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Contents

The NuDAM provides a series of analog input modules which can sense the analog signal or to control the remote devices. The basic features of each module are shown here.

• NuDAM-6011 : multi-functinos high gain analog input module
• NuDAM-6012 : multi-functions analog input module

What is NuDAM-6011 ?

NuDAM-6011 is a multi-functions analog input module with cold junction compensation (CJC). The maximum input voltage range of analog input channel is ±2.5V. The high gain feature allows very small full range of ±15mV. To measure temperature by directly connect the thermal couple is possible because of using the CJC inside and the high gain feature. The voltage range of the ADC can be set according to different types of thermal couple. The ADC can be calibrated by programming without handy adjustment. This feature insurance the best performance under different environment.

The module provides the analog signal monitor or the alarm function. The high and low bound of the alarm limit can be set by programming. The alaram status can be send to digital output channels if this function is ON. The supervisor of a factory can `see' or `hear' the alarm if the digital output channel control a real alarm device. The two digital output channel can be set for general purpose used if the alarm is disable. For example, connecting relay devices to DO channels, the NuDAM-6011 can be used to control the high power devices.

The module provides another one digital input channel. This can be used for general purpose such as monitor digital signal, or be used as input of the event counter.

Features of NuDAM-6011

• 1 analog input channel with differential input
• programmable voltage range with high gain amplifier
• Self offset and gain calibration
• On board CJC for temperature measurement
• 500 Vrms isolation voltage for AD channel
• 2 digital output channels of open collector type
• Alarm fuction with high / low alarm output
• 1 digital input channel / event counter
• Programmable host watchdog timer for host failure protection
• Internal watchdog timer for device failure protection
• Easy programming by software
• Easy installation and wiring

Specifications of NuDAM-6011

• Interface
  • Interface : RS-485, 2 wires
  • Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K
• Analog Input
  • Input type: Differential input
  • Resolution: 16 bits
  • Unit Convertion: Thermocouple, mV, V, or mA
  • Thermocouple Type: J, K, T, E, R, S, B, N, C
    J: 0°C~760°C
    K: 0°C~1000°C
    T: -100°C~400°C
    E: 0°C~1000°C
    R: 500°C~1750°C
    S: 500°C~1750°C
    B: 500°C~1800°C
    N: -270°C~1300°C
    C: 0°C~2320°C
  • Voltage Range: Programmable 6 levels
    ±2.5V, ±1V, ±500mV, ±100mV, ±50mV, ±15mV
  • Current Measurement: 20mA (with external 125W resistor)
  • Accuracy: ±0.05%
• Digital Output
  • Channel numbers : 2
  • Output characteristic : open collector transistor
  • Maximum current sink : 30mA
  • Max. power dissipation : 300mW
• Digital Input
  • Channel numbers : 1
  • Logical level 0 : +1V maximum
  • Logical level 1: +3.5V~ +30V
  • Pull up resister : 10KW
  • Maximum current : 0.5mA
• Watchdog Function
  • Module internal watchdog timer : 150 ms
  • Power failure threshold : 4.65 V
  • Safety value : 2 digital output channels
  • Host programmable watchdog : 100 ms ~ 25.500 sec
• Power
  • Power supply : +10V to +30V
  • Power consumption : 0.4 W

Pin Definitions of ND-6011

A Look at ND-6011 & Pin Assignment

Functional Block Diagram of ND-6011

1. 3. Overview of NuDAM-6012

What is NuDAM-6012 ?

NuDAM-6012 is a multi-functions analog input module. The programmable input voltage range of analog input channel is from ±10V maximum to ±150mV minimum.

The module also provides the alarm function and the event counter just like NuDAM-6011. In fact, the NuDAM-6012 provides almost all fuctions that NuDAM-6011 have except the CJC and temperature measurement function.

Features of NuDAM-6012

• 1 analog input channel with differential input
• Programmable voltage range
• Self gain and offset calibration
• 500 Vrms isolation voltage for AD channel
• 2 digital output channels of open collector type
• Alarm fuction with high / low alarm output
• 1 digital input channel / event counter
• Programmable host watchdog timer for host failure protection
• Internal watchdog timer for device failure protection
• Easy programming by software
• Easy installation and wiring

Specifications of NuDAM-6012

• Interface
  • Interface : RS-485, 2 wires
  • Speed (bps) : 1200, 2400, 4800, 9600, 19.2K, 38.4K
• Analog Input
  • Input type: Differential input
  • Resolution: 16 bits
  • Unit Convertion: mV, V, or mA
  • Voltage Range: Programmable 5 levels
    ±10V, ±5V, ±1V, ±500mV, ±150mV
  • Current Measurement: 20mA (with external 125W resistor)
  • Accuracy: ±0.05%
  • Isolation Voltage : 500 Vrms
• Digital Output
  • Channel numbers : 2
  • Output characteristic : open collector transistor
  • Maximum current sink : 30mA
  • Max. power dissipation : 300mW
• Digital Input
  • Channel numbers : 1
  • Logical level 0 : +1V maximum
  • Logical level 1: +3.5V~30V li>Maximum current : 0.5mA
• 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
  • Power consumption : 0.4 W

Pin Definitions of ND-6012

A Look at ND-6012 & Pin Assignment

Functional Block Diagram of ND-6012

2. Initialization & Installation

1. If you have already installed "NuDAM Administration" then skip other steps.
2. Backup your software diskette.
3. Insert "NuDAM Administration" diskette into floppy drive A:
4. Change drive to A:
5. Installation command syntax

   INSTALL drive:
   drive name is C to Z.
   
