ADLINK ND-6054 User Manual

NuDAM-6050 NuDAM-6052

NuDAM-6053 NuDAM-6054

NuDAM-6056 NuDAM-6058

NuDAM-6060 NuDAM-6063

Digital I/O Modules

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© 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
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Table of Contents

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

1.1 About the NuDAM DIO Modules .............................................1

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 ...................................................... 7

1.3.1 What is NuDAM-6052 ? ......................................................7

1.3.2 Features of NuDAM-6052 ...................................................7

1.3.3 Specifications of NuDAM-6052 ...........................................7

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

Table of Contents • i

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

ii • Table of Contents

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

Table of Contents • iii

1

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

•

Introduction • 1

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

2 • Introduction

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

Introduction • 3

1.2.4 A Look at ND-6050 & Pin Assignment

DI 1

DI 0

DI 6

20

DI 3

DI 4

DI 5

ND-6050

I/O Type

Digital Output

Digital Input

DI 2

Digital
Input/Output

Signal

Bit 0-7
Bit 0-6

DO 0

DO 1

DO 2

11

4 • Introduction

1

DO 5

DO 7

DO 6

DO 4

DO 3

DEFAULT*

(Y)DATA+

(G)DATA-

(R)+Vs

10

(B)GND

1.2.5 Pin Definitions of NuDAM-6050

Pin # Signal Name Description

1 DO 7 Digital output channel 7

2 DO 6 Digital output channel 6

3 DO 5 Digital output channel 5

4 DO 4 Digital output channel 4

5 DO 3 Digital output channel 3

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 DO 2 Digital output channel 2

12 DO 1 Digital output channel 1

13 DO 0 Digital output channel 0

14 DI 0 Digital input channel 0

15 DI 1 Digital input channel 1

16 DI 2 Digital input channel 2

17 DI 3 Digital input channel 3

18 DI 4 Digital input channel 4

19 DI 5 Digital input channel 5

20 DI 6 Digital input channel 6

Introduction • 5

1.2.6 ND-6050 Functional Block Diagram

+ 5V

Power Input
+10V ~ +30V

Data +

Data -

Regulator & Filter

Watchdog/Power Failure

Supervisor

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Micro

Processor

Power

8-bit

Digital/Output

7-bit

Digital/Input

1-bit

Digital/Input

GND

DO0

DO7

DI0

DI6

Default*
Pin

6 • Introduction

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

♦ 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

Introduction • 7

• Safe value : 8 output channels

• Host programmable watchdog :100 ms ~ 25.5 sec

Power

♦

• Power supply : +10V to +30V

• Current consumption : 0.4 W

8 • Introduction

1.3.4 A Look at ND-6052 & Pin Assignment

DI 1+

DI 1-

DI 4-

20

DI 3-

DI 3+

DI 4+

ND-6052

Input Type

Diffential

Single Ended

DI 2+

DI 2-

Isolated
Digital Input

Channels

6
2

DI 0-

DI 0+

11

1

DI 5-

DI 5+

D.GND

DI 6+

DI 7+

DEFAULT*

(Y)DATA+

(G)DATA-

(R)+Vs

10

(B)GND

Introduction • 9

1.3.5 Pin Definitions of NuDAM-6052

Pin # Signal Name Description

1 DI5+ Digital Input Channel 5+

2 DI5 - Digital Input Channel 5 -

3 DI6+ Digital Input Channel 6+

4 D.GND Digital Input Ground

5 DI7+ Digital 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 DI0+ Digital Input Channel 0+

12 DI0 - Digital Input Channel 0 -

13 DI1+ Digital Input Channel 1+

14 DI1 - Digital Input Channel 1 -

15 DI2+ Digital Input Channel 2+

16 DI2 - Digital Input Channel 2 -

17 DI3+ Digital Input Channel 3+

18 DI3 - Digital Input Channel 3 -

19 DI4+ Digital Input Channel 4+

20 DI4 - Digital Input Channel 4 -

10 • Introduction

1.3.6 ND-6052 Functional Block Diagram

Power Input

+10V ~ +30V

Power

Regulator & Filter

+5V

+5V

GND

Watchdog/Power Failure

Supervisor

Data -

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Micro

Processor

DI0+

DI0-

DI0+

DI0-

DI5+
DI5-

DI6+
D.GND

DI7+
D.GND

Introduction • 11

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

12 • Introduction

• Power failure threshold : 4.65 V

• Host programmable watchdog : 100 ms ~ 25.5 sec

Power

♦

• Power supply : +10V to +30V

• Current consumption : 0.4 W

Introduction • 13

N

)

