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AMSAMOTION IO module

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28 Oct 2026 22:37 #350519 by mwc
AMSAMOTION IO module was created by mwc
I'm starting a new thread for this, as I'm sure other people will likely be looking at these modules. The exact module I have is a AMSAMOTION EC1A-IO16R-AM6, which has 16 Digital Inputs, 16 Digital (relay) Outputs, 4 Analogue Inputs, 2 Analogue Outputs, and a ModBus connection.

The main reason I've selected this module is for the Analogue Inputs, as I want to use one for a Plasma THC, and another for FRO.

I've had it connected for a while, but have been concentrating on the Lichuan drivers first, so as it stands, I've only got as far as the lcec_configgen output -

<slave idx="3" type="generic" vid="0x00000b96" pid="0x00001400" name="D4">
      <!--EC1A-CORE1-->
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <!--Digital Output process data mapping-->
          <pdoEntry idx="7010" subIdx="01" bitLen="16" halPin="mapping-ch" halType="!!type 002e!!"/>
        </pdo>
        <pdo idx="1603">
          <!--Analog Output process data mapping-->
          <pdoEntry idx="7030" subIdx="01" bitLen="16" halPin="mapping-ch0" halType="u32"/>
          <pdoEntry idx="7030" subIdx="02" bitLen="16" halPin="mapping-ch1" halType="u32"/>
        </pdo>
        <pdo idx="1605">
          <!--Modbus Master Control process data mapping-->
          <pdoEntry idx="7050" subIdx="01" bitLen="32" halPin="tigger-bit" halType="!!type 002f!!"/>
          <pdoEntry idx="7050" subIdx="02" bitLen="32" halPin="clear-bit" halType="!!type 002f!!"/>
          <pdoEntry idx="7050" subIdx="03" bitLen="8" halPin="rs485-enable" halType="!!type 001e!!"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <!--Digital Input process data mapping-->
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="mapping-ch" halType="!!type 002e!!"/>
        </pdo>
        <pdo idx="1a02">
          <!--Analog Input process data mapping-->
          <pdoEntry idx="6020" subIdx="01" bitLen="16" halPin="mapping-ch0" halType="u32"/>
          <pdoEntry idx="6020" subIdx="02" bitLen="16" halPin="mapping-ch1" halType="u32"/>
          <pdoEntry idx="6020" subIdx="03" bitLen="16" halPin="ch2" halType="u32"/>
          <pdoEntry idx="6020" subIdx="04" bitLen="16" halPin="ch3" halType="u32"/>
        </pdo>
        <pdo idx="1a04">
          <!--Data process data mapping-->
          <pdoEntry idx="6040" subIdx="01" bitLen="16" halPin="word0" halType="u32"/>
          <pdoEntry idx="6040" subIdx="02" bitLen="16" halPin="word1" halType="u32"/>
          <pdoEntry idx="6040" subIdx="03" bitLen="16" halPin="word2" halType="u32"/>
          <pdoEntry idx="6040" subIdx="04" bitLen="16" halPin="word3" halType="u32"/>
          <pdoEntry idx="6040" subIdx="05" bitLen="16" halPin="word4" halType="u32"/>
          <pdoEntry idx="6040" subIdx="06" bitLen="16" halPin="word5" halType="u32"/>
          <pdoEntry idx="6040" subIdx="07" bitLen="16" halPin="word6" halType="u32"/>
          <pdoEntry idx="6040" subIdx="08" bitLen="16" halPin="word7" halType="u32"/>
        </pdo>
        <pdo idx="1a05">
          <!--Data process data mapping-->
          <pdoEntry idx="6050" subIdx="01" bitLen="8" halPin="err0" halType="s32"/>
          <pdoEntry idx="6050" subIdx="02" bitLen="8" halPin="err1" halType="s32"/>
          <pdoEntry idx="6050" subIdx="03" bitLen="8" halPin="err2" halType="s32"/>
          <pdoEntry idx="6050" subIdx="04" bitLen="8" halPin="err3" halType="s32"/>
          <pdoEntry idx="6050" subIdx="05" bitLen="8" halPin="err4" halType="s32"/>
          <pdoEntry idx="6050" subIdx="06" bitLen="8" halPin="err5" halType="s32"/>
          <pdoEntry idx="6050" subIdx="07" bitLen="8" halPin="err6" halType="s32"/>
          <pdoEntry idx="6050" subIdx="08" bitLen="8" halPin="err7" halType="s32"/>
          <pdoEntry idx="6050" subIdx="09" bitLen="8" halPin="err8" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0a" bitLen="8" halPin="err9" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0b" bitLen="8" halPin="err10" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0c" bitLen="8" halPin="err11" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0d" bitLen="8" halPin="err12" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0e" bitLen="8" halPin="err13" halType="s32"/>
          <pdoEntry idx="6050" subIdx="0f" bitLen="8" halPin="err14" halType="s32"/>
          <pdoEntry idx="6050" subIdx="10" bitLen="8" halPin="err15" halType="s32"/>
          <pdoEntry idx="6050" subIdx="11" bitLen="8" halPin="err16" halType="s32"/>
          <pdoEntry idx="6050" subIdx="12" bitLen="8" halPin="err17" halType="s32"/>
          <pdoEntry idx="6050" subIdx="13" bitLen="8" halPin="err18" halType="s32"/>
          <pdoEntry idx="6050" subIdx="14" bitLen="8" halPin="err19" halType="s32"/>
          <pdoEntry idx="6050" subIdx="15" bitLen="8" halPin="err20" halType="s32"/>
          <pdoEntry idx="6050" subIdx="16" bitLen="8" halPin="err21" halType="s32"/>
          <pdoEntry idx="6050" subIdx="17" bitLen="8" halPin="err22" halType="s32"/>
          <pdoEntry idx="6050" subIdx="18" bitLen="8" halPin="err23" halType="s32"/>
          <pdoEntry idx="6050" subIdx="19" bitLen="8" halPin="err24" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1a" bitLen="8" halPin="err25" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1b" bitLen="8" halPin="err26" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1c" bitLen="8" halPin="err27" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1d" bitLen="8" halPin="err28" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1e" bitLen="8" halPin="err29" halType="s32"/>
          <pdoEntry idx="6050" subIdx="1f" bitLen="8" halPin="err30" halType="s32"/>
          <pdoEntry idx="6050" subIdx="20" bitLen="8" halPin="err31" halType="s32"/>
        </pdo>
      </syncManager>
    </slave>



