
0~200°C, 0~600°C, 0~60 Ohms

• Accuracy: ±0.1%

(3)

Note

: Supported on F/W version C4.5 or above.

(3)

 Power

• Power supply: +10V to +30V

• Current consumption: 0.65 W

10 • Introduction

Pin Definitions of ND-6013

Pin # Signal Name Description

1 +IEXC0 Current source of CH0
2 +SENSE0 Differential positive input of CH0
3 -SENSE0 Differential negative input of CH0
4 -IEXC0 Current source of CH0
5 AGND0 Analog signal ground of CH0
6 DEFAULT* Initial state setting
7 (Y) DATA+ RS-485 series signal, positive
8 (G) DATA- RS-485 series signal, negative
9 (R) +Vs Power supply, +10V~+30V
10 (B) GND Ground

11 AGND2 Analog signal ground of CH2
12 -IEXC2 Current source of CH2
13 -SENSE2 Differential negative input of CH2
14 +SENSE2 Differential positive input of CH2
15 +IEXC2 Current source of CH2
16 AGND1 Analog signal ground of CH1
17 -IEXC1 Current source of CH1
18 -SENSE1 Differential negative input of CH1
19 +SENSE1 Differential positive input of CH1
20 +IEXC1 Current source of CH1

Functional Block Diagram of ND-6013

Power Input
+10V ~ +30V

Data +

RS-485

Rec/Drv

Data -

Config Data

Safe Value

Regulator & Filter

Watchdog/Power

Failure Supervisor

EEPROM

Power

Micro

Processor

+ 5V

ADC

1-bit

Digital Input

Mux

GND

3
RTD
Input

Channels

Default*
Pin

200µA

200µA

2, 3, 4
Wires

+IEXC

+SENSE

-SENSE

-IEXC

GND

Introduction • 11

A Look at ND-6013 & Pin Assignment

N

20

IEXC 1+

SENSE 1+

SENSE 1-

IEXC 1-

AGND 1

IEXC 2+

3-CH RTD Input

D-6013

α=0.00385 α=0.003916

Code Input Range Code Input Range

20 Pt.-100°C~+100°C 24 Pt.-100°C~+100°C

21 Pt. 0°C~+100°C 25 Pt. 0°C~+100°C
22 Pt. 0°C~+200°C 26 Pt. 0°C~+200°C
23 Pt. 0°C~+100°C 27 Pt. 0°C~+100°C

28 Ni-1000°C~+100°C29Ni-

SENSE 0+

IEXC 0+

1

SENSE 0-

DEFAULT*

IEXC 0-

AGND 0

SENSE 2+

SENSE 2-

1200°C~+100°C

DATA +

DATA -

IEXC 2-

+Vs

11

AGND 2

GND

10

12 • Introduction

1.5 Overview of NuDAM-6014D

What is NuDAM-6014D ?

NuDAM-6014D is a multi-functions analog(transmitter) input module
with LED display. The programmable input voltage range of analog
input channel is from ±10V maximum to ±150mV minimum.
The module also provides the alarm function and the event counter just
like NuDAM-6012/D. In fact, the NuDAM-6014D provides almost all
functions that NuDAM-6012/D has but there is more function with
transmitter.

Features of NuDAM-6014D

• 1 analog input channel with differential input

• Programmable voltage range

• 2500 Vrms isolation voltage for AD channel

• 2 digital output channels of open collector type

• Alarm function with high / low alarm output

• 1 digital input channel / event counter

• Programmable host watchdog timer for host failure protection

• Internal watchdog timer for device failure protection

• Easy programming by software

• Easy installation and wiring

• 51/2 digital LED Display

Specifications of NuDAM-6014D

 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)

 Analog Input

• Input type: Differential input

• Resolution: 16 bits

• Unit Convertion: mV, V, or mA

• Voltage Range: Programmable 5 levels
±10V, ±5V, ±1V, ±500mV, ±150mV

• Current Measurement: ±20mA

• Accuracy: ±0.05%

• Isolation Voltage: 2500 Vrms

Introduction • 13

 Digital Output

• Channel numbers: 2

• Output characteristic: open collector transistor

• Maximum current sink: 50mA

• Max. power dissipation: 300mW

 Digital Input

• Channel numbers: 1

• Logical level 0: +1V maximum

• Logical level 1: +2.0V~30V

• Pull up resister: 10KΩ

• Maximum current: 0.5mA

 Watchdog Function

• Module internal watchdog timer: 150 ms

• Power failure threshold: 4.65 V

• Host programmable watchdog: 100 ms ~ 25.500 sec

 Power

• Power supply: +10V to +30V

• Current consumption: 2.0 W

14 • Introduction

Pin Definitions of ND-6014D

g

r

g

g

g

p

p

Pin # Signal Name Description

1 +15V External +15V
2 IIN+ Current Input Positive Terminal
3 IIN- Current Input Negative Terminal
6 DEFAULT* Initial state setting
7 (Y) DATA+ RS-485 series signal, positive
8 (G) DATA- RS-485 series signal, negative
9 (R) +Vs Power supply, +10V~+30V
10 (B) GND Ground
11 VIN- Analog Input Negative Terminal
12 VIN+ Analog Input Positive Terminal
13 +15V out External +15V Output

18 DO 0 / LO Digital Output Channel 0

or Low alarm output

19 DI 0 / EV Digital Input Channel 0

or event counter input

20 DO 1/ HI Digital Output Channel 1

or High alarm status output

Functional Block Diagram of ND-6014D

+ 5V

Power Input
+10V ~ +30V

Watchdog/Power Failure

Data +

Data -

Config Data

Superviso

RS-485

Rec/Drv

EEPROM

Safe Value

Power

ulator & Filter

Re

Micro

Processor

ADC

2-bits

ital Output

Di

1-bit

ital Input

Di

1-bit

ital Input

Di

GND

Voltage

In

Current

In

DO0
DO1

DI0

Default*
Pin

VIN+
VIN-

ut

ut

IIN+
IIN-

LED DISPLAY

Introduction • 15

A Look at ND-6014D & Pin Assignment

)

N

)

±

1

20

DO1/HI

DI0/EV

DO0/LO

D-6014D

Code mV/mA

08/09/0A

0B/0C/0D

IIN+

+15V out

IIN-

Transmitter
Input Module

10V/25V/±1V

±

500mV/

±

150mV/

±

20mV

DEFAULT*

VIN-

+15V out

VIN+

GND

+Vs

B

R

(Y)DATA+

(G)DATA-

10

16 • Introduction

1.6 Overview of NuDAM-6017

What is NuDAM-6017 ?

NuDAM-6017 is an analog input module with 8 input channels. Six of
the eight channels are differential type and the other two are single
ended type.

Features of NuDAM-6017

• 8 analog input channels

• 6 differential inputs and 2 single ended inputs

• Programmable input voltage range

• Programmable host watchdog timer for host failure protection

• 5000 Vrms isolation voltage

• Internal watchdog timer for device failure protection

• Easy programming by software

• Easy installation and wiring

Specifications of NuDAM-6017

 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)

 Analog Input

• Input type: Differential input

• Channels Numbers: 8

• Resolution: 16 bits

• Unit Conversion: mV, V, or mA

• Voltage Range: Programmable 5 levels , ±10V, ±5V, ±1V,
±500mV, ±150mV

• Current Measurement: ±20mA (with external 125Ω resistor)

• Accuracy: ±0.1%

 Power

• Power supply: +10V to +30V

• Current consumption: 1.2 W

(4)

Note

: The maximum input voltage shall not exceed to ±30V with reference to

AGND otherwise, they may cause an unrecoverable harm to the hardware
component.

(4)

Introduction • 17

Pin Definitions of ND-6017

Pin # Signal Name Description

1 Vin5+ Differential positive input channel 5
2 Vin5- Differential negative input channel 5
3 Vin6+ Single-ended voltage input channel 6
4 AGND Analog signal ground of CH6 & 7
5 Vin7+ Single-ended voltage input channel 7
6 DEFAULT* Initial state setting
7 (Y) DATA+ RS-485 series signal, positive
8 (G) DATA- RS-485 series signal, negative
9 (R) +Vs Power supply, +10V~+30V
10 (B) GND Ground

11 Vin0+ Differential positive input channel 0
12 Vin0- Differential negative input channel 0
13 Vin1+ Differential positive input channel 1
14 Vin1- Differential negative input channel 1
15 Vin2+ Differential positive input channel 2
16 Vin2- Differential negative input channel 2
17 Vin3+ Differential positive input channel 3
18 Vin3- Differential negative input channel 3
19 Vin4+ Differential positive input channel 4
20 Vin4- Differential negative input channel 4

Functional Block Diagram of ND-6017

Power Input
+10V ~ +30V

Data +

Data -

18 • Introduction

Power

Regulator & Filter

Watchdog/Power Failure

Supervisor

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Micro

Processor

ADC

1-bit

Digital Input

+ 5V

GND

Mux

8

Analog

Input

Channels

Default*
Pin

A Look at ND-6017 & Pin Assignment

20

Vin 4+

Vin 4-

Vin 3+

Vin 3-

Vin 2-

Vin 2+

8-CH Analog Input

ND-6017

CODE

08
09

0A

0B

0C

0D

mV/mA

0 - 20 mA

10V

5 V

1 V

500 mV

150 mV

100 mV

Vin 1+

Vin 1-

11

Vin 0+

Vin 0-

1

Vin 5+

Vin 5-

Vin 6+

AGND

Vin 7+

DEFAULT*

(Y)DATA+

(G)DATA-

(R)+Vs

10

(B)GND

Introduction • 19

1.7 Overview of NuDAM-6018

What is NuDAM-6018 ?

