NuDAM-6050 NuDAM-6052
NuDAM-6053 NuDAM-6054
NuDAM-6056 NuDAM-6058
NuDAM-6060 NuDAM-6063
Digital I/O Modules
Recycled Paper
Copyright 1995~2001 ADLINK Technology Inc.
All Rights Reserved.
Manual Rev. 3.51: March 27, 2001
Part No : 50-12003-201
The information in this document is subject to change without prior notice in
order to improve reliability, design and function and does not represent a
commitment on the part of the manufacturer.
In no event will the manufacturer be liable for direct, indirect, special,
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ND-6063 are registered trademarks of ADLink Technology Inc., IBM PC is 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
Table of Contents • i
1.7 Overview of NuDAM-6058.....................................................27
1.7.1 What is NuDAM -6058 ?............................................................27
1.7.2 Features of NuDAM -6058.........................................................27
1.7.3 Specifications of NuDAM -6058...............................................28
1.7.4 A Look at ND-6058 & Pin Assignment..................................30
1.7.5 Pin Definitions of NuDAM -6058..............................................31
1.7.6 ND-6058 Functional Block Diagram......................................32
1.8 Overview of NuDAM-6060.....................................................33
1.8.1 What is NuDAM -6060 ?............................................................33
1.8.2 Features of NuDAM -6060.........................................................33
1.8.3 Specifications of NuDAM-6060...............................................33
1.8.4 Using Relay Output...................................................................35
1.8.5 A Look at ND-6060 & Pin Assignment..................................36
1.8.6 Pin Definitions of NuDAM -6060..............................................37
1.8.7 ND-6060 Functional Block Diagram......................................38
1.9 Overview of NuDAM-6063.....................................................39
1.9.1 What is NuDAM -6063 ?............................................................39
1.9.2 Features of NuDAM -6063.........................................................39
1.9.3 Specifications of NuDAM -6063...............................................39
1.9.4 Using Relay Output...................................................................40
1.9.5 A Look at ND-6063 & Pin Assignment..................................41
1.9.6 Pin Definitions of NuDAM -6063..............................................42
1.9.7 ND-6063 Functional Block Diagram......................................43
Chapter 2 Initialization & Installation....................................44
2.1 Software Installation ............................................................44
2.2 Initializing a Brand-New Module............................................45
2.2.1 Objective of Initializing a Brand-New NuDAM.....................45
2.2.2 Default State ...............................................................................46
2.2.3 Initialization Equipments.........................................................47
2.2.4 Initialization Procedure............................................................47
2.2.5 Initialization Wiring....................................................................48
2.3 Install a New NuDAM to a Existing Network ...........................49
2.3.1 Equipments for Install a New Module....................................49
2.3.2 Installing Procedures................................................................49
2.4 Application Wiring for NuDAM-6050 ......................................50
2.5 Application Wiring for NuDAM-6052 ......................................51
2.6 Application Wiring for NuDAM-6053 ......................................52
2.7 Application Wiring for NuDAM-6054 ......................................53
2.8 Application Wiring for NuDAM-6056 ......................................53
2.9 Application Wiring for NuDAM-6058 ......................................54
ii • Table of Contents
2.10 Application Wiring for NuDAM-6060 ......................................55
2.11 Application Wiring for NuDAM-6063 ......................................56