1.4.4 A Look at ND-6053 & Pin Assignment

DI 9

DI 7

20

DI 8

D-6053

DI 6

DI 5

16-CH
Digital

DI 4

DI 3 DI 2

DI 1

DI 0

11

14 • Introduction

1

DI 10

Input Type

Digital Input

DI 12 DI 13 DI 14

DI 11

Channels

16

DEFAULT

(R)+Vs

10

(B)GND

DATA­G

(Y)DATA+

1.4.5 Pin Definitions of NuDAM-6053

Pin # Signal Name Description

1 DI10 Digital Input Channel 10

2 DI11 Digital Input Channel 11

3 DI12 Digital Input Channel 12

4 DI13 Digital Input Channel 13

5 DI14 Digital Input Channel 14

6

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

Default*

/DI15

Initial state setting

/ Digital Input Channel 15

11 DI0 Digital Input Channel 0

12 DI1 Digital Input Channel 1

13 DI2 Digital Input Channel 2

14 DI3 Digital Input Channel 3

15 DI4 Digital Input Channel 4

16 DI5 Digital Input Channel 5

17 DI6 Digital Input Channel 6

18 DI7 Digital Input Channel 7

19 DI8 Digital Input Channel 8

20 DI9 Digital Input Channel 9

Introduction • 15

1.4.6 ND-6053 Functional Block Diagram

Power Input
+10V ~ +30V

Watchdog/Power Failure

Power

Regulator & Filter

Supervisor

+ 5V

GND

Data +

Data -

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Micro

Processor

15-bit

Digital/Input

1-bit

Digital/Input

DI0

DI14

Default*
Pin/DI15

16 • Introduction

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

♦

Introduction • 17

• 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

18 • Introduction

N

1.5.4 A Look at ND-6054 & Pin Assignment

DI7

DI5

DI1

DI2

DI0

20

D-6054

DI4

15-CH Isolated
Digital Input

DI3

Input Type

DI

DI6

Channels

15

DI8

DI9

11

*

DI11

DI10

DI13

DI12

Ext24V

DEFAULT/DI14

(G)DATA-

(Y)DATA+

10

(R)+Vs

(B)GND

Introduction • 19

1.5.5 Pin Definitions of NuDAM-6054

Pin #

10 (B) GND Ground

11 DI9 Digital input channel 9

12 DI8 Digital input channel 8

13 DI7 Digital input channel 7

Signal Name Description

1 DI10 Digital input channel 10

2 DI11 Digital input channel 11

3 DI12 Digital input channel 12

4 DI13 Digital input channel 13

5 Ext24V External common +24V

6 Default*/DI14

7 (Y) DATA+ RS-485 series signal, positive

8 (G) DATA- RS-485 series signal, negative

9 (R) +VS Power supply, +10V~+30V

Initial state setting or digital

input channel 14

14 DI6 Digital input channel 6

15 DI5 Digital input channel 5

16 DI4 Digital input channel 4

17 DI3 Digital input channel 3

18 DI2 Digital input channel 2

19 DI1 Digital input channel 1

20 DI0 Digital input channel 0

20 • Introduction

1.5.6 ND-6054 Functional Block Diagram

Power Input
+10V ~ +30V

Watchdog/Power Failure

Supervisor

Data +

RS-485

Rec/Drv

Data -

EEPROM

Config Data

Safe Value

Power

Regulator & Filter

+5V

Micro

Processor

+5V

GND

+24V

DI0

+24V

DI1

+24V

DI12

+24V

DI13

+24V

DI14

Introduction • 21

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

22 • Introduction

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)