NuDAM-6018 is a thermocouple input module with 8 input channels.
Six of the eight channels are differential type and the other two are
single ended type.

Features of NuDAM-6018

• 8 analog input channels

• 6 differential inputs and 2 single ended inputs

• Programmable input voltage range

• Programmable host watchdog timer for host failure protection

• On board CJC for temperature measurement

• 2500 Vrms isolation voltage

• Internal watchdog timer for device failure protection

• Easy programming by software

• Easy installation and wiring

• Wiring open detection

Specifications of NuDAM-6018

 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)

 Analog Input

• Input type: Differential input

• Channels Numbers: 8

• Resolution: 16 bits

• Unit Conversion: Thermocouple, mV, V or mA

• Thermocouple Type: J, K, T, E, R, S, B, N, C

J: 0°C~760°C K: 0°C~1370°C
T: -100°C~400°C E: 0°C~1000°C
R: 500°C~1750°C S: 500°C~1750°C
B: 500°C~1800°C N: -270°C~1300°C
C: 0°C~2320°C

• Voltage Range: Programmable 6 levels ±2.5V, ±1V, ±500mV,
±100mV, ±50mV, ±15mV

• Current Measurement: ±20mA (with external 125Ω resistor)

 Power

• Power supply: +10V to +30V

• Current consumption: 0.9 W

(5)

Note

: For H/W version B4.0 or above and F/W version B1.31 or above.

(6)

(5)

(6)

20 • Introduction

(6)

Note

: The maximum input voltage shall not exceed to ±30V with reference to

AGND otherwise, they may cause an unrecoverable harm to the hardware
component.

(7)

Note

: F/W version above C4.30 support K-type for 0~1370°C. Lower version

°

supports K-type for 0~1000

C.

Pin Definitions of ND-6018

Pin # Signal Name Description

1 Vin5+ Differential positive input channel 5
2 Vin5- Differential negative input channel 5
3 Vin6+ Single-ended voltage input channel 6
4 AGND Analog signal ground of CH6 & 7
5 Vin7+ Single-ended voltage input channel 7
6 DEFAULT* Initial state setting
7 (Y) DATA+ RS-485 series signal, positive
8 (G) DATA- RS-485 series signal, negative
9 (R) +Vs Power supply, +10V~+30V
10 (B) GND Ground

11 Vin0+ Differential positive input channel 0
12 Vin0- Differential negative input channel 0
13 Vin1+ Differential positive input channel 1
14 Vin1- Differential negative input channel 1
15 Vin2+ Differential positive input channel 2
16 Vin2- Differential negative input channel 2
17 Vin3+ Differential positive input channel 3
18 Vin3- Differential negative input channel 3
19 Vin4+ Differential positive input channel 4
20 Vin4- Differential negative input channel 4

Functional Block Diagram of ND-6018

Power Input
+10V ~ +30V

Data+

Data -

Watchdog/Power Failure

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Power

Regulator & Filter

Micro

Processor

ADC

1-bit

+ 5V

GND

Mux

Thermo-

couple

Input

channels

Default*
Pin

Introduction • 21

8

A Look at ND-6018 & Pin Assignment

N

20

Vin 4+

Vin 4-

ND-6017

Code mV/mA Code T/C

00 ±15mV 0E J Type
01 ±50mV 0F K Type
02 ±100mV 10 T Type
03 ±500mV 11 E Type
04 ±1V 12 R Type
05 ±2.5V 13 S Type
06 ±20mA 14 B Type

Vin 3-

D-6018

CODE

08
09

0A

0B

0C

0D

Vin 3+

Vin 2-

Vin 1-

Vin 2+

Multiple
Analog Input

8-CH Analog Input

mV/mA

10V

5 V

1 V

500 mV

100 mV

0 - 20 mA

11

Vin 0+

Vin 1+

Vin 0-

1

Vin 5+

Vin 5-

Vin 6+

AGND

Vin 7+

DEFAULT*

(Y)DATA+

(G)DATA-

(R)+Vs

10

(B)GND

22 • Introduction

2

Initialization & Installation

2.1 Software Installation

1. If you have already installed “NuDAM Administration” then skip
other steps.

2. Backup your software diskette.

3. Insert “NuDAM Administration” 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

Objective of Initializing a Brand-New NuDAM

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

• Address ID is 01.

• Baud rate is 9600 bps

• Check-sum disable

• Host Watchdog timer is disable

Therefore, to configure the brand-new NuDAM before using is
necessary to avoid conflicting address. The baud rate may also be
changed according to user‘s requirements.

Initialization & Installation • 23

The initialization procedures of a brand-new NuDAM are shown in the
following sections. The procedures are applicable for initializing
NuDAM-6011/D, NuDAM-6012/D, NuDAM-6013, NuDAM-6014D,
NuDAM-6017, and NuDAM-6018.

Default State

The NuDAM modules must be set at Default State when you want to
change the default settings, including the ID address, baud rate,
check-sum status etc. All NuDAM modules have an special pin labeled

as DEFAULT*. The module will be in Default State if the Default*1 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.

• Watchdog timer is disable.

Therefore, the configuration of the host and the module can be easily
set identically and initializing a module will be possible no matter what
configuration is set under operating state.

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 V

• Administration utility software

to +30 VDC) for NuDAM modules

DC

Note1: Never Connect the DRFAULT* pin to Vs or power source just left it

open or wired to GND.

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 Administration utility to configure the address ID,

Baud rate and check-sum status of the module.

24 • Initialization & Installation

Initialization Wiring

Host

Computer

RS-232

Local Power Supply

+10 V to +30 V

+Vs GND

Figure 2-1 Layout for Initialization the NuDAM module

NuDAM-6520
RS-232/RS-485
Converter

DATA +
DATA -

New
NuDAM
module

DATA+
DATA -

Default*

+Vs GND +Vs GND

2.3 Install a New NuDAM to a Existing Network

Equipments for Install a New Module

• A existing NuDAM network

• New NuDAM modules

• Power supply (+10 to +30 V

Installing Procedures

1. Configure the new NuDAM module according to the initialization

procedures 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.

DC

)

Initialization & Installation • 25

2.4 Application Wiring for NuDAM-601X

A

A

A

y

A

Differential Voltage Input

Differential
Signal
Source

Differential Analog Input Channel of

Differential Analog Input Channel of

NuDAM-6011/D/6012/D/6017/6018

NuDAM-6011/6012/6017/6018

IN(+)

DC

IN(-)

Single Ended Voltage Input

Ground
Signal
Source

Single Ended Input Channel of
NuDAM-6017/6018

Current Measurement

Current
Source

R=125 Ohm
%1 accurac

Differential Input Channel of

Differential Input Channel of
NuDAM-6011/D/6012/D/6017/6018

NuDAM-6011/6012/60176018

IN(+)

R

IN(-)

IN(+)

DC

GND

DC

26 • Initialization & Installation

Digital Input Connect with TTL Signal

r

r

rSupply

NuDAM-6011D/6012D Digital Input Channel

+5V

TTL Buffer

TTL

Device

DI 0

GND

Digital Input Used as an Event Counter

NuDAM-6011D/ 6012D Digital Input Channel

+5V

TTL Buffer

Clock

Source

Digital Output Connect with Power Loading

NuDAM-601x Digital Output Channel

DI 0

GND

LED, SSR, Relay etc.

To
Micro Processor

To
Micro Processor

+Vs

From
Micro Processo

open
collector

DO n

GND

R : current limit resistor

Powe
Loading

Powe

Initialization & Installation • 27

RTD Input (NuDAM-6013)

2 Wire

RTD

3 Wire

RTD

4 Wire

RTD

+IEXC 1

+SENSE

-SENSE

-IEXC

A.GND

+IEXC 1

+SENSE

-SENSE

-IEXC

A.GND

+IEXC 1

+SENSE

-SENSE

-IEXC

A.GND

28 • Initialization & Installation

Application Wiring for NuDAM-6014D

Millivolt and Volt Input

Process Current Input

Initialization & Installation • 29

Transmitter wiring for NuDAM-6014D

2-wire Transmitter Input

3-wire Transmitter Input

+15V out
IN+

-

30 • Initialization & Installation

3

Command Set

3.1 Command and Response

Introduction

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

Document Conventions

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

(Leading Code) Leading Code is the first characteristic of the NuDAM

(Addr) Module’s address ID, the value is in the range of 00 - FF

(Command
Variable)
[Data] Some commands need additional data.