Chapter 3 Command Set.........................................................57
3.1 Command and Response.....................................................57
3.1.1 Introduction..................................................................................57
3.1.2 Document Conventions............................................................58
3.1.3 Format of NuDAM Commands................................................58
3.1.4 Response of NuDAM Commands...........................................59
3.2 Summary of Command Set ..................................................60
3.3 Set Configuration.................................................................62
3.4 Read Configuration..............................................................64
3.5 Read Module Name .............................................................66
3.6 Read Firmware Version........................................................67
3.7 Reset Status ......................................................................68
3.8 Digital Output......................................................................69
3.9 Digital Output (Continued)....................................................71
3.10 Digital Output (Continued)....................................................73
3.11 Digital Output (Continued)....................................................75
3.12 Synchronized Sampling.......................................................77
3.13 Read Synchronized Data.....................................................78
3.14 Digital Input ........................................................................81
3.14 Programmable I/O Mode Setting ...........................................84
3.15 Read Leading Code Setting................................................86
3.16 Change Leading Code Setting .............................................88
3.17 Set Host Watchdog Timer & Safety Value............................90
3.18 Read Host Watchdog Timer & Safety Value..........................93
3.19 Change Polarity ..................................................................95
3.20 Read Polarity ......................................................................96
3.21 Host is OK .........................................................................97
Product Warranty/Service.......................................................98
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 3
DI 1
Digital
Input/Output
Signal
Bit 0-7
Bit 0-6
DI 0
DI 6
20
DI 4
DI 5
ND-6050
I/O Type
Digital Output
Digital Input
DI 2
DO 0
DO 1
DO 2
11
4 • Introduction
1
DO 7
DO 6
DO 5
DO 4
DO 3
DEFAULT*
(G)DATA-
(Y)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 4-
20
DI 3-
DI 4+
DI 3+
ND-6052
Input Type
Diffential
Single Ended
DI 2-
DI 2+
Isolated
Digital Input
Channels
6
2
DI 1-
DI 1+
DI 0-
DI 0+
11
1
DI 5+
DI 5-
DI 6+
D.GND
DI 7+
DEFAULT*
(G)DATA-
(Y)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
GND
1.3.6 ND-6052 Functional Block Diagram
Power Input
+10V ~ +30V
Power
Regulator & Filter
+5V
+5V
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
ND-6053
(Y)DATA+
(G)DATA
-
(R)+Vs (B)GND
Digital Input
1 10
DI 10 DI 11 DI 12 DI 13 DI 14 DEFAULT
DI 9 DI 7 DI 6 DI 5 DI 4 DI 3 DI 2 DI 1 DI 0 11 20
1.4.4 A Look at ND-6053 & Pin Assignment
DI 8
16-CH
Digital
14 • Introduction
Input Type
Channels
16
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
11 DI0 Digital Input Channel 0
Default*
/DI15
Initial state setting
/ Digital Input Channel 15
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
GND
1.4.6 ND-6053 Functional Block Diagram
Power Input
+10V ~ +30V
Watchdog/Power Failure
Power
Regulator & Filter
Supervisor
+ 5V
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
jum per 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
(Y)DATA+
(R)+Vs
(B)GND
DI10
DI11
DI12
DI13
Ext24V
DEFAULT
/DI14
DI0
DI1
DI2
DI3
DI4
DI5
DI6
DI7
DI8
DI9
1.5.4 A Look at ND-6054 & Pin Assignment
20
15-CH Isolated
ND-6054
Input Type
DI
Digital Input
Channels
15
11
10
(G)DATA-
Introduction • 19
1.5.5 Pin Definitions of NuDAM -6054
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 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
10 (B) GND Ground
11 DI9 Digital input channel 9