Introduction • 23

N

e

1.6.4 A Look at ND-6056 & Pin Assignment

DO9

20

DO7

DO8

D-6056

Output Typ

DO

1

DO11 DO12 DO13

DO10

DO6

DO5

15-CH Isolated

Digita l Output

Ext .GND

DO4

DO3

Channels

15

DEFAULT

(Y)DATA+

DO2

DO1

DO0

11

(G)DATA-

10

(R)+Vs

(B)GND

24 • Introduction

1.6.5 Pin Definitions of NuDAM-6056

Pin # Signal Name Description

1 DO10 Digital output channel 10

2 DO11 Digital output channel 11

3 DO12 Digital output channel 12

4 DO13 Digital output channel 13

5 ExtGND

6

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

Default*/

DO14

Initial state setting

Digital output channel 14

11 DO0 Digital output channel 0

12 DO1 Digital output channel 1

13 DO2 Digital output channel 2

14 DO3 Digital output channel 3

15 DO4 Digital output channel 4

16 DO5 Digital output channel 5

17 DO6 Digital output channel 6

18 DO7 Digital output channel 7

19 DO8 Digital output channel 8

20 DO9 Digital output channel 9

Introduction • 25

1.6.6 ND-6056 Functional Block Diagram

Power Input
+10V ~ +30V

Watchdog/Power Failure

Supervisor

Data +

RS-485

Rec/Drv

Data -

EEPROM

Config Data

Safe Value

Power

Regulator & Filter

Micro

Processor

+5V

GND

+V

DO0

COM

DO1
COM

DO12
COM

DO13
COM

DO14
COM

26 • Introduction

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

Introduction • 27

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

28 • Introduction

• 50-pin SCSI II connector

Power

♦

• Power supply : +10V to +30V

• Current consumption: 1.7 W

Introduction • 29

N

1.7.4 A Look at ND-6058 & Pin Assignment

A7

~

B0

28-CH Pr ogram mable
Digita l I/O

Cha nnels

24

~

A0

1

D-6058

Typ e

PPI

B7

C0

~

C7

50

DI 4

1

DI1

DI0

DI2

*

DI3

DEFAULT

(G)DATA-

(Y)DATA+

10

(R)+Vs

(B)GND

30 • Introduction

1.7.5 Pin Definitions of NuDAM-6058

Pin # Signal Name Description

1 DI0 Digital input channel 0

2 DI1 Digital input channel 1

3 DI2 Digital input channel 2

4 DI3 Digital input channel 3

5

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

Introduction • 31

1.7.6 ND-6058 Functional Block Diagram

Power Input
+10V ~ +30V

Watchdog/Power Failure

Supervisor

Power

Regulator & Filter

+5V

GND

Data +

Data -

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Micro

Processor

PPI

DI0 … … DI3

A0~A7

B0~B7

C0~C7

32 • Introduction

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

Introduction • 33

• DC 2A / 30V, 0.6A / 110V

• Relay ON/OFF time interval : 3 ms / 1ms

• Breakdown voltage : 500 V

• Expected life : 108 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

34 • Introduction

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)

NO

COM

NC

Control Bit = High (1)

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

COM

Control Bit = High (1)

NO

COM

NC

Control Bit = Low (0)

NO

COM

Control Bit = Low (0)

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.

Introduction • 35

1.8.5 A Look at ND-6060 & Pin Assignment

20

1

DI 3

RL4 NC

RL4 COM

ND-6060

Type

Relay Output

Digital Input

DI 2

RL4 NO

RL3 COM

RL3 NC

RL3 NO

Relay Output
Digital Input

RL2 COM

RL2 NO

11

RL1 NO

RL1 COM

Channels

4
4

*

10

DI 1

DI 0

Ext24V

DEFAULT

(Y)DATA+

(R)+Vs

(G)DATA-

(B)GND

36 • Introduction

1.8.6 Pin Definitions of NuDAM-6060

Pin # Signal Name Description

1 DI3 Digital Input Channel 3

2 DI2 Digital Input Channel 2

3 DI1 Digital Input Channel 1

4 DI0 Digital Input Channel 0

5 Ext24 External Common +24V

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 RL1 NO Relay 1, normal open

12 RL1 COM Relay 1, common ground

13 RL2 NO Relay 2, normal open

14 RL2 COM Relay 2, common ground

15 RL3 NO Relay 3, normal open

16 RL3 NC Relay 3, normal close

17 RL3 COM Relay 3, common ground

18 RL4 NO Relay 4, normal open

19 RL4 NC Relay 4, normal close

20 RL4 COM Relay 4, common ground

Introduction • 37

1.8.7 ND-6060 Functional Block Diagram

Power Input
+10V ~ +30V

Watchdog/Power Failure

Supervisor

Data+

RS-485

Rec/Drv

Data -

Power

Regulator & Filter

+5V

Micro

Processor

+5V

+

GND

Ext24V

DI0

Ext24V
DI3

RL1 NO

EEPROM

Config Data

Safe Value

38 • Introduction

RL1 COM

+5V

RL4 NO

RL4

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

♦

Watchdog Function

♦

Introduction • 39

• 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

COM

Control Bit = High (1)

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.

NO

COM

Control Bit = Low (0)

40 • Introduction

N

1.9.5 A Look at ND-6063 & Pin Assignment

20

RL5 NO

RL5 COM

D-6063

Type

Relay Output

RL4 NO

RL4 COM

RL3 COM

8-CH Isolated
Relay Output

Channels

8

RL3 NO

RL2 NO

RL2 COM

11

RL1 NO

RL1 COM

1

RL6 NO

RL7 NO

RL6 COM

RL8 NO

DEFAULT* 1

RL7 COM

(G)DATA-

RL8 COM

(Y)DATA+

10

(R)+Vs

(B)GND

Introduction • 41

1.9.6 Pin Definitions of NuDAM-6063

Pin # Signal Name Description

1 RL6 NO Relay 6, normal open

2 RL6 COM Relay 6, common ground

3 RL7 NO Relay 7, normal open

4 RL7 COM Relay 7, common ground

5 RL8 NO Relay 8, normal open

6 Default*/ RL8 NO

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

Initial state setting

Relay 8, normal open

11 RL1 NO Relay 1, normal open

12 RL1 COM Relay 1, common ground

13 RL2 NO Relay 2, normal open

14 RL2 COM Relay 2, common ground

15 RL3 NO Relay 3, normal open

16 RL3 COM Relay 3, common ground

17 RL4 NO Relay 4, normal open

18 RL4 COM Relay 4, common ground

19 RL5 NO Relay 5, normal open

20 RL5 COM Relay 5, common ground

42 • Introduction

1.9.7 ND-6063 Functional Block Diagram

Power Input
+10V ~ +30V

Watchdog/Power Failure
Supervisor

Data+

Data -

RS-485

Rec/Drv

EEPROM

Config Data

Safe Value

Power

Regulator & Filter

Micro

Processor

+5V

GND

RL1 NO

RL1 COM

+5V

RL8 NO

RL8 COM

Introduction • 43

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.

