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ET-M8194H
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Product Reference & Support :


RoHS Compliance
Ethernet Remote Unit with High speed 4-axis Motion Module
Product Pricing:
ET-M8194H: $1,499.00  add to cart
Please Call 1-888-971-9888 for Volume and OEM discount pricing!
Features
ET-M8194H is a new product of ICP DAS to implement the Ethernet remote motion controller for the remote motion solution. It includes an i-8094H module (a 4-axis stepping/pulse-type servo motor control module). By using the intelligent function of ET-M8194H, we can reach the remote motion control to finish various motion application via MODBUS/TCP. Also, ET-M8194H can be applied in many platforms with MODBUS/TCP protocol (for example: PC, PAC, PLC). Additionally, it is easy and simple to use many ET-M8194Hs at the same time to implement the multi-axis motion control by the serial connection of ET-M8194H. We also provide EzMove Utility and API Library for users to quickly configure ET-M8194H and develop their own control applications easily.
ET_Series_Solution.jpg

Features
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● Users can connect to several ET-M8194Hs to reach the multi-axis motion control by one host.
● With MODBUS/TCP communication, ET-M8194H provides advanced motion control capability for any platform with a MODBUS Client. Therefore, users can realize the various remote motion applications in SCADA, PAC or PLC etc.
● EzMove utility provides the easy interface on setting and macro programming to help users familiarize the manipulation of ET-M8194H quickly. Besides, users can also watch the motion track from EzMove utility.
● Provides API Library for the development environment (For example: VB, VC and BCB etc.) for self-developed applications. Besides, users can also integrate all ET-M8194H information via Ethernet to reach the concentrated control.
● Support Hot-Swap function. Users can hot swap i-8094H module while ET-M8194H is working.
● Support IP_Lock function. The specific IP clients can only connect to ET-M8194H for remote control security.