   Example 1 : install to drive C:
          A:\> INSTALL  C:
   
   Example 2 : install to drive F:
          A:\> INSTALL  F:
   

6. NuDAM Administration Utility will be installed in the directory
   C:\NUDAM

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. 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 to avoid conflicting address. The baud rate may also be changed according to user`s requirements.

The initialization procedures of a brand-new NuDAM are shown in the following sections. The procedures are applicable for initializing NuDAM-6011 and NuDAM-6012.

Default State
The NuDAM modules must be set at Default State when you want to change the default settings, including the ID address, baud rate, check-sum status etc. All NuDAM 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.
• Watchdog timer is disable.

Therefore, the configuration of the host and the module can be easily set identically and initializing a module will be possible no matter what configuration is set under operating state.

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
• Administrating utility software

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. Refer 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.

Initialization Wiring

Figure 2-1 Layout for Initialization the NuDAM module


2. 3. Install a New NuDAM to a Existing Network

Equipments for Install a New Module

• A existing NuDAM network
• New NuDAM modules.
• Power supply (+10 to +30 VDC).

Installing Procedures

1. Configure the new NuDAM module according to the initialization procedures 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.

Differential Voltage Input

Current Measurement

Digital Input Connect with TTL Signal

Digital Input Used as an Event Counter

Digital Output Connect with Power Loading

3. Command Set

Introduction
The NuDAM command is composed by numbers of characteristics, including the leading code, address ID, the variables, the optional check-sum bytes, 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.

Document Conventions
The following syntax conventions describes the NuDAM commands in this manual.

Format of NuDAM Commands
(Leading Code)(Addr)(Command)[Data][Checksum]<CR>

When checksum is enable then [Checksum] is needed, it is 2-character. Both command and response must append the checksum characters.

How to calculate checksum value ?

[Checksum] = ((LeadingCode)+(Addr)+(Command)+[Data]) MOD 0x100

Example 1: checksum is disable

     User Command :      $012<CR>     
     Response     :      !01400600<CR>     

     $              : LeadingCode
     01             : Address     
     2              : Command  (Read Configuration)     
     <CR>     : Carriage return 0x0D     

Example 2: checksum is enable

     User Command :      $012B7<CR>     
     Response     :      !01400600AC<CR>     

     $              : LeadingCode     
     01             : Address     
     2              : Command  (Read Configuration)     
     B7             : Checksum value     
     <CR>     : Carriage return 0x0D     

      `$' = 0x24     `0' = 0x30      `1' = 0x31     `2' = 0x32     

B7 = ( 0x24 + 0x30 + 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 the command words and the checksum characters.
2. Every command follows a <CR> carriage return for ending.
3. The checksum characters are optional.

Response of NuDAM Commands
The response message depends on verstile NuDAM command. The response is composed with a few characteristics, including leading code, variables, and carriage return for ending. There are two categories 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 not.

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.


3. 2. Summary of Command Set

There are three categories of NuDAM commands. The first 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 is the functional commands, which depends on functions of each module. Not every module can execute all function commands. The third is the special commands including functions about the programmable watchdog timer, safe values, and the programmable leading code. All the commands used in the NuDAM analog input module are list in the following table.

@Description
Configure the basic setting of NuDAM, including the address ID, input range, baud rate, and data format. The new configuration will be available after executing the command.

@Syntax

%(OldAddr)(NewAddr)(InputRange)(BaudRate)(DataFormat)<CR>

     %             Command leading code.       (1-character)     
     (OldAddr)     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)     
        (NewAddr)     New address ID, if you don't want to change address ID, let new address ID equals to the old one. (2-character)     
     (InputRange)  Define analog input range, refers to Table 3-1 for details. (2-character)     
     (BaudRate)    Define communication baud rate, refers to Table 3-2 for details. (2-character)     
     (DataFormat)  Define checksum, integration time and output data format, refers to Figure 3-1 for details. (2-character) 

@Response

!(Addr)<CR>
        or
?(Addr)<CR>

     (Addr)     Address ID.     
     !          Command is valid.     
     ?          Command is invalid, parameter values are invalid, 
	                   or change the setting without grounding the DEFAULT* pin.

Note : 1. When you want to change the checksum or baud rate, the DEFAULT* pin must be grounded at first.

2. Waiting a maximum of 7 seconds to perform auto calibration and ranging after the analog input module is reconfigured. Please don't execute any other command during this time period.

@Example

User command: %0130050600<CR>
Response: !30<CR>

Table 3. -1 AD Input Range Setting

Table 3-2 Baud rate setting code

Figure 3-1 Data Format Setting of Analog Input Modules


3. 4. Read Configuration

@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)(InputRange)(BaudRate)(DataFormat)<CR>
  or 
?(Addr)<CR>

     !                Command is valid.     
     ?                Command is invalid.     
        (Addr)           Address ID.     
        (InputRange)     Current setting of analog voltage input, refers to Table 3-1 for details.     
     (BaudRate)       Current setting of communication baud rate, refers to Table 3-2 for details.      
     (DataFormat)     Current settings of checksum, integration time and output data format, 
	                         refers to Figure 3-1 for details.     

@Example
     User command:     $302<CR>     
     Response:         !30050600<CR>     

     !      Command is valid.     
     30     Address ID.     
     05     Analog input range is ±2.5 V, NuDAM-6011     
     06     Baud rate is 9600 bps.     
     00     checksum is disable.

