R7I4DECT-1-YVF4
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-7779-K P. 6 / 10
MOUNTING REQUIREMENTS
unit: mm (inch)
175 (6.89)
2−M4
EtherCAT SPECIFICATIONS
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Modular Device Profile
R7I4DECT-1-YVF4 complies with the Modular Device Profile (MDP) standard, ETG.5001.1 of the EtherCAT standard.
Be sure that the master supports the MDP standard.
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Fixed address
R7I4DECT supports Explicit Device Identification by allowing setting of fixed address using the fixed address setting rotary
switches (ID selector).
The fixed address can be set to be 1 to 255.
When fixed address is not used, set the ID selector to 0.
When the power is turned on with the ID selector set to other than 0, the designated address is written in the resistor 0x0012
of ESC (EtherCAT Slave Controller) when R7I4DECT starts up.
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Initialization
At the start up, objects of the process data mapping (RxPDO, TxPDO) corresponding to the I/O data of the device, and the
other objects are created in the object dictionary.
After initialization, the master unit is available to require to the slave unit (R7I4DECT-1-YVF4) to switch the status from
INIT to PREOP.
If the initialization is not completed due to any error with the module, switching requirement is rejected with AL status code
at switching from INIT to PREOP.
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Data Configuration
Data are configured in accordance with the EtherCAT Modular Device Profile (MDP) specifications as shown below.
Table 1: Data Configuration
OBJECT
ADDRESS
CONTENT
Input Area Objects
0x6000, 0x6001
Input data, Output status data
Output Area Objects
0x7000
Output data
PDO Mapping Objects (TxPDO)
0x1A00
Input data list
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, 0x1C33
Sync mode
Device Type
0x1000
Device type
Error Register
0x1001
Error register
Manufacturer Device Name
0x1008
Device name
Manufacturer Hardware Version
0x1009
Hardware version
Manufacturer Software Version
0x100A
Software version
Identity Objects
0x1018
Vendor information