44 • Initializtion & Installation

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.

Initializtion & Installation • 45

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*

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.

. The module will be in Default State if the

DEFAULT*

pin is

JP2

1 2 3

DI15
(DO15)

46 • Initializtion & Installation

INIT* DI15

JP2

1 2 3

INIT*

(DO15)

INIT* DI15, DO15, RL8 COM

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 V

) for NuDAM modules

DC

♦ 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
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.

DEFAULT*

pin. Refer to

Initializtion & Installation • 47

2.2.5 Initialization Wiring

Computer

Local Power Supply
+10 V to +30 V
+Vs GND

Figure 2-1 Layout for Configuring the NuDAM module

Host

RS-232

NuDAM-6520

RS-232/RS-485

DATA +
DATA -

+Vs GND

New

NuDAM

module

DATA+

DATA ­ Default*
+Vs GND

48 • Initializtion & Installation

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 V

DC

)

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.

Initializtion & Installation • 49

2.4 Application Wiring for NuDAM-6050

Digital Input Connect
with TTL Signal

TTL
Device

Digital Input Connect
with Switch or Push
Button

Switch

or

Push Button

Digital Output
Connect with Power Loading

NuDAM-6050 Digital Input Channel

+5V

TTL Buffer

DI n

GND

NuDAM-6050 Digital Input Channel

+5V

DI n

GND

TTL Buffer

To
Micro Processor

To
Micro Processor

NuDAM-6050 Digital Output Channel

From
Micro Processor

open
collector

50 • Initializtion & Installation

DO n

GND

R : current limit resistor

LED, SSR, Relay etc.

Power
Loading

R

+Vs

External

Power

Supply

r

2.5 Application Wiring for NuDAM-6052

Isolated Differential Input

Floating

Digital
Signal

Source

Isolated Single Ended Input

Digital
Signal

Source

NuDAM-6052 Differential Input Channel

Photo
Coupler

DI n+

DI n-

GND

NuDAM-6052 Single-ended Input Channel

Photo
Coupler

DI n+

To
Micro Processor

To
Micro Processo

GND

Initializtion & Installation • 51

2.6 Application Wiring for NuDAM-6053

Wet Contact Input

0~+30V

DC

Contact Closure Input

Contact

Closure

DI n

GND

DI n

GND

Vcc

Vcc

Digital

GND

Digital

GND

52 • Initializtion & Installation

2.7 Application Wiring for NuDAM-6054

Isolated Common Power Input

NuDAM-6054 Common Power Channel

Photo

Common

Power

Digital
Signal

Source

Ext .24V

DI n

GND

Coupler

2.8 Application Wiring for NuDAM-6056

Isolated Common Ground Output

NuDAM-6056 Common Ground Channel

Photo

Digital

Output

Common

GND

DO n

COM

GND

Coupler

From
Micro Processor

To
Micro Processor

Initializtion & Installation • 53

2.9 Application Wiring for NuDAM-6058

Digital Input Connect with TTL Signal

NuDAM-6058 Digital Input Channel

+5V

TTL Buffer

TTL
Device

DI n

GND

To
Micro Processor

6058

DIN-24P
DIN-24R
DIN-24G
DIN-50S

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.

54 • Initializtion & Installation

2.10 Application Wiring for NuDAM-6060

Form C Relay Output

NuDAM-6060 Relay Output Channel

External Power Source

+Vs

From
Micro
Processor

Form A Relay Output

NuDAM-6060 Relay Output Channel

From
Micro
Processor

Digital Input : Contact Mode

NuDAM-6060 Digital Input Channel

Ext24V

DI n+

RL n
NO

COM

NC

RL n
NO

COM

External power ground

External Power Source

External power ground

Photo
Coupler

To
Micro Processor

Power
Loading

Power
Loading

Power
Loading

+Vs

External
Switch

DI n-

Initializtion & Installation • 55

r

g

r

Digital Input : Transistor Mode

Ext24V

External
Signal

NuDAM-6060 Digital Input Channel

To

DI n+

DI n-

Photo
Coupler

Micro Processo

2.11 Application Wiring for NuDAM-6063

Form A Relay Output

NuDAM-6063 Relay Output Channel

RL n
NO

From
Micro
Processo

COM

External Power Source

Power
Loadin

External power ground

+Vs

56 • Initializtion & Installation

3

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.

