ADLINK NuDAM-6100 Series I/O Module Deployment and Protocol Optimization

3.2 Soft Initialization Mode (No Physical Short Circuit Required)

Firmware D02.01 and above support soft Initiate: First, use~AATnn to set a timeout (such as~01T20 set to 20 seconds), then send~AAI to enable software Initiate, and then send configuration commands (such as% AANNTTCFFF) within the timeout without short circuiting the Initiate pin. This feature is convenient for remote configuration.

Protocol switching (ASCII) ↔  Modbus RTU）

ND-6124 defaults to Modbus RTU, while ND-6150/6160/6117 may be ASCII or Modbus, which needs to be confirmed first.

4.1 Switching from ASCII to Modbus RTU

Enter the Initiat mode (physical or software).

Send the command $AAPN, where N=1 represents Modbus RTU and N=0 represents ASCII.

Example: $01P1 sets address 01 to Modbus.

Response! After 01, power off and restart (disconnect Initiat), and the protocol switch is completed.

4.2 Switching from Modbus RTU to ASCII

In Modbus mode, use function code 0x06 to write the value of hold register 00257 (address 0x0100) to 0x0000, or switch through NuDAM-6100 Utility software.

Note: After protocol switching, communication parameters (baud rate, data format) remain unchanged, but in Modbus mode they are fixed at 8 data bits, 1 stop bit, and no checksum.

Common commands for digital I/O modules (ND-6150/6160)

5.1 Read all I/O statuses

ASCII: $AA6 or @ AA, response is a 4-digit hexadecimal number (first two digits DO, last two digits DI).

Modbus: Read coils (00001~00032 read DO, 00033~00064 read DI).

5.2 Setting Digital Output

ASCII: # AA0ADD (low 8 bits), # AA0BDD (high 8 bits), # AA1CDD (single channel).

Modbus: Write to a single coil (0x05) or write to multiple coils (0x0F).

5.3 Input Lock Function

AALS reads the high/low status of the latch, while AAC clears the latch. Used to capture brief pulse signals.

5.4 Output polarity reversal

~AACPSS can change the polarity of DI/DO (such as changing from high level to low level), and read the current polarity through~AACR.

Analog input module (ND-6117) configuration

6.1 Setting Input Range

Use the ASCII command% AANNTTCFFF, where TT is the range code (08=± 10V, 09=± 5V, 0A=± 1V, 0B=± 500mV, 0C=± 150mV, 0D=± 20mA). Each channel can also be set separately: $AA7CiRrr (i=channel number, rr=range code).

6.2 Reading Analog Values

#AA reads all channels, # AAN reads a single channel, and the response format is determined by the data format (FF): engineering unit (such as+1.2345),% FSR, or binary complement.

6.3 Enable/Disable Channels

$AA5VV, VV are two hexadecimal numbers that control the high 4 and low 4 channels respectively (1 enabled, 0 disabled).

6.4 Calibration

Calibration needs to first send~AAE1 to enable calibration, and then apply offset (0V) and full scale (corresponding to the range voltage) to channel 0, executing $AA1 (offset) and $AA0 (full scale) respectively. Refer to the manual table for specific calibration voltage.

Modbus access: Simulate input values mapped to input registers (30001~30008), and range codes can be read and written through hold registers (40201~40208).

Analog output module (ND-6124) configuration

ND-6124 supports voltage (0~5V, 0~10V, ± 10V) and current (0~20mA, 4~20mA) outputs, with a 14 bit resolution and programmable output slope (0.0625~1024 V/s or 0.125~2048 mA/s).

7.1 Setting Output Type and Slope

ASCII: $AA9NTTSS, N is the channel number, TT is the type code (30=0-20mA, 31=4-20mA, 32=0-10V, 33=± 10V, 34=0-5V, 35=± 5V), SS is the slope code (see manual table).

Modbus: Write hold registers 40257~40260 (type code) and 40289~40292 (slope).

7.2 Output Analog Values

ASCII engineering unit: # AAN+01.234 (voltage) or # AAN+12.345 (current).

ASCII hexadecimal: # AAN7FFF (corresponding to maximum range).

Modbus: Write hold registers 40001-40004.

7.3 Power on value and safety value

Use $AA4N to save the current output as the power on default value; Use~AA5N to save the current output as a safe value (called when the host watchdog timeout occurs).

Read the security value using~AA4N.

7.4 Emergency Stop Function (Emergency DI)

The four DIs of ND-6124 can be configured as emergency inputs (enabled through~AA8NE). When the corresponding DI becomes low, the channel AO immediately switches to the safe value and ignores subsequent output commands until the emergency flag (~AA8N or~AA1) is cleared. This function can meet the requirements of safety interlocking.

Host Watchdog Configuration

All modules support host watchdog. After activation, the host needs to send~* * (or specific commands under Modbus) to all modules within timeout (0.1~25.5 seconds), otherwise the module output will switch to a safe value.

8.1 ASCII Settings

Enable and set timeout:~AA3EVV (E=1 enabled, VV is hexadecimal timeout x 0.1 seconds).

Read status:~AA0,~AA2.

Clear timeout flag:~AA1.

Set safety value:~AA5S (safe) or~AA5P (power on value).

8.2 Modbus Settings

Timeout value: Keep register 40489 (unit 0.1 seconds).

Enable/Disable: Coil 00261 (1 enabled).

Timeout flag: coil 00270 (read/clear).

Safe value: Keep registers 43001~43004 (per channel).

Modbus Address Mapping Quick Check

Address range (decimal) function access type

00001~00032 DO0~DO31 read-write coil

00033~00064 DI0~DI31 Read only discrete input