Now this obviously doesn't work, as there are a few unknown halTypes, so I'm expecting a few issues along the way to getting this working, however it's a job for tomorrow night, as I'm needing to go and get some sleep, but first step will be getting the Digital IO working.

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29 Oct 2026 20:13 #350542 by mwc
Replied by mwc on topic AMSAMOTION IO module
Well that was far less painful than I thought it would be.
AO0 looped back to AI0 gives comparable readings.
 

All it took was a bit copying and pasting, a few minor value edits, and I have the Analogue and Digital IO working with the following code-
<slave idx="3" type="generic" vid="0x00000b96" pid="0x00001400" name="D4">
      <!--EC1A-CORE1-->
      <syncManager idx="0" dir="in"/>
      <syncManager idx="1" dir="out"/>
      <syncManager idx="2" dir="out">
        <pdo idx="1601">
          <!--Digital Output process data mapping-->
          <pdoEntry idx="7010" subIdx="01" bitLen="16" halPin="DO-bit" halType="bit"/>
        </pdo>
        <pdo idx="1603">
          <!--Analog Output process data mapping-->
          <pdoEntry idx="7030" subIdx="01" bitLen="16" halPin="AO0" halType="u32"/>
          <pdoEntry idx="7030" subIdx="02" bitLen="16" halPin="AO1" halType="u32"/>
        </pdo>
      </syncManager>
      <syncManager idx="3" dir="in">
        <pdo idx="1a00">
          <!--Digital Input process data mapping-->
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="DI-bit" halType="bit"/>
        </pdo>
        <pdo idx="1a02">
          <!--Analog Input process data mapping-->
          <pdoEntry idx="6020" subIdx="01" bitLen="16" halPin="AI0" halType="u32"/>
          <pdoEntry idx="6020" subIdx="02" bitLen="16" halPin="AI1" halType="u32"/>
          <pdoEntry idx="6020" subIdx="03" bitLen="16" halPin="AI2" halType="u32"/>
          <pdoEntry idx="6020" subIdx="04" bitLen="16" halPin="AI3" halType="u32"/>
        </pdo>
        </syncManager>
    </slave>

Obviously doesn't include the ModBus stuff, but I have no use for that.
The lcec_configgen halPin naming did use duplicate names, and the unknown halTypes ( !!type 002e!! ) can be set to either bit or u32 depending on your own preferred usage. I've used bit for now.
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The following user(s) said Thank You: tommylight, NWE

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30 Oct 2026 00:10 #350552 by rodw
Replied by rodw on topic AMSAMOTION IO module
Great. Looks like you could break this up with a complex entry for each input
          <pdoEntry idx="6000" subIdx="01" bitLen="16" halPin="DI-bit" halType="bit"/>

eg
<pdoEntry idx="60FD" subIdx="0" bitLen="32" halType="complex">
            <complexEntry bitLen="1" halPin="CW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="CCW-limit" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-home" halType="bit"/>
            <complexEntry bitLen="13"/>
            <complexEntry bitLen="1" halPin="in-1" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-2" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-3" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-4" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-5" halType="bit"/>
            <complexEntry bitLen="1" halPin="in-6" halType="bit"/>
            <complexEntry bitLen="10"/>
          </pdoEntry>
 
The following user(s) said Thank You: NWE

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  1. Configuring LinuxCNC
  3. Advanced Configuration
  5. EtherCAT
  7. AMSAMOTION IO module
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