M-system EtherCAT R3-NECT1, Instruction Manual

Page: 12 / 18

R3-NECT1
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: info@m-system.co.jp
EM-8274 P. 12 / 18
■
Manufacture Specific Objects (Card Status: 0x2000, 0x2001)
Status information of each I/O card is allocated to 0x2000 and mounting information of I/O cards is allocated to 0x2001.
Input abnormal data of I/O slot number 0 to 16 (I/O card address 0 to 31) are stored in 0x2000 as 1 bit per channel (for a
module with 4 channels, 4 bits). When the corresponding module is an analog input module and first point or second point
input is out of
-15 to +105% range, out of temperature table range or burnout state, the bit [second point: first point] of corresponding input
is set to 1. When the corresponding module is other than the analog input module, [0:0] is set.
Status data of I/O slot number 0 to 16 are stored in 0x2001 as 16 bits. LSB corresponds to I/O slot number 1, MSB corresponds
to I/O slot number 16.
A bit for normally existing I/O slot is set to 1, a bit for not existing I/O slot or I/O slot having a hardware error (including com-
munication error) set to 0. (Refer to Table 7)
Table 7: Card Status Configuration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x2000 0 UINT8 8 RO 16 Number of items
1 UINT16 16 RO n R3 I/O module 1 status information
2 UINT16 16 RO n R3 I/O module 2 status information
: : : : : :
16 UINT16 16 RO n R3 I/O module 16 status information
0x2001 0 UINT8 8 RO 1 Number of items
1 UINT16 16 RO 0xnnnn Mounting status of I/O cards
■
PDO Mapping Objects (Data list, TxPDO (input): 0x1A00 to 0x1A0F, RxPDO (output): 0x1600 to 0x160F)
Of the mounted I/O cards, input data list is allocated to TxPDO, output data list is allocated to RxPDO and status data list is
allocated to 0x1AFF of TxPDO.
Object index (input data) = (I/O slot number -1) (R3 I/O module)
Object index (output data) = (module number) (R3 I/O module)
RxPDO data and TxPDO data contain the object index, Sub-Index and number of bits of R3-NECT1.
Table 8: Object configuration for RxPDO and TxPDO
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x16nn
(RxPDO)
0 UINT8 8 RO 1 to 16 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for I/O module
bb: Sub-index for I/O module
cc: Number of bits for I/O module
2 UINT32 32 RO
: : : :
m UINT32 32 RO
0x1Ann
(TxPDO)
0 UINT8 8 RO 1 to 16 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for I/O module
bb: Sub-index for I/O module
cc: Number of bits for I/O module
2 UINT32 32 RO
: : : :
m UINT32 32 RO
Table 9: Object configuration for 0x1AFF
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1AFF 0 UINT8 8 RO 17 Number of items
1 UINT32 32 RO 0x20000110 Reference object
2 UINT32 32 RO 0x20000210
: : : : :
16 UINT32 32 RO 0x20001010
17 UINT32 32 RO 0x20010110