Command Set • 57

3.1.2 Document Conventions

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

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

(Addr)

(Comman
d
Variable)

[Data]

[Checksu
m]

< >

command. All NuDAM commands need a command

leading code, such as %,$,#,@,...etc.

1- character

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

(Hexadecimal) if no specified in the following

2- character

Items indicate command codes or value of variables

Variable length

Some output command need data

Variable length

Checksum in brackets indicate optional parameter,

only checksum is enable then this field is required

2- character

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

carriage return, its value is 0x0D. 1- character

3.1.3 Format of NuDAM Commands

(Leading Code)(Addr)(Command)[Data]

When checksum is enable then

2-character.

How to calculate checksum value ?

[Checksum] = (

Example 1: checksum is

58 • Command Set

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

User Command: $012<CR>

Response: !01400600<CR>

<CR> : Carriage return 0x0D

[Checksum]

disable

$ : LeadingCode

01 : Address

2 : Command (Read Configuration)

[Checksum]

is needed, it is

<CR>

) MOD 0x100

Example 2: checksum is

User Command:

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

B7 = (

0x24 + 0x30 + 0x31 + 0x32

‘!’ = 0x24 ‘0’ = 0x30 ‘1’ = 0x31 ‘4’ = 0x34
‘6’ = 0x36

AC

= ( 0x24 + 0x30 + 0x31 + 0x34 + 0x30 + 0x30 + 0x36 + 0x30

+ 0x30 )

Note : 1.There is no spacing between characters.

2. At end of command need a <CR> carriage return 0x0D.

3. Checksum is optional parameter.

enable

$012B7<CR>

Response:

<CR> : Carriage return 0x0D

!01400600AC<CR>

$ : LeadingCode

01 : Address

2 : Command (Read Configuration)

B7 : Checksum value

MOD 0x100

) MOD 0x100

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.

Command Set • 59

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.

60 • Command Set

Command Set of Digital I/O Modules

Command Syntax Module

General Commands

Set Configuration

Read Configuration
Read Module Name
Read Firmware Version
Reset Status

Functional Commands

Synchronized Sampling

Read Synchronized Data

Digital Output

Digital Input
Set Programmable I/O Mode

Special Commands

Read Command Leading Code
Setting

Change Command Leading Code
Setting

Set Host Watchdog / Safety Value

Read Host WatchDog / Safe
Value
Change Polarity

Read Polarity
Host is OK

%(OldAddr)(NewAddr)
(TypeCode)(BaudRate)
(CheckSumFlag)
$(Addr)2
$(Addr)M
$(Addr)F
$(Addr)5

#**

$(Addr)4

#(Addr)(ChannelNo)
(OutData)
#(Addr)(Port)(Odata)
#(Addr)(Port)(ChannelNo)
(BitData)
#(Addr)T(OdataA)(OdataB
)(OdataC)
$(Addr)6
$(Addr)S(IOSts)

~(Addr)0

~(Addr)10(C1)(C2)(C3)
(C4)(C5)(C6)
~(Addr)2(Flag)(TimeOut)
(SafeValue)

~(Addr)3

~(Addr)CP(Status)
~(Addr)CR
~**

ALL

ALL
ALL
ALL
ALL

6050, 6052,
6053, 6054,
6058, 6060
6050, 6052,
6053, 6054,
6058, 6060

6050, 6060,
6063

6056, 6058

6056,6058

6058

ALL
6058

ALL

ALL

ALL

ALL

ALL
ALL
ALL

Command Set • 61

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)<CR>

%

(OldAddr)

(NewAddr)

(TypeCode)

(BaudRate)

(CheckSumFlag)

@Response

!(Addr)<CR>

or

?(Addr)<CR>

(Addr) Address ID.
! Command is valid.

? Command is invalid. Invalid parameter values,

Command leading code.
(1-character)

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)

Type Code is fixed 40H for Digital I/O modules.
(2-character)

Communication baud rate, refer to Table 3-1 for
details. (2-character)

Define check-sum status, refer to Table 3-2 for
details. (2-character)

When you wanted to change the setting without
grounding the DEFAULT* pin.

62 • Command Set

Note : When you want to change the checksum or baud rate then the

DEFAULT* pin should be grounded at first.

@Example

User command: %0130400600<CR>
Response: !30<CR>

Item Meaning Description

% (Leading Code) Command leading code.

01 (OldAddr) Original address ID is 01H.

30 (NewAddr)

40 (TypeCode) Digital I/O module.
06 (BaudRate) Baud rate is 9600.
00 (CheckSumFlag) 00 means checksum is disable.

<CR> Carriage return 0x0D.

Code Baudrate

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

New address ID is 30H
(Hexadecimal).