@Description

Read module name of NuDAM at specified address.

@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 could be '6011`, '6012`.
                                            4 characters     

@Example
     User command: $30M<CR>     
     Response:     !306011<CR>     

     !        Command is valid.     
     30       Address     
     6011     ND-6011 (Analog Input Module)     

@Description
Read firmware version of NuDAM at specified address.

@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:     !30A2.10<CR>     

     !      Command is valid.     
     30     Address     
     A2.10  Firmware Version

@Description

Synchronized all modules to sample analog input values and stored the values in the module's register at the same time. The sampled data can be read by "Read Synchronized Data" command. This command is only available on NuDAM-6011 and NuDAM-6012.

@Syntax #**<CR>

# Command leading code.
** Synchronized sampling command

@Response

Note : Synchronized sampling command has NO response.

@Example

User command: #**<CR>


3. 8. Read Synchronized Data

@Description

After a synchronized sampling command #** was issued, you can read the sampled value that was stored in the register of the module at specified address.

@Syntax

$(Addr)4<CR>

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

@Response
>(Addr)(Status)(Data)<CR>
or
?(Addr)<CR>

     >     Command is valid.
     ?        Command is invalid or no synchronized sampling command was issued.     
       (Addr)    Address ID.     
     (Status)  0 : Data has been sent at least once before.
                     1 : Data has been sent for the first time since a synchronized sampling
					 command was issued. (1-character)     
    (Data)    There are four types of Data format, refers to Chapter 4 for details.      

@Examples
     User command: $064<CR>     
     Response:     >060+1.6888<CR>     

Read synchronized data at address 06H, analog input module send its analog input data +1.6888 (units). Status is 0 means it has sent the same data at least once. The current units is set by the data format.

User command: $064<CR>
Response: >061+1.6888<CR>

Read synchronized data at address 06H, analog input module send its analog input data +1.6888 (units). Status is 1 means it is the first time that the data has been sent. The current units is set by the data format


3. 9. Read Analog Data

@Description

Read the analog input value from an analog input module at spicified address in a NuDAM network. This command is only available for ND-6011 & 6012.

@Syntax

#(Addr)<CR>
     #       Command leading code     
     (Addr)  Address ID     

@Response
>(InputData)<CR>

     >        Delimiter character     
     (InputData) The input data represents the analog signal.  
	                    The unit of the digits depends on the data format used. There 
                        are four types of data format.  The format is set by the set 
						configuration command.     

@Example
     User command: #06<CR>     
     Response:     >+1.6888<CR>     

Read the analog input module data at address 06 (Hex). The analog input module response data is +1.6888 units. The unit depends on the data format.


3. 10. Span Calibration

@Description

To correct the gain errors of AD converter by using the span calibration.

@Syntax
$(Addr)0<CR>

     $          Command leading code (1 character)     
     (Addr)     Address ID (2 character)     
     0          Span calibration (1 character)     

@Response
!(Addr)<CR>
  or
?(Addr)<CR>

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

@Example
     User command: $060<CR>     
     Response:     !06<CR>     

Note : To perform the calibration, a proper input signal should be connected to the analog input module. Different input range have different input voltage, detail refer chapter 5 "Calibration" .


3. 11. Offset Calibration

@Description

To correct the offset errors of AD converter by using the offset calibration.

@Syntax
$(Addr)1<CR>

     $          Command leading code     
     (Addr)     Address ID     
     1          Offset calibration.     

@Response
!(Addr)<CR>
   or
?(Addr)<CR>
   
     !          Command is valid.     
     ?          Command is invalid.     
     (Addr)     Address ID.     

@Example
     User command: $061<CR>     
     Response:     !06<CR>     

Note : To perform the calibration, a proper input signal should be connected to the analog input module. Different input range have different input voltage, detail refer chapter 5 "Calibration" .


3. 12. Read Analog Data From Channel N

@Description

Read the analog input value of a spicified AD achannel from an analog input module at specified address in a NuDAM network. This command is only available for ND-6017 which is a multi-chnnels AD module.

@Syntax
#(Addr)(ChannelNo)<CR>

     #          Command leading code. (1-character)     
     (Addr)     Address ID. (2-character)     
     (ChannelNo)Channel number, range(0 - 7). (1-character)     

@Response
>(InputData)<CR>

     >            Delimiter character     
     (InputData)     Input value from a specified channel number, 
	                        the data format is a + or - sign with five decimal 
							digits and a fixed decimal point.     

@Example
     User command:     #061<CR>     
     Response:         >+1.6888<CR>

Read the analog input channel 1 of AD module at address 06 (Hexadecimal) in the network. The analog input data is +1.6888 Volts (Data format is engineering unit)


3. 13. Enable/Disable channels for Multiplexing

@Description

Enable/Disable multiplexing simultaneously for individual channel. This command is only available for ND-6017.

@Syntax
$(Addr)5(ChannelVal)<CR>

     $            Command leading code. (1-character)     
     (Addr)       Address ID (2-character)     
        5            Enable/Disable channel.  (1-character)     
     (ChannelVal) bit 3~0 of 1st character: control channel 7 - 4.
                         bit 3~0 of 2nd character: control channel 3 - 0. 
                         bit value 0 : Disable channel
                         bit value 1 : Enable channel (2-character)     

@Response
!(Addr)<CR>
  or
?(Addr)<CR>

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

@Example
     User command: $06548<CR>     
     Response:     !06<CR>     

     $      Command leading code.     
     06     Address ID.     
     5      Disable/Enable channel.     
     48     Channel Value is 0x48.
                   `4' is 0100 that means enable channel 6 and disable channel 7, 5, 4.
                   `8' is 1000 that means enable channel 3 and disable channel 2, 1, 0.
     