12 DI8 Digital input channel 8
13 DI7 Digital input channel 7
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
Initial state setting or digital
input channel 14
20 • Introduction
GND
+24V
+5V
1.5.6 ND-6054 Functional Block Diagram
Power Input
+10V ~ +30V
Watchdog/Power Failure
Supervisor
Data +
RS-485
Rec/Drv
Power
Regulator & Filter
+5V
Micro
Processor
DI0
+24V
DI1
Data -
EEPROM
Config Data
Safe Value
+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
Output Type
DO
Channels
DO10
DO13
DO1
11
1.6.4 A Look at ND-6056 & Pin Assignment
DO9 DO8
20
DO7
ND-6056
DO6
DO5
15-CH Isolated
Digital Output
DO4
DO3 DO2
DO0
15
(R)+Vs
10
(B)GND
1
DO11 DO12
Ext.GND
DEFAULT
(G)DATA -
(Y)DATA+
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
GND
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
+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
(G)DATA-
1
DI0
DI1
DEFAULT
A0~A7
B0~B7
C0~C7
4
1.7.4 A Look at ND-6058 & Pin Assignment
1
28-CH Programmable
ND-6058
Type
PPI
Digital I/O
Channels
24
50
DI
10
DI2
DI3
(Y)DATA+
(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
GND
+10V ~ +30V
1.7.6 ND-6058 Functional Block Diagram
Power Input
Power
Regulator & Filter
Watchdog/Power Failure
Supervisor
+5V
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 M Ω 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 COM
RL4 NC
RL4 NO
ND-6060
Type
Relay Output
Digital Input
DI 1
DI 2
DI 0
RL3 NC
RL3 COM
Relay Output
Digital Input
Channels
4
4
Ext24V
RL3 NO
DEFAULT*
RL2 COM
RL2 NO
(G)DATA-
(Y)DATA+
RL1 COM
(R)+Vs
11
RL1 NO
10
(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
GND
Ext24V
DI3
Data+
+5V Data
-
Safe Value
+5V
1.8.7 ND-6060 Functional Block Diagram
Power Input
+10V ~ +30V
Watchdog/Power Failure
Power
Regulator & Filter
+5V
Supervisor
RS-485
Rec/Drv
Micro
Processor
Ext24V
DI0
RL1 NO
EEPROM
RL1 COM
Config Data
RL4 NO
RL4 COM
38 • Introduction
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
Introduction • 39
♦ Watchdog Function
• Module internal watchdog timer : 150ms
• Power failure threshold : 4.65 V
• Safety value : 8 output channels
• Host programmable watchdog : 100 ms ~ 25.5 sec
♦ Power
• Power supply : +10V to +30V
• Current consumption : 1.2 W
1.9.4 Using Relay Output
Form A Relay :
NO
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.
40 • Introduction
NO
COM
Control Bit = Low (0)
(Y)DATA+
(R)+Vs
(B)GND
1
10
RL6 NO
RL6 COM
RL7 NO
RL7 COM
RL8 NO
DEFAULT*1
RL8 COM
COM
11
20
1.9.5 A Look at ND-6063 & Pin Assignment
RL5 NO
RL5 COM
ND-6063
Type
Relay Output
RL4 NO
RL4 COM
RL3 NO
RL3 COM
8-CH Isolated
Relay Output
Channels
8
RL2 COM
(G)DATA-
RL2 NO
RL1 COM
RL1 NO
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 CO M Relay 4, common ground
19 RL5 NO Relay 5, normal open
20 RL5 COM Relay 5, common ground
42 • Introduction
GND
+5V
Safe Value
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
Power
Regulator & Filter
Micro
Processor
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*. The module will be in Default State if the DEFAULT* pin is
shorted to ground when power ON. Under this state, the default
configuration is set as following :
♦ Address ID is 00
♦ Baud rate is 9600 bps
♦ Check-sum disable
Therefore, the communication between host and the module will can be
easily set as the same configuration, the initialization of a module will be
possible no matter what configuration is set under operating state.
For ND-6053, ND-6054 and ND-6056, the pin 6 is used for both DI15(DO15)
and DEFAULT*, and also the ND-6063, the pin 6 is used for both RL8 COM
and DEFAULT*. The jumper setting is as below, and the default setting is
DI15(D015) or RL8 COM. When you want to use ND-6053, ND-6054,
ND-6056 or ND-6063 as Default*, you should open the module case to set
the JP2.
JP2
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 VDC) for NuDAM modules
♦ Administration utility software
Note1: Never Connect the DRFAULT* pin to Vs or power source just left it
open or wired to GND.
2.2.4 Initialization Procedure
1. Power off the host computer and the installed NuDAM-6520. Be
sure of the baud rate of the NuDAM-6520 is 9600 bps.
2. Connect a brand new NuDAM module with the RS-485. Set the
module in Default State by shorting the DEFAULT* pin. Refe r to
Figure 2.1 for detailed wiring.