[Checksum] Checksum in brackets indicate optional parameter, only

< > Identifies a control code character, such as <CR> for

command. All NuDAM commands need a command leading
code, such as %,$,#,@,...etc. 1- character

(Hex). 2- character
Command codes or value of variables.

Variable length

Variable length

checksum is enable then this field is required. 2- character

carriage return, its value is 0x0D.

1- character

Command Set • 31

Format of NuDAM Commands

(Leading Code)(Addr)(Command)[Data][Checksum]<CR>

When checksum is enable then [Checksum] is needed, it is
2-character. Both command and response must append the checksum
characters.

How to calculate checksum value ?

[Checksum] =

0x100

Example 1: checksum is disable

User Command: $012<CR>
Response: !01400600<CR>

$
01
2
<CR>

Example 2: checksum is enable

User Command:
Response:

$
01
2
B7
<CR>

‘$’ = 0x24 ‘0’ = 0x30 ‘1’ = 0x31 ‘2’ = 0x32

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

((LeadingCode)+(Addr)+(Command)+[Data]) MOD

: LeadingCode
: Address
: Command (Read Configuration)
: Carriage return 0x0D

$012B7<CR>
!01400600AC<CR>

: LeadingCode
: Address
: Command (Read Configuration)
: Checksum value
: Carriage return 0x0D

32 • Command Set

Note: 1. There is no spacing between the command words and
The checksum characters.

2. Every command follows a <CR> carriage return for
ending.

3. The checksum characters are optional.

Response of NuDAM Commands

The response message depends on versatile NuDAM command. The
response is composed with a few characteristics, including leading
code, variables, and carriage return for ending. There are two
categories 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 not.

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 do not have response.

3.2 Summary of Command Set

There are three categories of NuDAM commands. The first is the
general commands, including set configuration command, read
configuration, reset, read module‘s name or firmware version, etc.
Every NuDAM can response to the general commands. The second is
the functional commands, which depends on functions of each
module. Not every module can execute all function commands. The
third is the special commands including functions about the
programmable watchdog timer, safe values, and the programmable
leading code. All the commands used in the NuDAM analog input
module are list in the following table.

Command Set of Analog Input Modules

Command Syntax

General Commands

%(OldAddr)(NewAddr)

Set Configuration

Read Configuration
Read Module Name

(InputRange)(BaudRate)
(DataFormat)
$(Addr)2
$(Addr)M

Module

ALL 3-7

ALL 3-11
ALL 3-12

s

Page

Command Set • 33

Read Firmware Version
Software Reset

Functional Commands

Synchronized Sampling

Read Synchronized
Analog Data

Read Analog Data

Read Analog Data
Channel 0
Span Calibration
Span Calibration to each
Channel

Offset Calibration
Offset Calibration to each
Channel

Read Analog Data From
Channel N

Read All Analog Data

Enable/Disable Channel
for Multiplexing

Read Channel Status

Read CJC Status

Enable/Disable CJC

Read Enable/Disable
CJC Status

Read Source High/Low
Values for Linear
Mapping

$(Addr)F
$(Addr)RS

#**

$(Addr)4

#(Addr)

#(Addr)

$(Addr)0

$(Addr)0(Channel No)

$(Addr)1

#(Addr)1(Channel No)

#(Addr)(ChannelNo)

$(Addr)A

$(Addr)5(ChannelVal)

$(Addr)6

$(Addr)3

$(Addr)C(Status)

$(Addr)D

$(Addr)3

ALL 3-13
ALL(1) 3-14

6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D

6013 3-17

ALL 3-18

6013(2) 3-19

ALL 3-20

6013(2) 3-21

6013,
6017,
6018
6013,
6017,
6018
6013,
6017,
6018
6013,
6017,
6018
6011/D,
6018
6011/D,
6018(3)

6011/D,
6018(3)

6014D 3-32

3-15

3-16

3-17

3-22

3-23

3-24

3-25

3-26

3-27

3-28

Read Target High/Low
Values for Linear
Mapping

34 • Command Set

$(Addr)5

6014D 3-33

Write Source High/Low
Values for Linear
Mapping

$(Addr)6(Data_L)(Data_H)

6014D 3-34

Write Target High/Low
Values for Linear
Mapping

Enable/Disable Linear
Mapping

Read Enable/Disable
Linear Mapping Status

CJC Offset Calibration

Clear Latch Alarm

Clear Event Counter

Disable Alarm

Read Digital I/O and
Alarm Status

Set Digital Output

Enable Alarm

Set High Alarm

Set Low Alarm

Read Event Counter

Read High Alarm

Read Low Alarm

$(Addr)7(Data_L)(Data_H)

$(Addr)A(Status)

$(Addr)R

$(Addr)9(Counts)

@(Addr)CA

@(Addr)CE

@(Addr)DA

@(Addr)DI

@(Addr)DO(OutData)

@(Addr)EA(Mode)

@(Addr)HI(Data)

@(Addr)LO(Data)

@(Addr)RE

@(Addr)RH

@(Addr)RL

6014D 3-35

6014D 3-36

6014D 3-37

6011/D,
6018
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D

6011/D,
6012/D,
6014D

6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D
6011/D,
6012/D,
6014D

3-38

3-39

3-40

3-41

3-42

3-44

3-45

3-46

3-47

3-48

3-49

3-50

Command Set • 35

Special Commands

Read Command Leading
Code Setting

Change Command
Leading Code Setting

Set Host Watchdog /
Safety Value

Read Host WatchDog /
Safe Value

Host is OK

~(Addr)0

~(Addr)10(C1)(C2)(C3)
(C4)(C5)(C6)

~(Addr)2(Flag)
(TimeOut)(SafeValue)

~(Addr)3

~**

ALL 3-51

ALL 3-53

ALL 3-55

ALL 3-57

ALL 3-58

Note: “ALL” means for ND-6011/D, ND-6012/D, ND-6013, ND-6014D,

ND-6017 and ND-6018.

(1) This function only support on F/W version above A4.30.
(2)These two functions only support between F/W
versionA3.05 to A4.52.
(3)These two functions support on F/W version above B4.60
of ND-6018 and F/W version above A4.60 of ND-6011.
(4)These two functions support on F/W version above B1.31
of ND-6018 and F/W version above C4.60 of ND-6013.

36 • Command Set

3.3 Set Configuration

@Description

Configure the basic setting of NuDAM, including the address ID, input
range, baud rate, and data format. The new configuration will be
available after executing the command.

@Syntax

%(OldAddr)(NewAddr)(InputRange)(BaudRate)(DataFormat)<CR

>

% Command leading code. (1-character)
(OldAddr)

(NewAddr)

(InputRange)

(BaudRate)

(DataFormat)

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)

New address ID, if you don’t want to change
address ID, let new address ID equals to the
old one. (2-character)
Define analog input range, refers to Table 3-1
for details. (2-character)
Define communication baud rate, refers to
Table 3-2 for details. (2-character)
Define checksum, integration time and output
data format, refers to Figure 3-1 for details.
(2-character)

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

@Response

!(Addr)<CR>

or

?(Addr)<CR
>

(Addr)

!
?

Address ID.

Command is valid.
Command is invalid, parameter values are invalid, or
change the setting without grounding the DEFAULT*
pin.

Command Set • 37

Note:

1. When you want to change the checksum or baud rate, the
DEFAULT* pin must be grounded at first.

2. Waiting a maximum of 7 seconds to perform auto calibration and
ranging after the analog input module is reconfigured. Please
don’t execute any other command during this time period.

@Example

User command: %0130050600<CR>
Response: !30<CR>

Item Meaning Description

% (Leading Code) Command leading code.
01 (OldAddr) Original address ID is 01(Hex).
30 (NewAddr) New address ID is 30(Hex).
05 (InputRange)
06 (BaudRate) Baud rate is 9600.
00 (DataFormat) 00 means data format is engineering

<CR> Carriage return 0x0D.

Analog input range is ±2.5V

units, checksum is disable and
integration time is 50 ms (60Hz).

38 • Command Set

Code (Hex) Input Range Modules

00
01
02
03
04
05

06

08

09

0A

0B

0C

0D

0E
0F
10
11
12
13
14
15
16
20
21
22
23
24
25
26
27
28
29
2A 0~60 Ohms 6013

±15 mV
±50 mV
±100 mV
±500 mV
±1 V
±2.5 V
±20 mA
(Required 125Ω current conversion resistor.)

