M-system EtherCAT R3-NECT1, Instruction Manual

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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
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PDO Assign Objects ( (Data Transmission Order, Output: 0x1C12, Input: 0x1C13)
An allocation list for RxPDO and an allocation list for TxPDO are created in 0x1C12 and 0x1C13, respectively.
The indexes stored in 0x1C12 and 0x1C13 are placed in the order they are actually transmitted via PDO.
• PDO group
Assignment of the PDO groups is based on the I/O card types as defined by Information Data Objects.
•PDO group 0: Status
•PDO group 1: Analog I/O card
•PDO group 2: Discrete I/O card
The PDO group data is transmitted in the following order of priority: Group 0 > Group 1 > Group 2.
Table 10 shows the PDO list for the card configuration example of Table 5
Table 10: PDO List for the Configuration Example of Table 5
INDEX SUB-INDEX DATA TYPE BIT ACCESS PDO GROUP VALUE CONTENT
0x1C12 0 UINT8 8 RO – 5 Number of items
1 UINT16 16 RO 1 0x1603 Analog output data
2 UINT16 16 RO 1 0x1605 Analog output data
3 UINT16 16 RO 1 0x1607 Analog output data
4 UINT16 16 RO 1 0x1608 Analog output data
5 UINT16 16 RO 2 0x1601 Discrete output data
0x1C13 0 UINT8 8 RO – 6 Number of items
1 UINT16 16 RO 0 0x1AFF Status data
2 UINT16 16 RO 1 0x1A02 Analog input data
3 UINT16 16 RO 1 0x1A04 Analog input data
4 UINT16 16 RO 1 0x1A06 Analog input data
5 UINT16 16 RO 1 0x1A08 Analog input data
6 UINT16 16 RO 2 0x1A00 Discrete input data
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Sync Manager Type (0x1C00)
Sync Manager Type is allocated to object 0x1C00 based on the EtherCAT specification. (Refer to Table 11.)
Table 11: Object configuration for 0x1C00
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1C00 0 UINT8 8 RO 4 Number of items
1 UINT8 8 RO 1 Mailbox Write
2 UINT8 8 RO 2 Mailbox Read
3 UINT8 8 RO 3 Process Output Data
4 UINT8 8 RO 4 Process Input Data
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Sync Manager Parameter Objects (0x1C32, 0x1C33)
Setting object for Sync Mode.
Objects 0x1C32 and 0x1C33 are fixed as R3-NECT1 only supports the Free Run mode.
Distributed Clock (DC) mode is not supported.