Table 0-1 Baud rate setting code

Checksum
0 : disable
1 : enable

6

7

Reserved
Must to be 0

Table 0-2 Check sum flag setting

4 3 2 1 0

5

Reserved
Must to be 000000

Command Set • 63

3.4 Read Configuration

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

@Description

Read the configuration of module on a specified address ID.

@Syntax

$(Addr)2<CR>

$ Command leading code
(Addr) Address ID.
2 Command code for reading configuration

@Response

!(Addr)(TypeCode)(BaudRate)(CheckSumFalg)<CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID.
(TypeCode) It always be 40 (Hex) for digital I/O modules.

(BaudRate)

(CheckSumFlag)

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

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

64 • Command Set

Checksum
0 : disable
1 : enable

@Example

Reserved
Must to be 000

7 6 5 4 3

Reserved
Must to be 0

Table 0-3 Response of check sum flag

User command: $302<CR>
Response: !30400600<CR>

! Command is valid.
30 Address ID.
40 Digital I/O module.
06 Baud rate is 9600 bps.
00 checksum is disable.

1 2 0

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

Command Set • 65

3.5 Read Module Name

@Description

Read NuDAM module‘s name.

@Syntax

$(Addr)M<CR>

$ Command leading code.
(Addr) Address ID.
M Read module name.

@Response

!(Addr)(ModuleName) <CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID.
(ModuleName) NuDAM module‘s name.

@Example

User command: $30M<CR>
Response: !306050<CR>

! Command is valid
30 Address.
6050 ND-6050 (Digital I/O module).

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

66 • Command Set

3.6 Read Firmware Version

@Description

Read NuDAM module‘s firmware version.

@Syntax

$(Addr)F<CR>

$ Command leading code.
(Addr) Address ID
F Read module firmware version.

@Response

!(Addr)(FirmRev) <CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID.
(FirmRev) NuDAM module‘s firmware version.

@Example

User command: $30F<CR>
Response: !30A1.50<CR>

! Command is valid.
30 Address
A1.50 Firmware Version

( 6050, 6052, 6053, 6054,

6056, 6058, 6060, 6063 )

Command Set • 67

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

$(Addr)5<CR>

$ Command leading code.
(Addr) Address ID.
5 Reset Status Command.

@Response

!(Addr)(Status)<CR>

or

?(Addr)<CR>

! 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<CR>
Response: !300<CR>

Status is 0 means this digital I/O module has not been reset,

since the last reset status command was issued.

68 • Command Set

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)<CR> (6050,6060,6063 Only)

#
(Addr) Address ID (2-character)

(ChannelNo)

(OutData)

@Response

<CR>

or

?(Addr)<CR>

> Command is valid
? Command is invalid.
(Addr) Address ID.

Command leading code. (1-character)

00 : Set value to all channels
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
Set value to single channel :
First character is 0, second character is set to value 0
or 1. (2-character)

@Example

User command: #300003<CR>
Response: ><CR>

30 Address ID
00 Set output to all channels

03

User command: #2F1201<CR>
Response: ><CR>

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

Command Set • 69

2F Address ID

12

01 Set single channel to ON

1 : Set output to single channel
2 : Output single channel is channel 2

70 • Command Set

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)<CR> (6056 only)

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

#
(Addr) Address ID (2-character)
T Set value to all channels

(OutDataH)

(OutDataL)

(OutDataA)

(OutDataB)

(OutDataC)

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

Command leading code. (1-character)

Each bit is mapping to each channel number from 14
to 8. (2-character)
Each bit is mapping to each channel number from 7 to

0. (2-character)
Output data for port A. Each bit is mapping to each
channel number from 7 to 0. (2-character)
Output data for port B. Each bit is mapping to each
channel number from 7 to 0. (2-character)
Output data for port C. Each bit is mapping to each
channel number from 7 to 0. (2-character)

@Response

<CR>

or

?(Addr)<CR>

> Command is valid
? Command is invalid.
(Addr) Address ID.

Command Set • 71

@Example

User command: #30T0303<CR> (for ND-6056)
Response: ><CR>

30 Address ID
T Set output to all port
0303 0303 (0000001100000011), Channel 0, 1, 8 and 9 are

set ON other channels are set to OFF

User command: #2FT010203<CR> (for ND-6058)
Response: ><CR>

2F Address ID
T Set output to all port
01 Set channel 0 of port A ON
02 Set channel 1 of port B ON
03 Set channel 0 and 1 of port C ON

72 • Command Set

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)<CR> (6056, 6058 only)

#
(Addr) Address ID (2-character)

(Port)

(OutData)

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

Command leading code. (1-character)

Set value to indivisual port

0H: for 6056 channel 14 to 8
0L: for 6056 channel 7 to 0
0A: for 6058 port A
0B: for 6058 port B
0C: for 6058 port C (2-character)

Each bit is mapping to each channel number
(2-character)

@Response

<CR>

or

?(Addr)<CR>

> Command is valid.
? Command is invalid.
(Addr) Address ID.