±10 V

±5 V

±1 V

±500 mV

±150 mV

±20 mA

(Required 125Ω current conversion resistor.)
Type J Thermocouple 0° to 760°C

Type K Thermocouple 0° to 1370°C
Type T Thermocouple -100° to 400°C
Type E Thermocouple 0° to 1000°C
Type R Thermocouple 500° to 1750°C
Type S Thermocouple 500° to 1750°C
Type B Thermocouple 500° to 1800°C
Type N Thermocouple -270° to 1300°C
Type C Thermocouple 0° to 2320°C
Pt-100, -100°C to +100°C, α=0.00385
Pt-100, 0°C to +100°C, α=0.00385
Pt-100, 0°C to +200°C, α=0.00385
Pt-100, 0°C to +600°C, α=0.00385
Pt-100, -100°C to +100°C, α=0.003916
Pt-100, 0°C to +100°C, α=0.003916
Pt-100, 0°C to +200°C, α=0.003916
Pt-100, 0°C to +600°C, α=0.003916
Ni-100, 0°C to +100°C
Ni-120, 0°C to +100°C

6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018

6011/D,6018

6012/D,6017,
6014D
6012/D,6017,
6014D
6012/D,6017,
6014D
6012/D,6017,
6014D
6012/D,6017,
6014D

6012/D,6017,
6014D

6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6011/D,6018
6013
6013
6013
6013
6013
6013
6013
6013
6013
6013

Table 3-1 AD Input Range Setting

Command Set • 39

A

Code Baudrate

03 1200 bps
04 2400 bps
05 4800 bps
06 9600 bps
07 19200 bps
08 38400 bps
09 115200 bps

Table 3-2 Baud rate setting code

6

7

Checksum

0: disable
1: enable

Figure 3-1 Data Format Setting of Analog Input Modules

4 3 2 1 0

5

nalog Input Data Format

00: Engineering units
01: % of Full Scale Range
10: Two’s complement of hexadecimal
11: Ohms (6013 only)

Note:
6017/6018 only support engineering
units.

6013 supports engineering units and

ohms display.

Reserved

Must to be 0

40 • Command Set

3.4 Read Configuration

@Description

Read the configuration of module on a specified address ID.

@Syntax

$(Addr)2<CR
>

$
(Addr)
2

@Response

!(Addr)(InputRange)(BaudRate)(DataFormat)<CR>
or
?(Addr)<CR
>

!
?
(Addr)
(InputRange)

(BaudRate)

(DataFormat)

Command leading code
Address ID.
Command code for reading configuration

Command is invalid.
Command is invalid.
Address ID.
Current setting of analog voltage input, refers
to Table 3-1 for details.
Current setting of communication baud rate,
refers to Table 3-2 for details.
Current settings of checksum, integration time
and output data format, refers to Figure 3-1 for
details.

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

@Example

User command: $302<CR>
Response: !30050600<CR>

!
30
05
06
00

Command is valid.
Address ID.
Analog input range is ±2.5 V.
Baud rate is 9600 bps.
checksum is disable.

Command Set • 41

3.5 Read Module Name

@Description

Read module name of NuDAM at specified address.

@Syntax

$(Addr)M<CR>

$
(Addr)
M

@Response

!(Addr)(ModuleName)
<CR>
or
?(Addr)<CR
>

Command leading code.
Address ID
Read module name

!
?
(Addr)
(ModuleName)

Command is invalid.
Command is invalid.
Address ID.
NuDAM module‘s name could be
‘6011’, ’6011/D‘, ‘6012’, ’6012/D‘, ‘6013’, ‘6017’
or ’6018‘.
4 or 5 characters

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

@Example

User command: $30M<CR>
Response: !306011/D<CR>

!
30
6011/D

42 • Command Set

Command is valid.
Address
ND-6011/D (Analog Input Module)

3.6 Read Firmware Version

@Description

Read firmware version of NuDAM at specified address.

@Syntax

$(Addr)F<CR>

$
(Addr)
F

@Response

!(Addr)(FirmRev) <CR>
or
?(Addr)<CR
>

Command leading code.
Address ID
Read module firmware version.

!
?
(Addr)
(FirmRev)

@Example

User command: $30F<CR>
Response: !30A2.10<CR>

!
30
A2.10

Command is valid.
Command is invalid.
Address ID.
NuDAM module‘s firmware version.

Command is valid.
Address
Firmware Version

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

Command Set • 43

3.7 Software Reset

@Description

To stop current operation , reset the module to initial power on state.

@Syntax

$(Addr)RS<CR>

$ Command leading code (1 character)
(Addr) Address ID (2 character)
RS Software Reset (2 character)

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr
)

@Example

User
command:
Response: !06<CR>

To stop current operation , reset the module to initial power on state for
analog input module ND-6013 , address ID is 06H.

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

Command is valid.
Command is invalid.
Address ID.

$060RS<CR>

44 • Command Set

3.8 Synchronized Sampling

@Description

Synchronized all modules to sample analog input values and stored
the values in the module’s register at the same time. The sampled data
can be read by “Read Synchronized Data” command.

@Syntax

#**<CR
>

#
**

@Response

Note: Synchronized sampling command has NO response.

@Example

User command: #**<CR>

Command leading code.
Synchronized sampling command

(6011/D, 6012/D, 6014D)

Command Set • 45

3.9 Read Synchronized Data

@Description

After a synchronized sampling command #** was issued, you can read
the sampled value that was stored in the register of the module at
specified address.

@Syntax

$(Addr)4<CR
>

$
(Addr)
4

@Response

>(Addr)(Status)(Data)<CR>
or
?(Addr)<CR
>

>
?

(Addr)
(Status)

(Data)

Command leading code.
Address ID
Read synchronized data.

Command is invalid.
Command is invalid or no synchronized sampling
command was issued.
Address ID.
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)
There are four types of Data format, refers to
Chapter 4 for details.

(6011/D, 6012/D, 6014D)

@Examples

User command: $064<CR>
Response: >060+1.6888<CR>

Read synchronized data at address 06H, analog input module send its
analog input data +1.6888 (units). Status is 0 means it has sent the
same data at least once. The current units is set by the data format.

User command: $064<CR>
Response: >061+1.6888<CR>

Read synchronized data at address 06H, analog input module send its
analog input data +1.6888 (units). Status is 1 means it is the first time
that the data has been sent. The current units is set by the data format

46 • Command Set

3.10 Read Analog Data

@Description

Read the analog input value from an analog input module at specified
address in a NuDAM network. While for ND-6013, it returns the channel
0 analog data.

@Syntax

#(Addr)<CR>

#
(Addr)

@Response

>(InputData)<CR>

Command leading code
Address ID

>
(InputData)

@Example

User command: #06<CR>
Response: >+1.6888<CR>

Read the analog input module data at address 06 (Hex). The analog
input module response data is +1.6888 units. The unit depends on the
data format.

Delimiter character
The input data represents the analog signal. The
unit of the digits depends on the data format used.
There are four types of data format. The format is
set by the set configuration command.
Delimiter character

(6011/D, 6012/D, 6013, 6014D)

Command Set • 47

3.11 Span Calibration

@Description

To correct the gain errors of AD converter by using the span calibration.

@Syntax

$(Addr)0<CR>

$ Command leading code (1 character)
(Addr) Address ID (2 character)
0 Span calibration (1 character)

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

@Example

User command: $060<CR>
Response: !06<CR>

To perform the span calibration for analog input module, address ID is
06H.

Command is valid.
Command is invalid.
Address ID.

(6011/D, 6012/D, 6013 C4.6

6014D, 6017, 6018)

Note: To perform the calibration, a proper input signal should be

connected to the analog input module. Different input range
have different input voltage, detail refer chapter 5 “Calibration”.

48 • Command Set

3.12 Span Calibration to each Channel

A

@Description

To correct the gain errors of AD converter by using the span calibration.

@Syntax

$(Addr)0(Channel No)<CR>

$ Command leading code (1 character)
(Addr) Address ID (2 character)
0 Span calibration (1 character)
(Channel No) Channel for Calibration (1 character) 0~2

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

@Example

User command: $0601<CR>
Response: !06<CR>

To perform the span calibration for analog input module ND-6013
channel 1, address ID is 06H.

Command is valid.
Command is invalid.
Address ID.

(for 6013 F/W version

3.05~A4.60)

Note: To perform the calibration, a proper input signal should be

connected to the analog input module. Different input range
have different input voltage, detail refer chapter 5
“Calibration” .

Command Set • 49

3.13 Offset Calibration

@Description

To correct the offset errors of AD converter by using the offset
calibration.

@Syntax

$(Addr)1<CR>

$
(Addr)
1

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

@Example

User command: $061<CR>
Response: !06<CR>

To perform the offset calibration for analog input module at specified
address 06 (Hex).

Command leading code
Address ID
Offset calibration.

Command is valid.
Command is invalid.
Address ID.

(6011/D, 6012/D, 6013 C4.6

and above, 6014D, 6017, 6018)

Note: To perform the calibration, a proper input signal should be

connected to the analog input module. Different input range
have different input voltage, detail refer chapter 5
“Calibration” .

50 • Command Set

3.14 Offset Calibration to each Channel

A

(for 6013 F/W version

@Description

To correct the offset errors of AD converter by using the offset
calibration.

@Syntax

$(Addr)1(Channel No)<CR>

3.05~A4.60)

$
(Addr)
1
(Channel No) Channel for calibration.(1 character)0~2

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

@Example

User command: $0612<CR>
Response: !06<CR>

To perform the offset calibration for analog input module ND-6013
channel 2 at specified address 06 (Hex).

Command leading code
Address ID
Offset calibration.

Command is valid.
Command is invalid.
Address ID.