@Description

Read the enable/disable status of the 8 channels of ND-6017. This command is only available for ND-6017.

@Syntax
$(Addr)6<CR>

     $          Command leading code. (1-character)     
     (Addr)     Address ID (2-character)     
     6          Read channel status. (1-character)     

@Response
!(Addr)(ChannelVal)<CR>
   or
?(Addr)<CR>

     !           Command is valid.     
     ?           Command is invalid.     
        (Addr)      Address ID.     
     (ChannelVal)bit 3~0 of 1st character: controlt channel 7 - 4.
                        bit 3~0 of 2nd character: control channel 3 - 0. 
                        bit value 0 : Disable channel
                        bit value 1 : Enable channel (2-character)     

@Example
     User command: $066<CR>     
     Response:     !0648<CR>     

4 is equals binary 0100 that means enable channel 6 and disable channel 7, 5, 4.
8 is equals binary 1000 that means enable channel 3 and disable channel 2, 1, 0.

@Description

Read the CJC (Cold Junction Compensation) sensors data. This command is only available for ND-6011.

@Syntax
$(Addr)3<CR>

     $        Command leading code.     
     (Addr)   Address ID     
     3        Read CJC status.     

@Response
>(Data)<CR>
   or
?(Addr)<CR>

     >       Command is valid.     
     (Data)     CJC sensor's data.
                       Data format is engineering units. (an + or - sign
					   with five decimal digits and a decimal fixed point. 
					   The resolution is 0.1°C     
     ?          Command is invalid.     
     (Addr)     Address ID.     

@Example
     User command: $063<CR>     
     Response:     >+0037.9<CR>     

@Description

To correct the CJC offset errors use CJC (Cold Junction Compensation) offset calibration. This command is only available for ND-6011.

@Syntax
$(Addr)9(Counts)<CR>
     $          Command leading code.     
     (Addr)     Address ID     
        9          CJC offset calibration.     
     (Counts)   It is a 4-characters (Hexadecimal) with a sign + 
	                   or -, range is 0000 to FFFF, each count equals 
                       approximately 0.0153°C.
                       Example : +0042 = 4x16 + 2 = 66
                                 66 * 0.0153°C = 1.009°C     

@Response
!(Addr)<CR>
  or 
?(Addr)<CR>

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

@Example
     User command: $089+0042<CR>     
     Response:     !08<CR>     

CJC offset calibration at address 08H.  The calibrated offset temperature is +0042(Hex) = 66, 66 x 
0.0153°C = 1.009°C

@Description

Clear the High/Low alarm state at specified analog input module. This command is only available for ND-6011 & ND-6012.

@Syntax
@(Addr)CA<CR>

     @          Command leading code.     
     (Addr)     Address ID     
     CA         Clear latched alarm.     

@Response
!(Addr)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     

@Example
     User command: @06CA<CR>     
     Response:     !06<CR>     

Clear the both High/Low latch alarm state at address 06H.

@Description

Reset the event counter to zero at specified analog input module. This command is only available for ND-6011 & ND-6012.

@Syntax
@(Addr)CE<CR>

     @          Command leading code.     
     (Addr)     Address ID     
     CE         Clear event counter.     

@Response
!(Addr)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     

@Example
     User command: @06CE<CR>     
     Response:     !06<CR>     

Set the event counter to zero at address 06H, response data means its event counter has been reset.

@Description

Disable High/Low alarm functions at specified analog input module. This command is only available for ND-6011 & ND-6012.

@Syntax
@(Addr)DA<CR>

     @          Command leading code.     
     (Addr)     Address ID      
     DA         Disable Alarm.     

@Response
!(Addr)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     

@Example
     User command: @06DA<CR>     
     Response:     !06<CR>     

Disable all alarm functions at address 06H.


3. 20. Read Digital I/O and Alarm Status

@Description

Read the digital input channel, digital output channel and the alarm state at specified analog input module. This command is only available for ND-6011 & ND-6012.

@Syntax
@(Addr)DI<CR>

     @          Command leading code.     
     (Addr)     Address ID      
     DI         Read digital I/O and alarm state.     

@Response
!(Addr)(Alarm)(DigitalO)(DigitalI)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     
        (Alarm)    0 : alarm is disable
                       1 : MOMENTARY mode enable.
                       2 : LATCH mode enable.
					   (1-character)     
     (DigitalO) Digital output channel, port 0 and 1 status.
	                   00 : channel 0 is OFF, channel 1 is OFF
					   01 : channel 0 is ON  , channel 1 is OFF
					   02 : channel 0 is OFF, channel 1 is ON
					   03 : channel 0 is ON  , channel 1 is ON 
				    (2-character)     
     (DigitalI) Digital input channel, port status.
	                   00 : channel is LOW.
					   01 : channel is HIGH.
				    (2-character)     

@Example
     User command: @06DI<CR>     
     Response:     !0620301<CR>     

Read digital I/O and alarm at address 06H. alarm state is LATCH, digital output channel port 0 and 1 are ON and digital input channel is HIGH.


3. 21. Set Digital Output

@Description

Set digital output channel at specified module. This command is only available for ND-6011 & ND-6012.

