M-system EtherCAT R30GECT1, Instruction Manual

Page: 7 / 12

R30GECT1
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-9029 P. 7 / 12
OBJECT DICTIONARY (DATA DESCRIPTION)
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Input Area Objects (Input Data Area: 0x6000)
Input data of I/O modules is allocated to 0x6000.
Sub-Indexes correspond to channel numbers.
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Output Area Objects (Output Data Area: 0x7000)
Output data of I/O modules is allocated to 0x7000.
Sub-Indexes correspond to channel numbers.
Table 4: Object Configuration For I/O Data By Module Type
MODULE TYPE INDEX
SUB-
INDEX
DATA TYPE BIT ACCESS VALUE CONTENT
Analog input,
4 points 0x6000 0 UINT8 8 RO 4 Number of items
1 INT16 16 RO -32768 to 32767 First point input data
2 INT16 16 RO -32768 to 32767 Second point input data
3 INT16 16 RO -32768 to 32767 Third point input data
4 INT16 16 RO -32768 to 32767 Fourth point input data
Analog output,
4 points 0x7000 0 UINT8 8 RO 4 Number of items
1 INT16 16 RO -32768 to 32767 First point output data
2 INT16 16 RO -32768 to 32767 Second point output data
3 INT16 16 RO -32768 to 32767 Third point output data
4 INT16 16 RO -32768 to 32767 Fourth point output data
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Manufacturer Specific Objects (Module Status: 0x2000)
Status information of the module is allocated to 0x2000.
0x0000 is set when the R30GECT1 communicates with the master normally, while 0x000F is set during non-communication
or communication error with the master.
Table 5: Object Configuration for Module Status
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x2000 0 UINT8 8 RO 1 Number of items
1 UINT16 16 RO 0x000 / 0x000F Module status information
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PDO Mapping Objects (Data List: 0x1600, 0x1A00, 0x1AFF)
• Objects 0x1600, 0x1A00
Output data list (RxPDO) and Input data list (TxPDO) are allocated to 0x1600 and 0x1A00, respectively .
RxPDO data and TxPDO data contain Object index, Sub-Index and the number of bits to which they refer to.
For input data, objects 0x6000 to 0x6FFF are referred to.
For output data, objects 0x7000 to 0x7FFF are referred to.
Table 6: Object Configuration For Output Data List and Input Data List
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1600
(RxPDO)
0 UINT8 8 RO 4 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index
bb: Sub-Index
cc: Number of bits
2 UINT32 32 RO
3 UINT32 32 RO
4 UINT32 32 RO
0x1A00
(TxPDO)
0 UINT8 8 RO 4 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index
bb: Sub-Index
cc: Number of bits
2 UINT32 32 RO
3 UINT32 32 RO
4 UINT32 32 RO
• Object 0x1AFF
Module status list (TxPDO) is allocated to 0x1AFF.
Module status list refers to Object 0x2000. See Table 5 below.
Table 7: Configuration For Object 0x1AFF
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1AFF 0 UINT8 8 RO 1 Number of items
1 UINT32 32 RO 0x20000110 Reference object