(6013)

Note: To perform the calibration, a proper input signal should be

connected to the analog input module. Different input range
have different input voltage, detail refer chapter 5
“Calibration” .

Command Set • 51

3.15 Read Analog Data From Channel N

@Description

Read the analog input value of a specified AD channel from an analog
input module at specified address in a NuDAM network.

@Syntax

#(Addr)(ChannelNo)<CR>

# Command leading code. (1-character)
(Addr) Address ID. (2-character)
(ChannelNo) Channel number, range (0 - 7). (1-character)

Range (0-2). For ND-6013

@Response

>(InputData)<CR>

>
(InputData)

@Example

User command: #061<CR>
Response: >+1.6888<CR>

Read the analog input channel 1 of AD module at address 06
(Hexadecimal) in the network. The analog input data is +1.6888 Volts
(Data format is engineering unit)

Delimiter character
Input value from a specified channel number, the
data format is a + or - sign with five decimal digits
and a fixed decimal point.

(6013, 6017, 6018)

52 • Command Set

3.16 Read All Analog Data Channel

@Description

Read all the enable analog input channel value of a specified from an
analog input module at specified address in a NuDAM network.

@Syntax

#(Addr)A<CR>

# Command leading code. (1-character)
(Addr) Address ID. (2-character)
A

@Response

>(InputData)(InputData)(InputData)<CR>

All the enable channel

>
(InputData)

@Example

User command: #06A<CR>
Response: >+100.88+020.66+006.79<CR>

Read the analog input of AD module at address 06 (Hexadecimal) in the
network. The analog input data are +100.88 °C for channel 0, +020.66
°C for channel 1 and +006.79°C for channel 3. (Data format is
engineering unit).

Delimiter character
Input value from a specified channel number, the
data format is a + or - sign with five decimal digits
and a fixed decimal point.

(6013, 6017, 6018)

Command Set • 53

3.17 Enable/Disable channels for Multiplexing

(6013, 6017, 6018)

@Description

Enable/Disable multiplexing simultaneously for individual channel.

@Syntax

$(Addr)5(ChannelVal)<CR>

$ Command leading code. (1-character)
(Addr) Address ID (2-character)
5 Enable/Disable channel. (1-character)
(ChannelVal)

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

@Example

User command: $06548<CR>
Response: !06<CR>

$
06
5
48

bit 3~0 of 1st character: control channel 7 - 4.
bit 3~0 of 2nd character: control channel 3 - 0.
bit value 0: Disable channel
bit value 1: Enable channel (2-character)

Command is valid.
Command is invalid.
Address ID.

Command leading code.
Address ID.
Disable/Enable channel.
Channel Value is 0x48.
‘48’ is 01001000 that means enable channel 3 and
channel 6, the other channels are all disable.

54 • Command Set

3.18 Read Channel Status

@Description

Read the enable/disable status the channels of ND-6013, ND-6017 or

6018.

@Syntax

$(Addr)6<CR>

$ Command leading code. (1-character)
(Addr) Address ID (2-character)
6 Read channel status. (1-character)

@Response

!(Addr)(ChannelVal)<CR>
or
?(Addr)<CR
>

!
?
(Addr)
(ChannelVal)

@Example

User command: $066<CR>
Response: !0648<CR>

4 is equals binary 0100 that means enable channel 6 and disable
channel 7, 5, 4.
8 is equals binary 1000 that means enable channel 3 and disable
channel 2, 1, 0.

Command is invalid.
Command is invalid.
Address ID.
bit 3~0 of 1st character: controlt channel 7 - 4.
bit 3~0 of 2nd character: control channel 3 - 0.
bit value 0: Disable channel
bit value 1: Enable channel (2-character)

(6013, 6017, 6018)

Command Set • 55

3.19 Read CJC Status

@Description

Read the CJC (Cold Junction Compensation) sensors data.

@Syntax

$(Addr)3<CR>

$
(Addr)
3

@Response

>(Data)<CR>
or
?(Addr)<CR
>

>
(Data)

?
(Addr)

@Example

User command: $063<CR>
Response: >+0037.9<CR>

This command is to read analog input module CJC status at address
06H, return data is 37.9°C.

Command leading code.
Address ID
Read CJC status.

Command is invalid.
CJC sensor’s data.
Data format is engineering units. (an + or - sign with
five decimal digits and a decimal fixed point. The
resolution is 0.1°C
Command is invalid.
Address ID.

(6011/D, 6018)

56 • Command Set

3.20 Enable/Disable CJC

@Description

To disable/enable CJC of ND-6011/D and ND-6018

@Syntax

$(Addr)C(Status)<CR>

$ Command leading code (1 character)
(Addr) Address ID (2 character)
C Disable/enable CJC command (1 character)
(Status)

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr
))

@Example

User
command:
Response: !02<CR>

To enable CJC and module’s address is 02H.

Command is valid.
Command is invalid.
Address ID (2 character)

(6011/D, 6018)

0: Disable
1: Enable

$02C1<CR>

Command Set • 57

3.21 Read enable/disable CJC Status

@Description

To read CJC disable/enable status of ND-6018

@Syntax

$(Addr)D<CR>

$ Command leading code (1 character)
(Addr) Address ID (2 character)
D Read CJC disable/enable staus command (1

character)

@Response

!(Addr)(Statu
s)<CR>
or
?(Addr)<CR
>

!
?
(Stat
us)

@Example

User
command:
Response: !021<CR>

To read CJC disable/enable status, and module’s address is 02H., the
CJC is enable.

Command is valid.
Command is invalid.
0: Disable
1: Enable

$02D<CR>

(6011/D, 6018)

58 • Command Set

3.22 Read Source High/Low Values for Linear
Mapping

@Description

Read the high/low limit values from input for linear mapping.

@Syntax

$(Addr)3<CR>

$
(Addr)
3

@Response

!(Addr)(Data_L)(Data_H)<CR>
or
?(Addr)<CR>

!

(Addr)
(Data_L)

(Data_H)

?

Command leading code.
Address ID
Read the high/low limit values from input for linear
mapping .

Command is invalid.

Address ID.
Low limit value for linear mapping.

Data format is with an + or - sign with five decimal
digits and a decimal fixed point.
High limit value for linear mapping.
Data format is with an + or - sign with five decimal
digits and a decimal fixed point.
Command is invalid.

(6014D)

@Example

User command: $023<CR>

Response: !02+04.000+20.000<CR>
The module is configured for +20~-20mA input current range. The linear
mapping function should already have been executed. This command is
to read the high/low values for linear mapping. The high limit value is
+20mA and low limit value is +4mA. The address of this module is 06H.

Command Set • 59

3.23 Read Target High/Low Values for Linear
Mapping

@Description

Read the mapped high/low limit values from input for linear mapping.

@Syntax

$(Addr)5<CR>

$
(Addr)
5

@Response

!(Addr)(Data_L)(Data_H)<CR>
or
?(Addr)<CR>

!

(Addr)
(Data_L)

(Data_H)

?

Command leading code.
Address ID
Read the mapped high/low limit values from input for
linear mapping .

Command is invalid.

Address ID.
Mapped low limit value for linear mapping.

Data format is with an + or - sign with five decimal
digits and a decimal fixed point.
Mapped high limit value for linear mapping.
Data format is with an + or - sign with five decimal
digits and a decimal fixed point.
Command is invalid.

(6014D)

@Example

User command: $055<CR>
Response: !05-20.000+20.000<CR>

The module is configured for +20~-20mA input current range. The linear
mapping function had been executed. This command is to read the
mapped high/low values for linear mapping. The mapped high limit
value is +20mA and mapped low limit value is -20mA. The address of
this module is 05H.

60 • Command Set

3.24 Write Source High/Low Values for Linear
Mapping

@Description

Write the source high/low limit values from input for linear mapping.

@Syntax

$(Addr)6(Data_L)(Data_H)<CR>

$
(Addr)
6

(Data_L)

(Data_H)

@Response

!(Addr)<CR>
or
?(Addr)<CR>

!

(Addr)
?

Command leading code.
Address ID
Set the high/low limit values from input for linear
mapping .

Low limit input value for linear mapping. It must be lower
than the high limit input value. The format of data is the
same as input current range. The minimum input value
could equal to the minimum input value of input current
range. Data format is with an + or - sign with five decimal
digits and a decimal fixed point.
High limit input value for linear mapping. It must be higher
than the low limit input value. The format of data is the
same as input current range. The maximum input value
could equal to the maximum input value of input current
range. Data format is with an + or - sign with five decimal
digits and a decimal fixed point.

Command is invalid.

Address ID.
Command is invalid.

(6014D)

@Example

User command: $036-100.00+100.00<CR>
Response: !03<CR>

The module is configured for +150~-150mV input range. This command
is to set the input high/low values from +100.00 to –100.00mV for
linear mapping. The address of this module is 05H.

Command Set • 61

3.25 Write Target High/Low Values for Linear
Mapping

@Description

Write the target high/low limit values from input for linear mapping.

@Syntax

$(Addr)7(Data_L)(Data_H)<CR>

$
(Addr)
7

(Data_L)

(Data_H)

@Response

!(Addr)<CR>
or
?(Addr)<CR>

!