@Syntax
@(Addr)DO(OutData)<CR>

     @          Command leading code.     
     (Addr)     Address ID      
        DO         Set digital output     
     (OutData)  Digital output data .
	                   00 : bit 1 is OFF, bit 0 is OFF.
					   01 : bit 1 is OFF, bit 0 is ON.
					   02 : bit 1 is ON  , bit 0 is OFF
					   03 : bit 1 is ON  , bit 0 is ON.     

@Response
!(Addr)<CR>
   or
?(Addr)<CR>

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

@Example
     User command:  /B>@06DO02<CR>     
     Response:     !06<CR>     

Set the digital output channel state at address 06H, digital output channel port 0 is OFF, port 1 is ON.


3. 22. Enable Alarm

@Description

Enable alarm to Latch mode or Momentary mode at specified analog input module. This command is only available for ND-6011 & ND-6012.

@Syntax
@(Addr)EA(Mode)<CR>

     @          Command leading code.     
     (Addr)     Address ID      
        EA         Enable alarm command code     
     (Mode)         M : enable alarm to MOMENTARY mode.
                    L  : enable alarm to LATCH mode.     

@Response
!(Addr)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     

@Example
     User command: @06EAL<CR>     
     Response:     !06<CR>     

Enable alarm to LATCH mode at address 06H.

     User command: @06EAM<CR>     
     Response:     !06<CR>     

Enable alarm to MOMENTARY mode at address 06H.


3. 23. Set High Alarm

@Description

Set high alarm limit value at specified analog input module.

@Syntax
@(Addr)HI(Data)<CR>

     @          Command leading code.     
     (Addr)     Address ID     
        HI         Set high alarm limit value.     
     (Data)     Alarm high limit value.
	                   Data format is engineering units. (an + or - sign
					   with five decimal digits and a decimal fixed point.     

@Response
!(Addr)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     

@Example
     User command: @06HI+300.00<CR>     
     Response:     !06<CR>     

Set high alarm limit value to 300°C for type J thermocouple to input at address 06H.


3. 24. Set Low Alarm

@Description

Set low alarm limit value at specified analog input module.

@Syntax
@(Addr)LO(Data)<CR>

     @          Command leading code.     
     (Addr)     Address ID      
        LO         Set low alarm limit value.     
     (Data)     Alarm low limit value.
                       Data format is engineering units. (an + or - sign
					   with five decimal digits and a decimal fixed point.     

@Response
!(Addr)<CR>
     !          Command is valid.     
     (Addr)     Address ID.     

@Example
     User command: @06LO+100.00<CR>     
     Response:     !06<CR>     

Set low alarm limit value to +100°C to accept J-type thermocouple input at address 06H.


3. 25. Read Event Counter

@Description

Read the event counter value at specified analog input module.

@Syntax
@(Addr)RE<CR>

     @          Command leading code.     
     (Addr)     Address ID      
     RE         Read event counter.     

@Response
!(Addr)(Data)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     
     (Data)     5-character (Decimal), range 00000 to 65535,
	                   if the event counter exceed 65535 then event
					   counter value is 65535 (No changed).
					(5-character)     

@Example
     User command: @06RE<CR>     
     Response:     !0612345<CR>     

Read event counter, its value is 12345 (Decimal) at address 06H.


3. 26. Read High Alarm Limit

@Description

Read the high alarm limit at specified analog input module.

@Syntax
@(Addr)RH<CR>

     @          Command leading code.     
     (Addr)     Address ID     
     RH         Read high alarm limit.     

@Response
!(Addr)(Data)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     
     (Data)     High alarm limit value.
	                   Data format is engineering units. (an + or - sign
					   with five decimal digits and a decimal fixed point.     

@Example
     User command:     @06RH<CR>     
     Response:         !06+01.500<CR>     

Read the high alarm limit value at address 06H, its value is 1.500 Volts, presume this module is configured to accept ±2.5 Volts input.


3. 27. Read Low Alarm Limit

@Description

Read the low alarm limit at specified analog input module.

@Syntax
@(Addr)RL<CR>

     @          Command leading code.     
     (Addr)     Address ID, range (00 - FF).     
     RL         Read low alarm limit.     

@Response
!(Addr)(Data)<CR>

     !          Command is valid.     
     (Addr)     Address ID.     
     (Data)     Alarm low limit value.

Data format is engineering units. (an + or - sign with five decimal digits and a decimal fixed point.     

@Example
     User command:     @06RL<CR>     
     Response:         !06-0.3850<CR>     

Read the low alarm limit value at address 06H, its value is -0.3850 Volts, presume this module is configured to accept 1 Volts input.


3. 28. Read Leading Code Setting

@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     
        (Status)       (2-character)
		               Bit 0 : Reserved
					   Bit 1 : Power failure or watchdog failure
					   Bit 2 : Host watchdog is enable
					   Bit 3 : Host failure     
     (C1)       Leading code 1, for read configuration status,
	                   firmware version, etc. default is $. (1-character)     
     (C2)       Leading code 2, for read synchronize sampling,
	                   digital output ,default is #. (1-character)     
     (C3)       Leading code 3, for change configuration.
	                   default is %. (1-character)     
     (C4)       Leading code 4, for read alarm status, enable
	                   alarm, etc. default is @. (1-character)     
     (C5)       Leading code 5, for read command leading
	                   code, change command leading code, etc.
					   default is ~.
					   (1-character)     
     (C6)        Leading code 6, this leading code is reserved.
	                    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.


