R30GECT1
5-2-55, Minamitsumori, Nishinari-ku, Osaka 557-0063 JAPAN
Phone: +81(6)6659-8201 Fax: +81(6)6659-8510 E-mail: [email protected]
EM-9029 P. 8 / 12
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RxPDO / TxPDO Gap (0x1701, 0x1B01)
Objects 0x1701 and 0x1B01 are not used.
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PDO Assign Objects (PDO Allocation List for Output: 0x1C12, Input: 0x1C13)
Allocation lists for RxPDO and TxPDO are allocated to 0x1C12 and 0x1C13, respectively.
0x1C12 and 0x1C13 contain all of RxPDO data and TxPDO data, 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 module types as defined by Information Data Objects.
- PDO group 0: Status
- PDO group 1: Analog I/O module
The PDO group data is transmitted in the following order of priority: Group 0 > Group 1.
Table 8: Object Configuration For PDO Allocation List
INDEX
SUB-INDEX
DATA TYPE
BIT
ACCESS
VALUE
CONTENT
0x1C12
0
UINT8
8
RO
2
Number of items
1
UINT16
16
RO
0x1600
Output data
2
UINT16
16
RO
0x1701
RxPDO Gap
0x1C13
0
UINT8
8
RO
3
Number of items
1
UINT16
16
RO
0x1AFF
Status data
2
UINT16
16
RO
0x1A00
Input data
3
UINT16
16
RO
0x1B01
TxPDO Gap
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Sync Manager Type (0x1C00)
Sync Manager Type is allocated to 0x1C00 based on the EtherCAT specification.
Table 9: Object Configuration For Sync Manager Type
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)
Objects 0x1C32 and 0x1C33 do not exist as the values of Sync Manager Parameter are fixed on the R30GECT1.
This unit supports only the Free Run mode and does not support Distributed Clock (DC) mode.