(Addr)
?

Command leading code.
Address ID
Set the mapped high/low limit values from input for
linear mapping .
Mapped low limit input value for linear mapping. It
must be lower than the mapped high limit input
value. Data format is with an + or - sign with five
decimal digits and a decimal fixed point.
Mapped high limit input value for linear mapping. It
must be Higher than mapped the low limit input
value. Data format is with an + or - sign with five
decimal digits and a decimal fixed point.

Command is invalid.

Address ID.
Command is invalid.

(6014D)

@Example

User command: $036-100.00+100.00<CR>
Response: !03<CR>

The module is configured for +150~-150mV input range. This command
is to set the input high/low values from +100.00 to –100.00mV for
linear mapping. The address of this module is 03H.

62 • Command Set

3.26 Enable/Disable Linear Mapping

@Description

Enable or disable the linear mapping function for the module.

@Syntax

$(Addr)A(Status)<CR>

$
(Addr)
A
(Status)

@Response

!(Addr)<CR>
or
?(Addr)<CR>

!

(Addr)
?

@Example

User command: $03A1<CR>
Response: !03<CR>

This command set the linear mapping function of ND-6014D is enable,
and the address of this module is 03H.

Command leading code.
Address ID
Reference to control the linear mapping function.
One char to determine the linear mapping function
enable or disable.
1: means enable.
0: means disable.

Command is invalid.

Address ID.
Command is invalid.

(6014D)

Command Set • 63

3.27 Read enable/Disable Linear Mapping Status

@Description

Read enable or disable the linear mapping status for the module.

@Syntax

$(Addr)R<CR>

$
(Addr)
R

@Response

!(Addr)(Status)<CR>
or
?(Addr)<CR>

!

(Addr)
(Status)

?

@Example

User command: $07R<CR>
Response: !070<CR>

This command means the linear mapping function of ND-6014D is
disable, and the address of this module is 07H.

Command leading code.
Address ID
Read to the linear mapping status.

Command is invalid.

Address ID.
One char to means the state of linear mapping.

1: means enable.
0: means disable.
Command is invalid.

(6014D)

64 • Command Set

3.28 CJC Offset Calibration

@Description

To correct the CJC offset errors use CJC (Cold Junction Compensation)
offset calibration.

@Syntax

$(Addr)9(Counts)<CR>

$
(Addr)
9
(Counts)

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

Command leading code
Address ID
CJC offset calibration.
It is a 4-characters (Hexadecimal) with a sign + or -,
range is 0000 to FFFF, each count equals
approximately 0.0153°C.
Example: +0042 = 4x16 + 2 = 66
66 * 0.0153°C = 1.009°C

Command is valid.
Command is invalid.
Address ID.

(6011/D, 6018)

@Example

User command: $089+0042<CR>
Response: !08<CR>

CJC offset calibration at address 08H. The calibrated offset
temperature is +0042(Hex) = 66, 66 x 0.0153°C = 1.009°C

Command Set • 65

3.29 Clear Latched Alarm

@Description

Clear the High/Low alarm state at specified analog input module.

@Syntax

@(Addr)CA<CR>

@
(Addr)
CA

@Response

!(Addr)<CR>

Command leading code.
Address ID
Clear latched alarm.

!
(Addr)

@Example

User command: @06CA<CR>
Response: !06<CR>

Clear the both High/Low latch alarm state at address 06H.

Command is valid.
Address ID.

(6011/D, 6012/D, 6014D)

66 • Command Set

3.30 Clear Event Counter

@Description

Reset the event counter to zero at specified analog input module.

@Syntax

@(Addr)CE<CR>

@
(Addr)
CE

@Response

!(Addr)<CR>

Command leading code.
Address ID
Clear event counter.

!
(Addr)

@Example

User command: @06CE<CR>
Response: !06<CR>

Set the event counter to zero at address 06H, response data means its
event counter has been reset.

Command is valid.
Address ID.

(6011/D, 6012/D, 6014D)

Command Set • 67

3.31 Disable Alarm

@Description

Disable High/Low alarm functions at specified analog input module.

@Syntax

@(Addr)DA<CR>

@
(Addr)
DA

@Response

!(Addr)<CR>

Command leading code.
Address ID
Disable Alarm.

!
(Addr)

@Example

User command: @06DA<CR>
Response: !06<CR>

Disable all alarm functions at address 06H.

Command is valid.
Address ID.

(6011/D, 6012/D, 6014D)

68 • Command Set

3.32 Read Digital I/O and Alarm Status

@Description

Read the digital input channel, digital output channel and the alarm
state at specified analog input module.

@Syntax

@(Addr)DI<CR>

@
(Addr)
DI

@Response

!(Addr)(Alarm)(DigitalO)(DigitalI)<CR>

Command leading code.
Address ID
Read digital I/O and alarm state.

!
(Addr)
(Alarm)

(DigitalO)

(DigitalI)

Command is invalid.
Address ID.
0: alarm is disable
1: MOMENTARY mode enable.
2: LATCH mode enable.
(1-character)
Digital output channel, port 0 and 1 status.
00: channel 0 is OFF, channel 1 is OFF
01: channel 0 is ON , channel 1 is OFF
02: channel 0 is OFF, channel 1 is ON
03: channel 0 is ON , channel 1 is ON
(2-character)
Digital input channel, port status.
00: channel is LOW.
01: channel is HIGH.
(2-character)

(6011/D, 6012/D, 6014D)

Command Set • 69

@Example

User command: @06DI<CR>
Response: !0620301<CR>

Item Meaning Description
!
06
2
03

01

Read digital I/O and alarm at address 06H. alarm state is LATCH, digital
output channel port 0 and 1 are ON and digital input channel is HIGH.

(Leading Code) Command leading code.
(Addr) Analog module’s address ID is 06H.
(Alarm) 2 means alarm state is LATCH.
(DigitalO) Digital output channel status.

03: channel 0 is ON
channel 1 is ON

(DigitalI) Digital input channel status

01: digital input is HIGH.

70 • Command Set

3.33 Set Digital Output

@Description

Set digital output channel at specified module.

@Syntax

@(Addr)DO(OutData)<CR>

@
(Addr)
DO
(OutData)

@Response

!(Addr)<CR>
or
?(Addr)<CR
>

!
?
(Addr)

@Example

User command: @06DO02<CR>
Response: !06<CR>

Set the digital output channel state at address 06H, digital output
channel port 0 is OFF, port 1 is ON.

Command leading code.
Address ID
Set digital output
Digital output data .(2 - characters)
00: bit 1 is OFF, bit 0 is OFF.
01: bit 1 is OFF, bit 0 is ON.
02: bit 1 is ON , bit 0 is OFF
03: bit 1 is ON , bit 0 is ON.

Command is valid.
Command is invalid.
Address ID.

(6011/D, 6012/D, 6014D)

Command Set • 71

3.34 Enable Alarm

@Description

Enable alarm to Latch mode or Momentary mode at specified analog
input module.

@Syntax

@(Addr)EA(Mode)<CR>

@
(Addr)
EA
(Mode) M: enable alarm to MOMENTARY mode.

@Response

!(Addr)<CR>

Command leading code.
Address ID
Enable alarm command code

L: enable alarm to LATCH mode.

!
(Addr)

@Example

User command: @06EAL<CR>
Response: !06<CR>

Enable alarm to LATCH mode at address 06H.

User command: @06EAM<CR>
Response: !06<CR>

Enable alarm to MOMENTARY mode at address 06H.

Command is valid.
Address ID.

(6011/D, 6012/D, 6014D)

72 • Command Set

3.35 Set High Alarm

@Description

Set high alarm limit value at specified analog input module.

@Syntax

@(Addr)HI(Data)<CR>

@
(Addr)
HI
(Data)

@Response

!(Addr)<CR>

Command leading code.
Address ID
Set high alarm limit value.
Alarm high limit value.
Data format is engineering units. (an + or - sign with
five decimal digits and a decimal fixed point.

!
(Addr)

Command is valid.
Address ID.

@Example

User command: @06HI+300.00<CR>
Response: !06<CR>

Set high alarm limit value to 300°C for type J thermocouple to input at
address 06H.

(6011/D, 6012/D, 6014D)

Command Set • 73

3.36 Set Low Alarm

@Description

Set low alarm limit value at specified analog input module.

@Syntax

@(Addr)LO(Data)<CR>

@
(Addr)
LO
(Data)

@Response

!(Addr)<CR>

!
(Addr)

@Example

User command: @06LO+100.00<CR>
Response: !06<CR>

Set low alarm limit value to +100°C to accept J-type thermocouple input
at address 06H.

Command leading code
Address ID
Set low alarm limit value.
Alarm low limit value.
Data format is engineering units. (an + or - sign with
five decimal digits and a decimal fixed point.

Command is valid.
Address ID.

(6011/D, 6012/D, 6014D)

74 • Command Set

3.37 Read Event Counter

@Description

Read the event counter value at specified analog input module.

