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
EM-8274 P. 6 / 18
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Data Configuration
Data are configured in accordance with the EtherCAT Modular Device Profile (MDP) specifications as shown below.
Table 2: Data Configuration
OBJECT ADDRESS CONTENT
Input Area Objects 0x6000 to 0x60F0 Input data
Output Area Objects 0x7000 to 0x70F0 Output data
PDO Mapping Objects (TxPDO) 0x1A00 to 0x1AF0 Input data list
PDO Mapping Objects (TxPDO) 0x1AFF Status data list
PDO Mapping Objects (RxPDO) 0x1600 to 0x160F Output data list
Manufacturer Specific Object 0x2000 to 0x2001 Card status
PDO Assign (IN) 0x1C13 Input data transmission order
PDO Assign (OUT) 0x1C12 Output data transmission order
Sync Manager Type 0x1C00 Sync manager type
Sync Manager Parameter Objects 0x1C32 to 0x1C33 Sync mode
Information Data Object 0x9000 to 0x90F0 Card information
Modular Device Profile Objects 0xF000 MDP information
Detect Module Ident List 0xF050 Card information list
Configured Module Ident List 0xF030 Card information collation by muster module
Detected Address List 0xF040 I/O card address
Device Type 0x1000 Device type
Manufacturer Device Name 0x1008 Device name
Manufacturer Hardware Version 0x1009 Hardware version
Manufacturer Software Version 0x100A Software version
Identity Objects 0x1018 Vendor information
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EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated only in the SAFEOP or OP state, and RxPDO (output configuration data) is
updated only in the OP state.
The RUN LED turns on only in the OP state and input and output data are updated, while only input data is updated in the
PREOP state.
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EtherCAT Diagnostics
• AL Status Code
When the slave (R3-NECT1) fails to receive a request from the master or when there is a problem with the slave during nor-
mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.
The error codes that R3-NECT1 uses are as shown below.
Table 3: Error Codes of AL Status Code
CODE ERROR
0x0000 No error
0x0011 Invalid requested state change
0x0012 Unknown requested state
0x0013 BOOT satate not supported
0x0016 Invali Mailbox configuration (PREOP)
0x0017 Invalid SyncManager configuration
0x001B SyncManager Watchdog Timeout
0x001D Invalid Output congiguration
0x001E Invalid Input configuration
0x001F Invalid Watchdog Configuration
0x0029 FreeRun needs 3 Buffer mode
0x8000 Internal bus error at power on (vendor option)
0x8001 Internal bus error during communication (vendor option)