Interface
ET-M8194H介面

SDK
(1) EzMove Utility
EzMove, developed by ICPDAS, is an easy configuration utility for the i-8094H on ET-M8194H controller. It is intended to do the tasks of motion control and movement test on equipments without prior self-developed applications in the beginning. Due to being a Modbus client, users can use EzMove to edit Macro Programs (MP) and download them to i-8094H on ET-M8194H. EzMove can also display and plot position/velocity of four axis as well as Modbus/Tcp messages for easy reference.
EzMove Utility
(2) API Library
ET-M8194H API Library is composed of nine groups of functions which support VB, VC and BCB IDE. Users can apply the API Library to edit Macro Programs (MP) and send Modbus/Tcp commands to control or configure i-8094H. Through ET-M8194H API Library, users can integrate all ET-M8194H controllers via Ethernet for system integration purpose. Besides, it also gives the flexibility to develop customized GUI of users’ AP.
API Library
Tables of MODBUS Addresses
Modbus Function Code 01, 02, 03, 04, 05, 15, 16 are provided to communicate with ET-M8194H controller. The following tables list Modbus addresses and corresponding function for each function code.
(1) FC01 FC02 ( Read multiple FRnet DI/Os. Allow reading across groups. )
Variable Name Address Type of Comments
FRnet_DO_0G
FRnet_DI_8G		 0 ~ 15 R Value of FRnet DO group 0 (16-bit)
Value of FRnet DI group 8  (16-bit)
FRnet_DO_1G
FRnet_DI_9G		 16 ~ 31 R Value of FRnet DO group 1 (16-bit)
Value of FRnet DI group 9  (16-bit)
FRnet_DO_2G
FRnet_DI_10G		 32 ~ 47 R Value of FRnet DO group 2  (16-bit)
Value of FRnet DI group 10的 16-bit)
FRnet_DO_3G
FRnet_DI_11G		 48 ~ 63 R Value of FRnet DO group 3  (16-bit)
Value of FRnet DI group 11 (16-bit)
FRnet_DO_4G
FRnet_DI_12G		 64 ~ 79 R Value of FRnet DO group 4  (16-bit)
Value of FRnet DI group 12(16-bit)
FRnet_DO_5G
FRnet_DI_13G		 80 ~ 95 R Value of FRnet DO group 5  (16-bit)
Value of FRnet DI group 13(16-bit)
FRnet_DO_6G
FRnet_DI_14G		 96 ~ 111 R Value of FRnet DO group 6  (16-bit)
Value of FRnet DI group 14(16-bit)
FRnet_DO_7G
FRnet_DI_15G		 112 ~ 127 R Value of FRnet DO group 7  (16-bit)
Value of FRnet DI group 15(16-bit)
(2) FC05、FC15 ( Write Single/Multiple FRnet DOs. Allow writing across groups.)
Variable Name Address Type of Comments
FRnet_DO_0G 0 ~ 15 W Value of FRnet DO group 0 (16-bit)
FRnet_DO_1G 16 ~ 31 W Value of FRnet DO group 1 (16-bit)
FRnet_DO_2G 32 ~ 47 W Value of FRnet DO group 2 (16-bit)
FRnet_DO_3G 48 ~ 63 W Value of FRnet DO group 3 (16-bit)
FRnet_DO_4G 64 ~ 79 W Value of FRnet DO group 4 (16-bit)
FRnet_DO_5G 80 ~ 95 W Value of FRnet DO group 5 (16-bit)
FRnet_DO_6G 96 ~ 111 W Value of FRnet DO group 6 (16-bit)
FRnet_DO_7G 112 ~ 127 W Value of FRnet DO group 7 (16-bit)
(3) FC04 ( Reads states of i-8094H )
Variable Name Address Type of Comments
DI_ALL_X 0 R States of all DI in X axis
DI_ALL_Y 1 R States of all DI in Y axis
DI_ALL_Z 2 R States of all DI in Z axis
DI_ALL_U 3 R States of all DI in U axis
RINT_STATE_ALL 4 R Gets all RINT states.
ERROR_STATE 5 R Gets error state (1: error，0: no error) 
FREE_BUFFER_SIZE 6 R Gets current free buffer size.
…..Undefined 7 --
FRnet_DI_8G 8 R Value of FRnet DI group 8 (16-bit)
FRnet_DI_9G 9 R Value of FRnet DI group 9 (16-bit)
FRnet_DI_10G 10 R Value of FRnet DI group 10 (16-bit)
FRnet_DI_11G 11 R Value of FRnet DI group 11 (16-bit)
FRnet_DI_12G 12 R Value of FRnet DI group 12 (16-bit)
FRnet_DI_13G 13 R Value of FRnet DI group 13 (16-bit)
FRnet_DI_14G 14 R Value of FRnet DI group 14 (16-bit)
FRnet_DI_15G 15 R Value of FRnet DI group 15 (16-bit)
ERROR_CODE_X 16 R Error code occurred in X axis
ERROR_CODE_Y 17 R Error code occurred in Y axis
ERROR_CODE_Z 18 R Error code occurred in Z axis 
ERROR_CODE_U 19 R Error code occurred in U axis
X_DI_0, Y_DI_0, Z_DI_0, U_DI_0 20、30、40、50 R Driving state of each axis
1: driving,  0: stop
X_DI_1, Y_DI_1, Z_DI_1, U_DI_1 21、31、41、51 R LMT+ state of each axis      
0: off,  1: on
X_DI_2, Y_DI_2, Z_DI_2, U_DI_2 22、32、42、52 R LMT- state of each axis
0: off,  1: on
X_DI_3, Y_DI_3, Z_DI_3, U_DI_3 23、33、43、53 R EMG state of each axis
0: off,  1: on
X_DI_4, Y_DI_4, Z_DI_4, U_DI_4 24、34、44、54 R ALARM state of each axis
0: off,  1: on
X_DI_5, Y_DI_5, Z_DI_5, U_DI_5 25、35、45、55 R Home (IN1) sensor state of each axis
0: on,  1: off
X_DI_6, Y_DI_6, Z_DI_6, U_DI_6 26、36、46、56 R Near Home (IN0) sensor state of each axis.   0: on,  1: off
X_DI_7, Y_DI_7, Z_DI_7, U_DI_7 27、37、47、57 R IN3 sensor state of each axis
0: on,  1: off
X_DI_8, Y_DI_8, Z_DI_8, U_DI_8 28、38、48、58 R INPOS or Servo Ready state of each axis.  0: on,  1: off
X_DI_9, Y_DI_9, Z_DI_9, U_DI_9 29、39、49、59 R Z-phase (IN2) value of each axis
0: on, 1: off
Line_Scan_Completed 60 R Bit0 of RINT_STATE
MP_Completed 61 R Bit1 of RINT_STATE
User-Defined_RINT 62 R Bit2 of RINT_STATE
Continuous_Inp_Interrupt 63 R Bit3 of RINT_STATE
…..Undefined 64 --
…..Undefined 65 --
axis_Error 66 R Bit6 of RINT_STATE
Module_Error 67 R Bit7 of RINT_STATE
Module_ID 68 R i8094H: 0x44；i8094A: 0x55
Firmware_Version 69 R 0x0710 means
Year: 2007 ； Month: 10
X_STOP_STAUTS 70 R ETM04_GET_STOP_STATUS() of X-axis  (1:stop, 0: moving)
Y_STOP_STAUTS 71 R ETM04_GET_STOP_STATUS()  of Y-axis  (1:stop, 0: moving)
Z_STOP_STAUTS 72 R ETM04_GET_STOP_STATUS()  of Z-axis  (1:stop, 0: moving)
U_STOP_STAUTS 73 R ETM04_GET_STOP_STATUS()  of U-axis  (1:stop, 0: moving)
 