@Example

User command: #30H03<CR> (for ND-6056)
Response: <CR>

30 Address ID
0H Set output to high byte

03

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

Command Set • 73

User command: #2F0A10<CR>
Response: <CR>

2F Address ID
0A Set output to port A
10 Set channel 4 of port A ON

74 • Command Set

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)<CR> (6056,6058 only)

#
(Addr) Address ID (2-character)

(Port)

(ChNo) Channel value 7 ~ 0

(OutData)

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

Command leading code. (1-character)

Set direct channel value to indivisual 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)

1: ON
0: OFF
(1-character)

@Response

<CR>

or

?(Addr)<CR>

> Command is valid
? Command is invalid.
(Addr) Address ID.

Command Set • 75

@Example

User command: #30H31<CR> (for ND-6056)
Response: <CR>

30 Address ID
H Set output to high byte
3 Channel number is 3, that is channel 11
1 Set corresponding channel to ON

User command: #2FA20<CR>
Response: <CR>

2F Address ID
A Set output to port A
2 Channel number is 2
0 Set corresponding channel to OFF

76 • Command Set

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

#**<CR>

# Command leading code.
** Synchronized sampling command

@Response

Note : Synchronized sampling command has NO response.

@Example

User command: #**<CR>

Synchronized sampling command

has no response

.

Command Set • 77

3.13 Read Synchronized Data

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

@Description

After a synchronized sampling command
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

$(Addr)4<CR>

$ Command leading code.
(Addr) Address ID.
4 Read synchronized data.

@Response

ND-6050 module response :

!(Status)(DataOut)(DataIn)00<CR>

ND-6052 module response :

!(Status)(DataIn)0000<CR>

ND-6053 module response :

!(Status)(DataInH)(DataInL)00<CR>

ND-6054 module response :

!(Status)(DataInH)(DataInL)00<CR>

ND-6058 module response :

!(Status)(IOFlag)(DIn)(DataInA)(DataInB)(DataInC)<CR>

ND-6060 module response :

!(Status)(DataOut)(DataIn)00<CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.

#**

was issued, you can read the

78 • Command Set

0 : Data has been sent at least once before.

(Status)

(IOFlag)

(DataOut)
(DataIn)

(DIn)

(DataInH)
(DataInL)
(DataInA)
(DataInB)
(DataInC)

1 : Data has been sent for the first time since a

synchronized sampling command was
issued.(1-character)

Status of programmable I/O
0x00: 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.

Value of digital output channel. (2-character)
Value of digital input channel. (2-character)

Value of dedicated digital input channel 3-0 for
ND-6058. The first character is 0 (2-character)

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)

Command Set • 79

@Examples

Example for NuDAM-6050 :

User command: $304<CR>
Response: !1065200<CR>

! Command is valid.
1 Data has not been sent before.

06

52

Example for NuDAM-6058 :

User command: $304<CR>
Response: !10C0F010203<CR>

! Command is valid.
1 Data has not been sent before.

0C

0F Channel 0,1,2,3 of digital input is HIGH.

01

02

03

06 (00000110) means digital output channel 1,2
are ON, channel 0,3,4,5,6,7 are OFF.
52(01010010) means digital input channel 1,4, 6
are HIGH, channel 0,2,3,5,7 are LOW..

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

01 (00000001) means port A digital input channel
0 is HIGH, others are LOW.
02 (00000010) means port B digital input channel
1 is HIGH, others are LOW.
03 (00000011) mean port C digital output
channel 0,1 are ON, others are OFF.

80 • Command Set

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

$(Addr)6<CR>

$ Command leading code.
(Addr) Address ID
6 Digital data input command.

@Response

ND-6050 module response :

!(DataOut)(DataIn)00<CR>

ND-6052 module response :

!(DataIn)0000<CR>

ND-6053 module response :

!(DataInH)(DataInL)00<CR>

ND-6054 module response :

!(DataInH)(DataInL)00<CR>

ND-6056 module response :

!(DataOutH)(DataOutL)00<CR>

ND-6058 module response :

!(IoFlag)(DataIn)(DataA)(DataB)(DataC)<CR>

ND-6060 module response :

!(DataOut)(DataIn)00<CR>

ND-6063 module response :

!(DataOutH)0000<CR>

Command Set • 81

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(DataOut)
(DataIn)

(DataInH)

(DataInL)

(DataOutH)

(DataOutL)
(DataA)
(DataB)
(DataB)

(IOFlag)

Value of digital output channel. (2-character)
Value of digital input. (2-character)
Value of digital input channel 15-8.
(2-character)
Value of digital input channel 7-0.(2-character)
Value of digital output channel 15-8.
(2-character)
Value of digital output channel 7-0.(2-character)
Value of digital channel 7-0.(2-character)
Value of digital channel 7-0.(2-character)
Value of digital channel 7-0.(2-character)

Status of programmable I/O
0x00: 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.