3. Power on the host computer.
4. Power on the power supply for NuDAM modules.
5. Use the NuDAM Administrating utility to configure the address ID,
Baud rate and check-sum status of the module.
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 VDC)
2.3.2 Installing Procedures
1. Configure the new NuDAM module according to the initialization
procedure in section 2.2.
2. The baud rate and check-sum status of the new module must be
identity with the existing RS-485 network. The address ID must not
be conflict with other NuDAM modules on the network.
3. Power off the NuDAM power supply of the existing RS-485 network.
4. Power off the host computer.
5. Wire the power lines for the new NuDAM with the existing network.
Be careful about the signal polarity as wiring.
6. Wire the RS-485 data lines for the new NuDAM with the existing
network. Be careful about the signal polarity as wiring.
7. Wire to the input or output devices. Refer to section 2.4 for
illustrations.
8. Power on the host computer.
9. Power on the NuDAM local power supply.
10. Use the NuDAM administration utility to check entire network.
Initializtion & Installation • 49
TTL Buffer
To
Micro Processor
+5V
GND
DI n NuDAM
-
6050 Digital Input Channel
TTL Buffer
To
Micro Processor
+5V
GND
DI n NuDAM
-
6050 Digital Input Channel
Switch
or
Push Button
From Micro Processor
+Vs GND DO n NuDAM
-
6050 Digital Output Channel
open collector
Power
Loading
LED, SSR, Relay etc.
R : current limit resistor
R
External
Power
Supply
2.4 Application Wiring for NuDAM-6050
Digital Input Connect
with TTL Signal
TTL
Device
Digital Input Connect
with Switch or Push
Button
Digital Output Connect with Power Loading
50 • Initializtion & Installation
To Micro Processor
DI n-
DI n+ NuDAM
-
6052 Differential Input Channel
Floating
Digital
Signal
Source
Photo Coupler
GND
To Micro Processor
DI n+ NuDAM
-
6052 Single
-
ended Input Channel
Digital
Signal
Source
Photo
Coupler
GND
2.5 Application Wiring for NuDAM-6052
Isolated Differential Input
Isolated Single Ended Input
Initializtion & Installation • 51
DC
2.6 Application Wiring for NuDAM-6053
Wet Contact Input
0~+30V
Contact Closure Input
Contact
Closure
DI n
GND
DI n
GND
Vcc
Digital
GND
Vcc
Digital
GND
52 • Initializtion & Installation
DI n
NuDAM-6054 Common Power Channel
Photo
Coupler
Power
From
Micro Processor
COM
DO n
Photo
Coupler
GND
2.7 Application Wiring for NuDAM-6054
Isolated Common Power Input
Common
Digital
Signal
Source
Ext.24V
GND
2.8 Application Wiring for NuDAM-6056
Isolated Common Ground Output
NuDAM-6056 Common Ground Channel
To
Micro Processor
Digital
Output
Common
GND
Initializtion & Installation • 53
TTL Buffer
To
Micro Processor
+5V
GND
DI n
NuDAM-6058 Digital Input Channel
2.9 Application Wiring for NuDAM-6058
Digital Input Connect with TTL Signal
TTL
Device
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
From
Micro
Processor
+VsCOM
RL n
NO
NuDAM-6060 Relay Output Channel
Power
Loading
NC
Power
Loading
External power ground
External Power Source
From
Micro
Processor
+
Vs
COM
RL n
NO
NuDAM-6060
Relay Output Channel
Power
Loading
External power ground
External Power Source
To
Micro Processor
DI n-
DI n+
NuDAM-6060 Digital Input Channel
Photo
Coupler
Ext24V
External
Switch
2.10 Application Wiring for NuDAM-6060
Form C Relay Output
Form A Relay Output
Digital Input : Contact Mode
Initializtion & Installation • 55
From
Micro
Processor
+Vs
COM
RL nNONuDAM-6063 Relay Output Channel
Power
Loading
External power ground
To
Micro Processor
DI n-
DI n+ NuDAM
-
6060 Digital Input Channel
Photo Coupler
Ext24V
External
Signal
Digital Input : Transistor Mode
2.11 Application Wiring for NuDAM-6063
Form A Relay Output
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
Response:
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)
(Comma
nd
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][Checksum]<CR>
When checksum is enable then [Checksum] is needed, it is
2-character.
