Wiring Diagram

Terminal Description

Terminal	Meaning
P1+	Axis 1 differential output, positive pulse signal
P1-	Axis 1 differential output, negative pulse signal
D1+	Axis 1 differential output, positive direction signal
D1-	Axis 1 differential output, negative direction signal
P2+	Axis 2 differential output, positive pulse signal
P2-	Axis 2 differential output, negative pulse signal
D2+	Axis 2 differential output, positive direction signal
D2-	Axis 2 differential output, negative direction signal
P3+	Axis 3 differential output, positive pulse signal
P3-	Axis 3 differential output, negative pulse signal
D3+	Axis 3 differential output, positive direction signal
D3-	Axis 3 differential output, negative direction signal
P4+	Axis 4 differential output, positive pulse signal
P4-	Axis 4 differential output, negative pulse signal
D4+	Axis 4 differential output, positive direction signal
D4-	Axis 4 differential output, negative direction signal
P1	Axis 1 single-ended output, pulse signal
D1	Axis 1 single-ended output, direction signal
P2	Axis 2 single-ended output, pulse signal
D2	Axis 2 single-ended output, direction signal
P3	Axis 3 single-ended output, pulse signal
D3	Axis 3 single-ended output, direction signal
P4	Axis 4 single-ended output, pulse signal
D4	Axis 4 single-ended output, direction signal
M	Common terminal for single-ended output

COE Parameter Description

Parameters

Data type

Description

2004:01

Err 24v_nf

Bit0：

1: Channel 24V power supply abnormal

0: Normal

PDO Parameter Description

Item	Subitem	Data type	Meaning
Axis（1-4）Input	M_Status	Byte	Module status. M_Status[6:0]： 000_0000: Module in idle state 000_0010: Module in operation state 000_0110: Module in software emergency stop state 000_1000: Module pulse transmission completed state 1xx_xxxx: Startup operation flag M_Status[6]: Module operation flag bit. When M_ctrl changes from 0 to 1, the flag signal is set as 1. Only writing 1 into bit6 of the controller Mctrl can clear the flag signal. M_Status[7]： 0: Invalid 1: After Mctrl RUN command reset, when this flag is detected as 1, the Mctrl RUN command can be set to initiate module pulse output In the cyclic synchronous position mode, it remains in operation state by default.
	M_Pos_Relative	DINT	Relative operation position.
	M_Spd	UDINT	Current module speed.
	M_ERROR	Byte	0: Normal Bit0: The starting speed is greater than the operation speed. Bit2: Mode error
Axis（1-4）Output	M_Ctrl	Byte	BIT0: RUN, command operation enable, starting on the rising edge, and stopping on the falling edge. BIT1: UPDATE, set as 1 to update operational parameters during motor operation (AccTime, DecTime, Spdss, Spdset, and Posset parameters) BIT2: ESTOP, emergency stop command. Upon receiving this command, the module immediately stops pulse output without any acceleration or deceleration. Default is 0. When emergency stop is required, set this bit as 1. This bit must be reset as 0 before the next operation. BIT3: Clear the M_Pos_Relative position value on the rising edge, which is effective in all modes. BIT4: Alarm clear. BIT5: Direction bit in the speed mode. In the speed mode, control forward or reverse direction. BIT6: The operation flag is cleared and the module completes startup. M_Status[6] will be set. If the PLC detects this flag signal as 1 (closed-loop detection), it indicates that the module has successfully transmitted pulses. When the next pulse needs to be transmitted, this clear command should be used to reset the operation flag before initiating the next operation detection. BIT7: When set as 1 in the speed mode, the M_Pos_Relative position value will not be cleared at startup. Note: In the cyclic synchronous position mode, only BIT3 is valid, and the remaining BITs are reserved.
	Work_Mode	Byte	Bit0~3: Motion mode setting 0: Relative position output mode 1: Speed mode 3: Cyclic synchronous position mode (The module needs to be configured to DC synchronous mode) Others: Reserved Bit4~5: Pulse output mode setting 0: Pulse + direction 1：CW/CCW Others: Reserved Bit6~7: Reserved Note: When changing the WorkMode, M_Ctrl must be set as 0.
	AccTime	UINT	Acceleration time (ms). It is used to set the acceleration Invalid in the cyclic synchronous position mode.
	DecTime	UINT	Deceleration time (ms). It is used to set the deceleration Invalid in the cyclic synchronous position mode.
	SpdSs	UDINT	User-defined starting or stopping speed (Hz), data range 0~4000000 Invalid in the cyclic synchronous position mode.
	SpdSet	UDINT	User-defined operating speed (Hz), data range 0~4000000 Invalid in the cyclic synchronous position mode.
	PosSet	DINT	User-defined position, unit: pulse count In the cyclic synchronous position mode, it represents the number of pulses to be sent within one EtherCAT bus cycle

SRE5234 | 4 Channel Pulse Output Module

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