3. 29. Change Leading Code Setting

@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.     
     (C1)       Leading code 1, for read configuration status, 
	                   firmware version, etc. default is $.
                       (1-character)     
     (C2)       Leading code 2, for read synchronize sampling,
	                   digital output ,default is #.(1-character)     
     (C3)       Leading code 3, for change configuration.
	                   default is %. (1-character)     
     (C4)       Leading code 4, for read alarm status, enable
	                   alarm, etc. default is @. (1-character)     
     (C5)       Leading code 5, for read command leading 
	                   code, change leading code, etc. default is ~.
					   (1-character)     
     (C6)       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.     

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

     User command: ~0610A#%@~*<CR>     
     Response:     !06<CR>     

     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 confuse yourself.
• The leading code change only use the command conflicts other devices of other brand on the network.
• The changing of leading code is not necessay if all modules in a network are NuDAMs`.

3. 30. Set Host Watchdog Timer & Safety Value

@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>

     ~          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)     
     (TimeOut)  Host timeout value, between this time period 
	                   host must send (Host is OK) command to 
					   module, otherwise module will change to safety 
					   state.
					   Range 01 - FF. (2-character)
					   One unit is 53.3 ms (Firmware version 1.x)
					   01 = 1 * 53.3 = 53.3 ms
					   FF = 255 * 53.3 = 13.6 sec
					   One unit is 100 ms (Firmware version 2.x)
					   01 = 1 * 100 = 100 ms
					   FF = 255 * 100 = 25.5 sec     
     (SafeValue)2 channels safety value of digital output
	                   channels when host is failure. (2-character)     

@Response
!(Addr)<CR>             
   or
?(Addr)<CR>

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

@Example
     User command: ~06211203<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
	               18 * 53.3 = 959 ms (Firmware Version 1.x)
				   18 * 100  = 1800 ms (Firmware Version 2.x)     
     03     03 (00000011) The two digital output channels are high as failure or reset.     

3. 31. Read Host Watchdog Timer & Safety Value

@Description

Read host watchdog timer setting and the safety value.

@Syntax
~(Addr)3<CR>

     ~          Command leading code.     
     (Addr)     Address ID      
     3          Read host watchdog setting and module safety state value.     

@Response
!(Addr) (Flag)(TimeOut)(SafeValue)<CR> 
    or
?(Addr)<CR>

     !          Command is valid.     
     ?          Command is invalid.     
        (Addr)     Address ID, range (00 - FF).     
        (Flag)     0 : Host watchdog timer is disable
		               1 : Host watchdog timer is enable(1-character)     
     (TimeOut)  Host timeout value.
	                   Range 01 - FF. (2-character)
					   One unit is 53.3 ms (Firmware version 1.x)
					   01 = 1 * 53.3 = 53.3 ms
					   FF = 255 * 53.3 = 13.6 sec
					   One unit is 100 ms (Firmware version 2.x)
					   01 = 1 * 100 = 100 ms
					   FF = 255 * 100 = 25.5 sec     
     (SafeValue)2 channels safety state digital output value when 
	                   host is failure. (2-character)     

@Example
     User command: ~063<CR>     
     Response:     !0611203<CR>     

     06     Address ID     
     1      Host watchdog timer is enable.     
     12     Timeout value. 0x12 = 18
	               18 * 53.3 = 959   ms (Firmware Version 1.x)
				   18 * 100  = 1800 ms (Firmware Version 2.x)     
     03     03 (00000011) The safty status of the two igital output channels are high.     

3. 32. Host is OK

@Description

When host watchdog timer is enable, host computer must send this command to every module before timeout otherwise "host watchdog timer enable" module`s output value will go to safety state output value.

Timeout value and safety state output value is defined in 3.30. "Set Host Watchdog Timer & Safety Value"

@Syntax
~**<CR>

~ Command leading code.
** Host is OK.

@Response

Note : Host is OK command has NO response.

@Example
User command: ~**<CR>



4. Data Format and Input Range

---

4. 1. Data Format of Analog Input Modules

There are four typed of data format used in analog input modules.

1. Engineering units
2. Percent of FSR (Full Scale Range)
3. Two's complements hexadecimal
4. Ohms

Engineering Units

• Set bit 1 and bit 0 of data format variable to "00" means the data is represented in engineering units.
• This data format including three components.
  1. sign (+ or - )
  2. digits
  3. decimal point
• Data is composited with a sign (+ or - ) followed with 5-digits and a decimal point.
• It does not exceed 7-characters.

The different analog input ranges have different resolutions or number of decimal places. Refer to Table 4-1 for details.

Input Range	Resolution
±15 mV, ±50 mV	1mV three decimal places
±100 mV, ±150 mV, ±500 mV	10mV two decimal places
±1 V, ±2.50 V, ±5 V	100mV four decimal places
±10 V	1mV three decimal places
±20 mA	1mA three decimal places
Type J and T thermocouple	0.01°C two decimal places
Type K, E, R, S, B, N and C thermocouple	0.1°C one decimal places

Table 4-1 Data format and resolution

Example 1 :

• Input Range is ±5 V
• Input is -1.37 Volts

engineering units : -1.3700<CR>

Example 2 :

• Input Range is ±10 V
• Input is +3.653 Volts

engineering units : +03.653<CR>

Example 3 :

• Input Range is Type K thermocouple (range 0°C to 1000°C)
• Input is 406.5°C

engineering units : +0406.5<CR>

Example 4 :

• Input Range is Type T thermocouple (range -100°C to 400°C)
• Input is -50.5°C

engineering units : -050.50<CR>

Percent of FSR (Full Scale Range)

• Data format bit 1 and 0 set to 01 is percent of FSR.
• This data format including three components.
  1. sign (+ or - )
  2. digits
  3. decimal point
• Data is sign (+ or - ) followed with 5-digits and a decimal point.
• It does not exceed 7-characters.
• Maximum resolution is 0.01%, the decimal point is fixed.
• Data is the ratio of input signal to the value of full scale range.