@Syntax

@(Addr)RE<CR>

@
(Addr)
RE

@Response

!(Addr)(Data)<CR>

Command leading code.
Address ID
Read event counter.

!
(Addr)
(Data)

@Example

User command: @06RE<CR>
Response: !0612345<CR>

Read event counter, its value is 12345 (Decimal) at address 06H.

Command is valid.
Address ID.
5-character (Decimal), range 00000 to 65535, if the
event counter exceed 65535 then event counter
value is 65535 (No changed).
(5-character)

(6011/D, 6012/D, 6014D)

Command Set • 75

3.38 Read High Alarm Limit

@Description

Read the high alarm limit at specified analog input module.

@Syntax

@(Addr)RH<CR>

@
(Addr)
RH

@Response

!(Addr)(Data)<CR>

Command leading code.
Address ID
Read high alarm limit.

!
(Addr)
(Data)

@Example

User command: @06RH<CR>
Response: !06+01.500<CR>

Read the high alarm limit value at address 06H, its value is 1.500 Volts,
presume this module is configured to accept ±2.5 Volts input.

Command is valid.
Address ID.
High alarm limit value.
Data format is engineering units. (an + or - sign with
five decimal digits and a decimal fixed point.

(6011/D, 6012/D, 6014D)

76 • Command Set

3.39 Read Low Alarm Limit

@Description

Read the low alarm limit at specified analog input module.

@Syntax

@(Addr)RL<CR>

@
(Addr)
RL

@Response

!(Addr)(Data)<CR>

Command leading code.
Address ID, range (00 - FF).
Read low alarm limit.

!
(Addr)
(Data)

@Example

User command: @06RL<CR>
Response: !06-0.3850<CR>

Read the low alarm limit value at address 06H, its value is

-0.3850 Volts, presume this module is configured to accept
1 Volts input.

Command is valid.
Address ID.
Alarm low limit value.
Data format is engineering units. (an + or - sign with
five decimal digits and a decimal fixed point.

(6011/D, 6012/D, 6014D)

Command Set • 77

3.40 Read Leading Code Setting

@Description

Read command leading code setting and host watchdog status.

@Syntax

~(Addr)0<CR
>

~
(Addr)
0

@Response

!(Addr)(Status)(C1)(C2)(C3)(C4)(C5)(C6)<CR>

or

?(Addr)<CR
>

!
?
(Addr)
(Status) (2-character)

(C1)

(C2)

(C3)

(C4)

Command leading code.
Address ID
Read command leading code setting.

Command is valid.
Command is invalid.
Address ID

Bit 0: Reserved
Bit 1: Power failure or watchdog failure
Bit 2: Host watchdog is enable
Bit 3: Host failure
Leading code 1, for read configuration status,
firmware version, etc. default is $.
(1-character)
Leading code 2, for read synchronize sampling,
digital output, default is #.
(1-character)
Leading code 3, for change configuration.
default is %. (1-character)
Leading code 4, for read alarm status, enable alarm,
etc. default is @. (1-character)

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

78 • Command Set

(C5)

(C6)

@Example

User command: ~060<CR>
Response: !0600$#%@~*<CR>

Leading code 5, for read command leading code,
change command leading code, etc. default is ~.
(1-character)
Leading code 6, this leading code is reserved.
default is *. (1-character)

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

Command Set • 79

3.41 Change Leading Code Setting

@Description

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

@Syntax

~(Addr)10(C1)(C2)(C3)(C4)(C5)(C6)<CR>

~
(Addr)
10
(C1)

(C2)

(C3)

(C4)

(C5)

(C6)

Command leading code.
Address ID, range (00 - FF).
Change command leading code setting.
Leading code 1, for read configuration status,
firmware version, etc. default is $.
(1-character)
Leading code 2, for read synchronize sampling,
digital output ,default is #.
(1-character)
Leading code 3, for change configuration.
default is %. (1-character)
Leading code 4, for read alarm status, enable alarm,
etc. default is @. (1-character)
Leading code 5, for read command leading code,
change leading code, etc. default is ~.
(1-character)
Leading code 6, this leading code is reserved.
default is *. (1-character)

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

@Response

!(Addr)< CR>

or

?(Addr)<CR>

!
?
(Addr)

80 • Command Set

Command is valid.
Command is invalid.
Address ID.

@Examples

User command: ~060<CR>
Response:

User command:
Response: !06<CR>

User command:
Response: !06A1.8<CR>

!0600$#%@~*<CR>

~0610A#%@~*<CR>

A06F

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 ***

z We do not recommend users to change the default setting of

leading code, because it will confuse yourself

z The leading code change only use the command conflicts other

devices of other brand on the network

z The changing of leading code is not necessary if all modules in a

network are NuDAMs‘

Command Set • 81

3.42 Set Host Watchdog Timer & Safety Value

@Description

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

@Syntax

~(Addr)2(Flag)(TimeOut)(SafeValue)<CR>

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

~
(Addr)
2
(Flag)

(TimeOut)

(SafeValue)

@Response

!(Addr)<CR
>
or
?(Addr)<CR
>

!
?
(Addr)

Command leading code.
Address ID, range (00 - FF).
Set host watchdog timer and safe state value.
0: Disable host watchdog timer
1: Enable host watchdog timer (1-character)
Host timeout value, between this time period host
must send (Host is OK) command to module,
otherwise module will change to safety state.
Range 01 - FF. (2-character)

One unit is 100 ms

01 = 1 * 100 = 100 ms
FF = 255 * 100 = 25.5 sec
2 channels safety value of digital output channels
when host is failure. (2-character)

Command is valid.
Command is invalid.
Address ID

82 • Command Set

@Example

User command: ~06211203<CR>
Response: !06<CR>

06
2
1
12

03

Address ID
Set host watchdog timer and safe state value.
Enable host watchdog timer.
Timeout value. 0x12 = 18
18 * 100 = 1800 ms
03 (00000011) The two digital output channels are
high as failure or reset.

Command Set • 83

3.43 Read Host Watchdog Timer & Safety Value

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

@Description

Read host watchdog timer setting and the safety value.

@Syntax

~(Addr)3<CR
>

~
(Addr)
3

@Response

!(Addr) (Flag)(TimeOut)(SafeValue)<CR>

or
?(Addr)<CR
>

!
?
(Addr)
(Flag)

(TimeOut)

(SafeValue)

Command leading code.
Address ID
Read host watchdog setting and module safety state
value.

Command is invalid.
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
2 channels safety state digital output value when
host is failure. (2-character)

@Example

User command: ~063<CR>
Response: !0611203<CR>

06
1
12

03

84 • Command Set

Address ID
Host watchdog timer is enable.
Timeout value. 0x12 = 18
18 * 100 = 1800 ms
03 (00000011) The safety status of the two digital
output channels are high.

3.44 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 3.30. “Set Host
Watchdog Timer & Safety Value”

@Syntax

~**<CR
>

~
**

@Response

Note: Host is OK command has NO response.

@Example

User command: ~**<CR>

Command leading code.
Host is OK.

(6011/D, 6012/D, 6013

6014D, 6017, 6018)

Command Set • 85

4

Data Format and Input
Range

4.1 Data Format of Analog Input Modules

There are four types of data format used in analog input modules.

1. Engineering units.

2. Percent of FSR (Full Scale Range).

3. Two’s complements hexadecimal.

4. Ohms.

Engineering Units

• Set bit 1 and bit 0 of data format variable to “00” means the data is
represented in engineering units

• This data format including three components

1. sign (+ or -)

2. digits

3. decimal point

• Data is composited with a sign (+ or -) followed with 5-digits and a
decimal point.

• It does not exceed 7-characters

The different analog input ranges have different resolutions or number
of decimal places. Refer to Table 4-1 for details.

86 • Data Format and Input Range

Input Range Resolution

±15 mV, ±50 mV 1µV
±100 mV, ±150 mV, ±500 mV 10µV
±1 V, ±2.50 V, ±5 V 100µV
±10 V
±20 mA 1µA

Type J and T thermocouple, RTD
Type K, E, R, S, B, N and C

thermocouple

Table 4-1 Data format and resolution

Example 1:

• Input Range is ±5 V

• Input is -1.37 Volts

engineering units: -1.3700<CR>

Example 2:

• Input Range is ±10 V

• Input is +3.653 Volts

engineering units: +03.653<CR>

Example 3:

• Input Range is Type K thermocouple (range 0°C to 1000°C)

• Input is 406.5°C

engineering units: +0406.5<CR>

Example 4:

• Input Range is Type T thermocouple (range -100°C to 400°C)

• Input is -50.5°C

engineering units:

-050.50<CR>

1mV three decimal places

0.01°C

0.1°C

three decimal places
two decimal places
four decimal places

three decimal places
two decimal places

one decimal places

Percent of FSR (Full Scale Range)

• Data format bit 1 and 0 set to 01 is percent of FSR

• This data format including three components

1. sign (+ or - )

2. digits

3. decimal point

Data Format and Input Range • 87

• Data is sign (+ or - ) followed with 5-digits and a decimal point

• It does not exceed 7-characters

• Maximum resolution is 0.01%, the decimal point is fixed

• Data is the ratio of input signal to the value of full scale range

Example 1:

• Input Range is ±5 V

• Input is +1 Volts

% of FSR: +020.00<CR>
(+(20/100) x 5 V) = +1 V

Example 2:

• Input Range is ±10 V

• Input is +4 Volts

% of FSR: +040.00<CR>
(+(40/100) x 10 V) = +4 V

Example 3:

• Input Range is Type K thermocouple (range 0°C to 1000°C)

• Input is 406.5°C

% of FSR: +040.65<CR>
(+(40.65/100) x 1000°C ) = 406.5°C

Two’s Complement Hexadecimal

• Data format bit 1 and 0 set to 10 is 2’s complement

• Data is 4-character(16 binary bits) hexadecimal string

• Positive full scale is 7FFF (+32767)

• Negative full scale is 8000 (-32768)

Example 1:

• Input Range is ±5 V

• Input is +1 Volts

Two’s complement hexadecimal: 1999<CR>
((1/5) x 32768) = 6553.6 = 1999H

Example 2:

• Input Range is ±5 V

• Input is -2 Volts

88 • Data Format and Input Range

Two’s complement hexadecimal: CD27<CR>
((-2/5) x 32768) = -13107.2 = CD27H

Example 3:

• Input Range is ±10 V

• Input is +4 Volts

Two’s complement hexadecimal: 3333<CR>
((4/10) x 32768) = 13107.2 = 3333H

Example 4:

• Input Range is Type K thermocouple (range 0°C to 1000°C)

• Input is 406.5°C

Two’s complement hexadecimal: 3408<CR>
((406.5/1000) x 32768 ) = 13320.2 = 3408H

Ohm

• Data format bit 1 and 0 set to 11 is ohm presentation.

• This data format including three components.

1. sign (+)

2. digits

3. decimal point

• Data is sign (+) followed with 5-digits and a decimal point

• It does not exceed 7-characters

• Maximum resolution is 0.01ohm, the decimal point is fixed

Example 1:

• Input Range is Pt-100, -100°C to +100°C, α=0.00385

• Input is 120.23 ohm

ohm: +120.23<CR>

Data Format and Input Range • 89

4.2 Analog Input Range

The following table shows the relation between the input range setting
with the data format and the resolution.

Engineering Units Table:

Code

00
01
02
03
04
05
06
07 Reserved
08
09
0A
0B
0C
0D

Input

Range

±15mV
±50mV
±100mV
±500mV
±1V
±2.5V
±20mA

±10V
±5V
±1V
±500mV
±150mV
±20mA

Code Input Range

Pt-100, -100°C to

20

+100°C, α=0.00385
Pt-100, 0°C to

21

+100°C, α=0.00385
Pt-100, 0°C to

22

+200°C, α=0.00385
Pt-100, 0°C to

23

+600°C, α=0.00385
Pt-100, -100°C to

24

+100°C, α=0.003916
Pt-100, 0°C to

25

+100°C, α=0.003916
Pt-100, 0°C to

26

+200°C, α=0.003916
Pt-100, 0°C to

27

+600°C, α=0.003916

28

Ni-100, 0°C to +100°C

29

Ni-120, 0°C to +100°C

Data

Format

Eng. Units +15.000
Eng. Units +50.000
Eng. Units +100.00
Eng. Units +500.00
Eng. Units +1.0000
Eng. Units +2.5000
Eng. Units +20.000

Eng. Units +10.000
Eng. Units +5.0000
Eng. Units +1.0000
Eng. Units +500.00
Eng. Units +150.00
Eng. Units +20.000

+Full

Scale

Data

Format

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Eng.

Units

Zero

±00.000
±00.000
±000.00
±000.00
±0.0000
±0.0000
±00.000

±00.000
±0.0000

±0.0000
±000.00
±000.00
±00.000

+Full

Scale

+100.0

0

+100.0

0

+200.0

0

+600.0

0

+100.0

0

+100.00 +000.00 +000.0

+200.0

0

+600.0

0

+100.0

0

+100.0

0

- Full

Scale

-15.000

-50.000

-100.00

-500.00

-1.0000

-2.5000

-20.000

-10.000 1mV

-5.0000

-1.0000

-500.00

-150.00

-20.000

Zero

±000.0

0

+000.00

+000.00

+000.00

±000.00

+000.00

+000.00

+000.00

+000.00

- Full

Scale

-100.00

+000.0

0

+000.0

0

+000.0

0

-100.00

0

+000.0

0

+000.0

0

+000.0

0

+000.0

0

Displayed

Resolution

100.00µV

100.00µV

100.00µV

100.00µV

Disp.

Reso.

0.01°C

0.01°C

0.01°C

0.01°C

0.01°C

0.01°C

0.01°C

0.01°C

0.01°C

0.01°C

1µV

1µV
10µV
10µV

1µA

10µV
10µV

1µA

90 • Data Format and Input Range

2A 0 Ohm to 60Ohm Ohms +60.00 +000.00

+000.0

0

0.01°C

Percent of Full Scale Range Table:

Code

00
01
02
03
04
05
06
07 Reserved
08
09
0A
0B
0C
0D

Input

Range

±15mV
±50mV
±100mV
±500mV
±1V
±2.5V
±20mA

±10V
±5V
±1V
±500mV
±150mV
±20mA

Data

Format

% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00

% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00
% of FSR +100.00

+Full

Scale

Zero

±000.00
±000.00
±000.00
±000.00
±000.00
±000.00
±000.00

±000.00
±000.00

±000.00
±000.00
±000.00
±000.00

- Full

Scale

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

-100.00 0.01%

Displayed

Resolution

Tow‘s Complement Table:

Code

00
01
02
03
04
05
06
07 Reserved
08
09
0A
0B
0C
0D

Input

Range

±15mV
±50mV
±100mV
±500mV
±1V
±2.5V
±20mA

±10V
±5V
±1V
±500mV
±150mV
±20mA

Data

Format

2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB

2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB
2’s Comp. 7FFF 0000 8000 1 LSB

+Full

Scale

Zero

- Full

Scale

Displayed
Resolutio

n

Data Format and Input Range • 91

The following table shows the relation between the input range setting with the
data format and the resolution when using ND-6011/D or 6018 to measure
temperature by thermocouple.

Code

0E

0F
10
11
12
13
14
15
16

Input Range

Thermocouple

J (0°C to 760°C)
K (0°C to 1000°C)
T (-100°Cto400°C)
E (0°C to 1000°C)
R (500°C to 1750°C)
S (500°C to 1750°C)
B (500°C to 1800°C)
N (-270°C to 1300°C)
C (0°C to 2320°C)

Data

Format

Eng. Units +760.00 +000.00
Eng. Units +1000.0 +0000.0
Eng. Units +400.00 -100.00
Eng. Units +1000.0 +0000.0
Eng. Units +1750.0 +0500.0
Eng. Units +1750.0 +0500.0
Eng. Units +1800.0 +0500.0
Eng. Units +1300.0 -0270.0
Eng. Units +2320.0 +0000.0

Maximum Minimum

Displayed

Resolution

0.01°C

0.1°C

0.01°C

0.1°C

0.1°C

0.1°C

0.1°C

0.1°C

0.1°C

Code

0E

0F
10
11
12
13
14
15
16

Input Range

Thermocouple

J (0°C to 760°C)
K (0°C to 1000°C)
T (-100°Cto400°C)
E (0°C to 1000°C)
R (500°C to 1750°C)
S (500°C to 1750°C)
B (500°C to 1800°C)
N (-270°C to 1300°C)
C (0°C to 2320°C)

Data

Format

% of FSR +100.00 +000.00 0.01%
% of FSR +100.00 +000.00 0.01%
% of FSR +100.00 -025.00 0.01%
% of FSR +100.00 +000.00 0.01%
% of FSR +100.00 +028.57 0.01%
% of FSR +100.00 +028.57 0.01%
% of FSR +100.00 +027.27 0.01%
% of FSR +100.00 -020.76 0.01%
% of FSR +100.00 +000.00 0.01%

Maximum Minimum

Displayed

Resolution

Code

0E

0F
10
11
12
13
14
15
16

Input Range

Thermocouple

J (0°C to 760°C)
K (0°C to 1000°C)
T (-100°Cto400°C)
E (0°C to 1000°C)
R (500°C to 1750°C)
S (500°C to 1750°C)
B (500°C to 1800°C)
N (-270°C to 1300°C)
C (0°C to 2320°C)

Data

Format

2’s Comp. 7FFF 0000 1 LSB
2’s Comp. 7FFF 0000 1 LSB
2’s Comp. 7FFF E000 1 LSB
2’s Comp. 7FFF 0000 1 LSB
2’s Comp. 7FFF 2492 1 LSB
2’s Comp. 7FFF 2492 1 LSB
2’s Comp. 7FFF 238E 1 LSB
2’s Comp. 7FFF E56B 1 LSB
2’s Comp. 7FFF 0000 1 LSB

Maximum Minimum

Displayed

Resolution

92 • Data Format and Input Range