X_LATCH 80 R Value in X-axis latch register
Y_LATCH 82 R Value in Y-axis latch register
Z_LATCH 84 R Value in Z-axis latch register
U_LATCH 86 R Value in U-axis latch register
 
TCN 90 R Total Modbus Client Connection Num
(4) FC16 ( For Setting and Control of i-8094H )
Variable Name Address Type of Comments
FRnet_DO_0G 0 R/W Set/Read the FRnet DO group 0
FRnet_DO_1G 1 R/W Set/Read the FRnet DO group 1
FRnet_DO_2G 2 R/W Set/Read the FRnet DO group 2
FRnet_DO_3G 3 R/W Set/Read the FRnet DO group 3
FRnet_DO_4G 4 R/W Set/Read the FRnet DO group 4
FRnet_DO_5G 5 R/W Set/Read the FRnet DO group 5
FRnet_DO_6G 6 R/W Set/Read the FRnet DO group 6
FRnet_DO_7G 7 R/W Set/Read the FRnet DO group 7
CALL_MPn 8 R/W This is a simple method to call MP.
…..Undefined 9 -- 0
…..Undefined 10 -- 0
WDT_MP 11 R/W If WDT event happens, system will call this MP.
WDT_VALUE 12 R/W Timeout value for the user-defined WDT function.
WDT_Enable 13 R/W 1: enable; 0: disable
 
Lock_IP 20 ~ 23 R/W Lock/Read_Locked TCP Client IP
UnLock_IP 24 W Unlock TCP Client IP
ET-M8194H_IP 25~26 R/W Set ET-M8194H IP
ET-M8194H_Mask 27~28 R/W Set ET-M8194H Mask
ET-M8194H_Gateway 29~30 R/W Set ET-M8194H Gateway
 
LP_X 90 R/W Logical position of X-axis
LP_Y 92 R/W Logical position of Y-axis
LP_Z 94 R/W Logical position of Z-axis
LP_U 96 R/W Logical position of U-axis
EP_X 98 R/W Encoder feedback position of X-axis.
EP_Y 100 R/W Encoder feedback position of Y-axis.
EP_Z 102 R/W Encoder feedback position of Z-axis.
EP_U 104 R/W Encoder feedback position of U-axis.
CV_X 106 R Current velocity of X-axis. It takes two
CV_Y 108 R Current velocity of Y-axis. It takes two
CV_Z 110 R Current velocity of Z-axis. It takes two
CV_U 112 R Current velocity of U-axis. It takes two
CA_X 114 R Current acceleration of X-axis.
CA_Y 116 R Current acceleration of Y-axis.
CA_Z 118 R Current acceleration of Z-axis.
CA_U 120 R Current acceleration of U-axis.
 
bVAR0 128 R/W Value of bVAR0.
bVAR1 129 R/W Value of bVAR1.
… ... bVARn = 128+n
bVAR127 255 R/W Value of bVAR127
 
VAR0 300 R/W Value of VAR0.
VAR1 302 R/W Value of VAR1.
… ... MSW of VARn = 300+2*n
LSW of VARn = 300+2*n+1
VAR511 1322 R/W Value of VAR511.
 
MD0 3000 R/W Value of MD0. ( long value )
MD1 3002 R/W Value of MD1. ( long value )
… MSW of MDn = 3000+2*n
LSW of MDn = 3000+2*n+1
MD1023 5046 R/W Value of MD1023. ( long value )
MD1024 5048 R/W Value of MD1024. ( float value )
MD1025 5050 R/W Value of MD1025. ( float value )
… ... MSW of MDn = 3000+2*n
LSW of MDn = 3000+2*n+1
MD2047 7094 R/W Value of MD2047. ( float value )
Variable Name Address Type of Comments
Sub_Function_Code 8000 W The mapping of sub function code.
Reg1 8001 W Sub Function parameter 1
Reg2 8002 W Sub Function parameter 2
Reg3 8003 W Sub Function parameter 3
Reg4, 5, 6… 8004, 8005, 8006… W Sub Function parameter 4, 5, 6…
Specifications & Additional Information

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