M-system EtherCAT R3-NECT1, Instruction Manual

Page: 14 / 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. 14 / 18
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Information Data Objects (0x9000 to 0x90F0)
Objects 0x9000 to 0x91F0 store the PDO group and Module Ident of I/O cards. (Refer to Table 13.)
The same number of objects as the number of I/O data items are allocated.
Index = (I/O slot number - 1) × 0x0010 (R3 I/O module)
Sub-Index is 9 or 10. (Refer to Table 12.)
Table 12: Object 0x9nn0 Configuration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x9nn0 0 UINT8 8 RO 10 Number of items
3 STRING 128 RO (model name) Device Type
9 UINT16 16 RO 1/2 PDO group
10 UINT32 32 RO 1 to n Module Ident
Table 13: PDO Group and Module Ident of I/O Cards
I/O MODULE MODULE TYPE PDO GROUP MODULE IDENT
DI16 Discrete input, 16 points 2 401
DI32 Discrete input, 32 points 2 402
DO16 Discrete output, 16 points 2 403
DO32 Discrete output, 32 points 2 404
AI4 Analog input, 4 points 1 405
AI8 Analog input, 8 points 1 406
AI16 Analog input, 16 points 1 407
AO4 Analog output, 4 points 1 408
AO8 Analog output, 8 points 1 409
AO16 Analog output, 16 points 1 410
DIO16 Discrete input, 16 points, Discrete output, 16 points 2 411
AIO16 Analog input, 16 points, Analog output, 16 points 1 412
AIO8 Analog input, 8 points, Analog output, 8 points 1 413
DI64 Discrete input, 64 points 2 414
DO64 Discrete output, 64 points 2 415
AI2 Analog input, 2 points 1 416
AO2 Analog output, 2 points 1 417
AIO4 Analog input, 4 points, Analog output, 4 points 1 420
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Modular Device Profile Objects (0xF000)
Object 0xF000 contains Modular Device Profile (MDP). The Index interval is allocated to Sub-Index 1. The maximum number
of cards is allocated to Sub- Index 2. And, the PDO group parameter of the slave device is allocated to Sub-Index 5. (Refer to
Table 14.)
Sub-Index 4 indicates the valid/invalid statuses of object 0x9nn0 Sub-Indexes.
The allocations are as follows:
bit 0 = 0x9nn0 Sub-Index 1
bit 1 = 0x9nn0 Sub-Index 2
:
1: Valid, 2: Invalid
Table 14: Object 0xF000 configuration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x9nn0 0 UINT8 8 RO 5 Number of items
1 UINT16 16 RO 0x0010 Index Interval
2 UINT16 16 RO 1 Maximum number of cards
4 UINT32 32 RO 0x00000300 Valid Sub-Index of 0x9nn0
5 UINT16 16 RO 0 PDO group