TM Supported Remote I/O of EtherCAT Slave

Updated on 2026 / 06 / 11

Examples are valid for:


TMflow Software version: 1.76.6300 or above.
TM Robot Hardware version: 1.x/2.x/3.x
Other specific requirements: None 
Note that older or newer software versions may have different results.

 

 

Supported Main Module 

ADLink EPS-6000

BECKHOFF EK1100

DELTA 

R1 - EC5500D0

Weidmuller 

UR20-FBC-EC

OMRON

NX-ECC201

ECC202

ECC203 

# Digital Input

128

128

128

128

128

# Digital Output

128

128

128

128

128

# Analog Input

2

2

0

0

0

# Analog Output

2

2

0

0

0

Supported Sub Module

DIO / AIO Module

DIO Module

DIO Module

WPA-133491
WPA-131539
WPA-131544
WPA-131520
WPA-131525

NX-ID4342
NX-ID4442
NX-ID5342
NX-ID5442
NX-ID5142-5
NX-ID6142-5
NX-OD4121
NX-OD4256
NX-OD5121
NX-OD5256
NX-OD6121
NX-OD6256


How to Connect a EtherCAT remote I/O ? 

 

  • Shutdown TM Robot
  • Remove any power
  • Connect the power (+24 normally) for the remote I/O device
  • Connect the remote I/O device to the EtherCAT port on TM controller with an EtherCAT cable
  • Power up TM Robot, new I/O should be shown on I/O page in TMflow automatically
  • The remote I/O is ready to use
     

 

How to Check if an EtherCAT Slave I/O Device is Supported or Not ? 

 

Due to the complexity of EtherCAT I/O protocol, some devices might be compatible with TM robot and others might not.

 

Please send us an email and prepare the EtherCAT Slave Information file(*.ESI) and EtherCAT Network Information file(*.ENI) to check: TM Robot contact us page 

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