Example 1 :

• Input Range is ±5 V
• Input is +1 Volts

% of FSR : +020.00<CR>
(+(20/100) x 5 V) = +1 V

Example 2 :

• Input Range is ±10 V
• Input is +4 Volts

% of FSR: +040.00<CR>
(+(40/100) x 10 V) = +4 V

Example 3 :

• Input Range is Type K thermocouple (range 0°C to 1000°C)
• Input is 406.5°C

% of FSR: +040.65<CR>
(+(40.65/100) x 1000°C ) = 406.5°C

Two's Complement Hexadecimal

• Data format bit 1 and 0 set to 10 is 2's complement.
• Data is 4-character(16 binary bits) hexadecimal string.
• Positive full scale is 7FFF (+32767)
• Negative full scale is 8000 (-32768)

Example 1 :

• Input Range is ±5 V
• Input is +1 Volts

Two's complement hexadecimal : 1999<CR>
((1/5) x 32768) = 6553.6 = 1999H

Example 2 :

• Input Range is ±5 V
• Input is -2 Volts

Two's complement hexadecimal : CD27<CR>
((-2/5) x 32768) = -13107.2 = CD27H

Example 3 :

• Input Range is ±10 V
• Input is +4 Volts

Two's complement hexadecimal : 3333<CR>
((4/10) x 32768) = 13107.2 = 3333H

Example 4 :

• Input Range is Type K thermocouple (range 0°C to 1000°C)
• Input is 406.5°C

Two's complement hexadecimal : 3408<CR>
((406.5/1000) x 32768 ) = 13320.2 = 3408H


4. 2. Analog Input Range

The following table shows the relation between the input range setting with the data format and the resolution.

Engineering Units Table :

Code	Input Range	Data Format	+Full Scale	Zero	- Full Scale	Displayed Resolution
00	±15mV	Eng. Units	+15.000	±00.000	-15.000	1mV
01	±50mV	Eng. Units	+50.000	±00.000	-50.000	1mV
02	±100mV	Eng. Units	+100.00	±000.00	-100.00	10mV
03	±500mV	Eng. Units	+500.00	±000.00	-500.00	10mV
04	±1V	Eng. Units	+1.0000	±0.0000	-1.0000	100.00mV
05	±2.5V	Eng. Units	+2.5000	±0.0000	-2.5000	100.00mV
06	±20mA	Eng. Units	+20.000	±00.000	-20.000	1mA
07	Reserved
08	±10V	Eng. Units	+10.000	±00.000	-10.000	1mV
09	±5V	Eng. Units	+5.0000	±0.0000	-5.0000	100.00mV
0A	±1V	Eng. Units	+1.0000	±0.0000	-1.0000	100.00mV
0B	±500mV	Eng. Units	+500.00	±000.00	-500.00	10mV
0C	±150mV	Eng. Units	+150.00	±000.00	-150.00	10mV
0D	±20mA	Eng. Units	+20.000	±00.000	-20.000	1mA

Percent of Full Scale Range Table :

Code	Input Range	Data Format	+Full Scale	Zero	- Full Scale	Displayed Resolution
00	±15mV	% of FSR	+100.00	±000.00	-100.00	0.01%
01	±50mV	% of FSR	+100.00	±000.00	-100.00	0.01%
02	±100mV	% of FSR	+100.00	±000.00	-100.00	0.01%
03	±500mV	% of FSR	+100.00	±000.00	-100.00	0.01%
04	±1V	% of FSR	+100.00	±000.00	-100.00	0.01%
05	±2.5V	% of FSR	+100.00	±000.00	-100.00	0.01%
06	±20mA	% of FSR	+100.00	±000.00	-100.00	0.01%
07	Reserved
08	±10V	% of FSR	+100.00	±000.00	-100.00	0.01%
09	±5V	% of FSR	+100.00	±000.00	-100.00	0.01%
0A	±1V	% of FSR	+100.00	±000.00	-100.00	0.01%
0B	±500mV	% of FSR	+100.00	±000.00	-100.00	0.01%
0C	±150mV	% of FSR	+100.00	±000.00	-100.00	0.01%
0D	±20mA	% of FSR	+100.00	±000.00	-100.00	0.01%

Tow`s Complement Table :

Code	Input Range	Data Format	+Full Scale	Zero	- Full Scale	Displayed Resolution
00	±15mV	2's Comp.	7FFF	0000	8000	1 LSB
01	±50mV	2's Comp.	7FFF	0000	8000	1 LSB
02	±100mV	2's Comp.	7FFF	0000	8000	1 LSB
03	±500mV	2's Comp.	7FFF	0000	8000	1 LSB
04	±1V	2's Comp.	7FFF	0000	8000	1 LSB
05	±2.5V	2's Comp.	7FFF	0000	8000	1 LSB
06	±20mA	2's Comp.	7FFF	0000	8000	1 LSB
07	Reserved
08	±10V	2's Comp.	7FFF	0000	8000	1 LSB
09	±5V	2's Comp.	7FFF	0000	8000	1 LSB
0A	±1V	2's Comp.	7FFF	0000	8000	1 LSB
0B	±500mV	2's Comp.	7FFF	0000	8000	1 LSB
0C	±150mV	2's Comp.	7FFF	0000	8000	1 LSB
0D	±20mA	2's Comp.	7FFF	0000	8000	1 LSB

The following table shows the relation between the input range setting with the data format and the resolution when using ND-6011 to measure temperature by thermocouple.