How to calculate checksum value ?
[Checksum] = ((LeadingCode)+(Addr)+(Command)+[Data]) MOD 0x100
Example 1: checksum is disable
User Command: $012<CR>
!01400600<CR>
$ : LeadingCode
01 : Address
2 : Command (Read Configuration)
<CR> : Carriage return 0x0D
58 • Command Set
Response:
Example 2: checksum is enable
User Command: $012B7<CR>
!01400600AC<CR>
$ : LeadingCode
01 : Address
2 : Command (Read Configuration)
B7 : Checksum value
<CR> : Carriage return 0x0D
‘$’ = 0x24 ‘0’ = 0x30 ‘1’ = 0x31 ‘2’ = 0x30
B7 = ( 0x24 + 0x 30 + 0x31 + 0x32 ) MOD 0x100
‘!’ = 0x24 ‘0’ = 0x30 ‘1’ = 0x31 ‘4’ = 0x34
‘6’ = 0x36
AC = ( 0x24 + 0x30 + 0x31 + 0x34 + 0x30 + 0x30 + 0x36 + 0x30
+ 0x30 ) MOD 0x100
Note : 1.There is no spacing between characters.
2. At end of command need a <CR> carriage return 0x0D.
3. Checksum is optional parameter.
3.1.4 Response of NuDAM Commands
The response message depends on NuDAM command. The response is
also composed with several characteristics, including leading code,
variables, and carriage return for ending. There are two kinds of leading
code for response message, ”!“ or ”>“ means valid command
and ”?“ means invalid. By checking the response message, user can
monitor the command is valid or invalid.
Note : Under the following conditions, there will have no response
message.
1. The specified address ID is not exist.
2. Syntax error.
3. Communication error
4. Some special commands does not have response.
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 $(Addr)2 ALL
Read Module Name $(Addr)M ALL
Read Firmware Version $(Addr)F ALL
Reset Status $(Addr)5 ALL
Functional Commands
Synchronized Sampling #**
Read Synchronized Data $(Addr)4
Digital Output
#(Addr)(Port)(Odata) 6056, 6058
Digital Input $(Addr)6 ALL
Set Programmable I/O Mode $(Addr)S(IOSts) 6058
Read Command Leading Code
Setting
Change Command Leading
Code Setting
Set Host Watchdog / Safety Value
Read Host WatchDog / Safe
Value
Change Polarity ~(Addr)CP(Status) ALL
Read Polarity ~(Addr)CR ALL
Host is OK ~** ALL
%(OldAddr)(NewAddr)
(TypeCode)(BaudRate)
(CheckSumFlag)
#(Addr)(ChannelNo)
(OutData)
#(Addr)(Port)(ChannelNo)(
BitData)
#(Addr)T(OdataA)(OdataB)
(OdataC)
Special Commands
~(Addr)0 ALL
~(Addr)10(C1)(C2)(C3)
(C4)(C5)(C6)
~(Addr)2(Flag)(TimeOut)
(SafeValue)
~(Addr)3 ALL
ALL
6050, 6052,
6053, 6054,
6058, 6060
6050, 6052,
6053, 6054,
6058, 6060
6050, 6060,
6063
6056,6058
6058
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.
( 6050, 6052, 6053, 6054,
6056, 6058, 6060, 6063 )
@Example
User command: $30M<CR>
Response: !306050<CR>
! Command is valid
30 Address.
6050 ND-6050 (Digital I/O module).
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.
( 6050, 6052, 6053, 6054,
6056, 6058, 6060, 6063 )
@Example
User command: $30F<CR>
Response: !30A1.50<CR>
! Command is valid.