82 • Command Set

@Example

Example for NuDAM-6050 :

User command: $306<CR>
Response: !321100<CR>

! Command is valid.

32

11

00 No used

Example for NuDAM-6058 :

User command: $304<CR>
Response: !0C0F010203<CR>

! Command is valid.

0C

0F Channel 0,1,2,3 of digital input is HIGH.

01

02

03

32 (00110010) means digital output channel 1,
4, 5 are ON, channel 0, 2, 3, 6, 7 are OFF.

11 (00000011) means digital input channel 0, 1
are HIGH and channel 2, 3, 4, 5, 6, 7 are LOW.

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

01 (00000001) means port A digital input
channel 0 is HIGH, others are LOW.
02 (00000010) means port B digital input
channel 1 is HIGH, others are LOW.
03 (00000011) mean port C digital output
channel 0,1 are ON, others are OFF.

Command Set • 83

3.14 Programmable I/O Mode Setting

@Description

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

@Syntax

$(Addr)S(IOFlag)<CR> (6058 only)

$ Command leading code.
(Addr) Address ID
S Set programmable I/O mode

Status of programmable I/O
0x00: 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)

(IOFlag)

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.

( 6058)

@Response

!(Addr)<CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID

84 • Command Set

@Example

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

! Command is valid.

0C

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

Command Set • 85

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<CR>

~ Command leading code.
(Addr) Address ID
0 Read command leading code setting.

@Response

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

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID

(2-character)
Bit 0 : Reserved

(Status)

(C1)

(C2)

(C3)

(C4)

(C5)

(C6)

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)
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)

86 • Command Set

@Example

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

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

Command Set • 87

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)<CR>

~ Command leading code.
(Addr) Address ID, range (00 - FF).
10 Change command leading code setting.

Leading code 1, for read configuration status,

(C1)

(C2)

(C3)

(C4)

(C5)

(C6)

@Response

!(Addr)< CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID.

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)

88 • Command Set

@Examples

User command: ~060<CR>

Response:

User command:

Response:

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

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.

!0600$#%@~*<CR>

~0610A#%@~*<CR>

!06<CR>

A06F

Command Set • 89

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)<CR>

~(Addr)2(Flag)(TimeOut)(SafeH)(SafeL)<CR> (6056 only)

~(Addr)2(Flag)(TimeOut)(SafeA)(SafeB)(SafeC)<CR> (6058only)

~ Command leading code.
(Addr) Address ID, range (00 - FF).
2 Set host watchdog timer and safe state value.
(Flag) 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

(TimeOut)

(SafeValue) 8 channels safety value of digital output

(SafeH) Safety value of digital output channels 14 ~ 8

(SafeL) Safety value of digital output channels 7 ~ 0

(SafeA) Safety value of port A channels 7 ~ 0 when host

(SafeB) Safety value of port B channels 7 ~ 0 when host

(SafeC) Safety value of port C channels 7 ~ 0 when host

state.
Range 01 - FF. (2-character)
One unit is 100 ms
01 = 1 * 100 = 100 ms
FF = 255 * 100 = 25.5 sec

channels when host is failure. (2-character)

when host is failure. (2-character)

when host is failure. (2-character)

is failure while A in output mode. (2-character)

is failure while B in output mode. (2-character)

is failure while C in output mode. (2-character)

90 • Command Set

@Response

!(Addr)<CR>

or

?(Addr)<CR>

! Command is valid.
? Command is invalid.
(Addr) Address ID

@Example

Example for NuDAM-6050 :

User command: ~0621121C<CR>
Response: !06<CR>

06 Address ID
2 Set host watchdog timer and safe state value.
1 Enable host watchdog timer.

12

1C

Example for NuDAM-6056 :

User command: ~0621121C1C<CR>
Response: !06<CR>

06 Address ID
2 Set host watchdog timer and safe state value.
1 Enable host watchdog timer.

12

1C1C

Timeout value. 0x12 = 18
18 * 100 = 1800 ms

1C (00011100) Digital output channel DO2, DO3
and DO4 are high, the others are low.

Timeout value. 0x12 = 18
18 * 53.3 = 959 ms
18 * 100 = 1800 ms

1C1C (0001110000011100) Digital output
channel DO2, DO3, DO4, DO10, DO11, DO12
are high, the others are low.

Command Set • 91

Example for NuDAM-6058 :

User command: ~0621121C1C1C<CR>
Response: !06<CR>

06 Address ID
2 Set host watchdog timer and safe state value.
1 Enable host watchdog timer.
12 Timeout value. 0x12 = 18

1C1C1C 1C (00011100) port A, B and C channel 2, 3 and

18 * 100 = 1800 ms

4 are high, the other are low.

92 • Command Set