Code	Input Range Thermocouple	Data Format	Maximum	Minimum	Displayed Resolution
0E	J (0°C to 760°C)	Eng. Units	+760.00	+000.00	0.01°C
0F	K (0°C to 1000°C)	Eng. Units	+1000.0	+0000.0	0.1°C
10	T (-100°Cto400°C)	Eng. Units	+400.00	-100.00	0.01°C
11	E (0°C to 1000°C)	Eng. Units	+1000.0	+0000.0	0.1°C
12	R (500°C to 1750°C)	Eng. Units	+1750.0	+0500.0	0.1°C
13	S (500°C to 1750°C)	Eng. Units	+1750.0	+0500.0	0.1°C
14	B (500°C to 1800°C)	Eng. Units	+1800.0	+0500.0	0.1°C
15	N (-270°C to 1300°C)	Eng. Units	+1300.0	-0270.0	0.1°C
16	C (0°C to 2320°C)	Eng. Units	+2320.0	+0000.0	0.1°C

Code	Input Range Thermocouple	Data Format	Maximum	Minimum	Displayed Resolution
0E	J (0°C to 760°C)	% of FSR	+100.00	+000.00	0.01%
0F	K (0°C to 1000°C)	% of FSR	+100.00	+000.00	0.01%
10	T (-100°Cto400°C)	% of FSR	+100.00	-025.00	0.01%
11	E (0°C to 1000°C)	% of FSR	+100.00	+000.00	0.01%
12	R (500°C to 1750°C)	% of FSR	+100.00	+028.57	0.01%
13	S (500°C to 1750°C)	% of FSR	+100.00	+028.57	0.01%
14	B (500°C to 1800°C)	% of FSR	+100.00	+027.27	0.01%
15	N (-270°C to 1300°C)	% of FSR	+100.00	-020.76	0.01%
16	C (0°C to 2320°C)	% of FSR	+100.00	+000.00	0.01%

Code	Input Range Thermocouple	Data Format	Maximum	Minimum	Displayed Resolution
0E	J (0°C to 760°C)	2's Comp.	7FFF /td>	0000	1 LSB
0F	K (0°C to 1000°C)	2's Comp.	7FFF	0000	1 LSB
10	T (-100°Cto400°C)	2's Comp.	7FFF	E000	1 LSB
11	E (0°C to 1000°C)	2's Comp.	7FFF	0000	1 LSB
12	R (500°C to 1750°C)	2's Comp.	7FFF	2492	1 LSB
13	S (500°C to 1750°C)	2's Comp.	7FFF	2492	1 LSB
14	B (500°C to 1800°C)	2's Comp.	7FFF	238E	1 LSB
15	N (-270°C to 1300°C)	2's Comp.	7FFF	E56B	1 LSB
16	C (0°C to 2320°C)	2's Comp.	7FFF	0000	1 LSB

5. Calibration

---

5. 1. How to Calibrate the Analog Input Modules ?

What do you need to do calibration ?

1. One 5 1/2 digit multimeter
2. A voltage calibrator or very stable and noise free DC voltage generator.
3. NuDAM Aministration Utility

Calibration Procedure

1. Select the correct input range, different input range have different apply calibration voltage.

2. Apply the correct offset voltage to the analog input module, detail voltage value, see table 5-1.

3. Send "Offset Calibration $(Addr)1" to analog input module five times.

4. Apply the correct span voltage to the analog input module, detail voltage value, see table 5-1.

5. Send "Span Calibration $(Addr)0" to analog input module five times.

6. Repeat procedure 2 to procedure 5 two times.

Table 5-1 Analog Input Module`s Calibration Voltages

ND-6011 Calibration voltages

Code	Input Range	Offset Calibration voltage	Span Calibration voltage
00	±15mV	0 mV	+15 mV
01	±50mV	0 mV	+50 mV
02	±100mV	0 mV	+100 mV
03	±500mV	0 mV	+500 mV
04	±1V	0 V	+1 V
05	±2.5V	0 V	+2.5 V
06	±20mA	0 mA	+20 mA
0E	J (0°C to 760°C)	0 mV	+42.922 mV
0F	K (0°C to 1000°C)	0 mV	+54.875 mV
10	T (-100°Cto400°C)	-6.258 mV	+20.900 mV
11	E (0°C to 1000°C)	0 mV	+76.358 mV
12	R (500°C to 1750°C)	0 mV	+21.108 mV
13	S (500°C to 1750°C)	0 mV	+18.698 mV
14	B (500°C to 1800°C)	0 mV	+13.814 mV
15	N (-270°C to 1300°C)	-4.345 mV	+47.502 mV
16	C (0°C to 2320°C)	0 mV	+37.107 mV

ND-6012 Calibration voltages

Code	Input Range	Offset Calibration voltage	Span Calibration voltage
08	±10 V	0 mV	+10 V
09	±5 V	0 mV	+5 V
0A	±1 V	0 mV	+1 V
0B	±500 mV	0 mV	+500 mV
0C	±150 mV	0 mV	+150 mV
0D	±20 mA	0 mA	+20 mA

1 "ALL" means for ND-6011 and ND-6012.

©1995 Circuit Specialists, Inc.