30 Address
A1.50 Firmware Version
Command Set • 67
eset status
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 r
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)
# Command leading code. (1-character)
(Addr) Address ID (2-character)
00 : Set value to all channels
(ChannelNo)
(OutData)
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)
@Response
<CR>
or
?(Addr)<CR>
> Command is valid
? Command is invalid.
(Addr) Address ID.
@Example
User command: #300003<CR>
Response: ><CR>
30 Address ID
00 Set output to all channels
03
03 (00000011), Channel 0 and 1 are set ON other
channels are set to OFF
Command Set • 69
User command: #2F1201<CR>
Response: ><CR>
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)
# Command leading code. (1-character)
(Addr) Address ID (2-character)
T Set value to all channels
(OutDataH)
(OutDataL)
(OutDataA)
(OutDataB)
(OutDataC)
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)
* if the port of ND-6058 is in input mode, output data to this port will be
ignore.
@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)
# Command leading code. (1-character)
(Addr) Address ID (2-character)
Set value to indivisual port
0H: for 6056 channel 14 to 8
(Port)
(OutData)
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)
* if the port of ND-6058 is in input mode, output data to this port will be
ignore.
@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
Command Set • 73
03
User command: #2F0A10<CR>
Response: <CR>
2F Address ID
0A Set output to port A
10 Set channel 4 of port A ON
03 (00000011), Channel 8 and 9 are set ON other
channels are set to OFF
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)
# Command leading code. (1-character)
(Addr) Address ID (2-character)
Set direct channel value to indivisual port
H: for 6056 channel 14 to 8
(Port)
(ChNo) Channel value 7 ~ 0
(OutData)
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)
* if the port of ND-6058 is in input mode, output data to this port will be
ignore.
@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 mo dules 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 #** was issued, you can read the
input value that was stored in the addressed module’s register and use
same method to process other module‘s data one by one.
@Syntax
$(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.
78 • Command Set
0 : Data has been sent at least once before.
(Status)
(IOFlag)
(DataOut) Value of digital output channel. (2-character)
(DataIn) Value of digital input channel. (2-character)
(DIn)
(DataInH)
(DataInL) Value of digital input channel 7-0 (2-character)
(DataInA) Value of port A channel 7-0 (2-character)
(DataInB) Value of port B channel 7-0 (2-character)
(DataInC) Value of port C channel 7-0 (2-character)
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 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)
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)(D ataB)(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) Value of digital output channel. (2-character)
(DataIn) Value of digital input. (2-character)
(DataInH)
(DataInL) Value of digital input channel 7-0.(2-character)
(DataOutH)
(DataOutL) Value of digital output channel 7-0.(2-character)
(DataA) Value of digital channel 7-0.(2-character)
(DataB) Value of digital channel 7-0.(2-character)
(DataB) Value of digital channel 7-0.(2-character)
(IOFlag)
Value of digital input channel 15-8.
(2-character)
Value of digital output channel 15-8.
(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) Leading code 6, this leading code is 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 $.
(1-character)
Leading code 2, for read synchronize sampling,
digital output ,default is #. (1-character)
Leading code 3, for change configuration.
default is %. (1-character)
Leading code 4, for read alarm status, enable
alarm, etc. default is @. (1-character)
Leading code 5, for read command leading
code, change command leading code, etc.
default is ~. (1-character)
86 • Command Set
Default is *. (1-character)
@Example
User command: ~060<CR>
Response: !0600$#%@~*<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)
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)
@Response
!(Addr)< CR>
or
?(Addr)<CR>
! Command is valid.
? Command is invalid.
(Addr) Address ID.
88 • Command Set
@Examples
User command: ~060<CR>
Response:
User command: ~0610A#%@~*<CR>
Response:
User command: A06F
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>
!06<CR>
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
(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
safety 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
Timeout value. 0x12 = 18
18 * 100 = 1800 ms
1C (00011100) Digital output channel DO2, DO3
and DO4 are high, the others are low.
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 * 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
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