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8 Sysmac Studio
8 - 8
GRT1-series EtherCAT Communication Unit - Operation Manual
The PDO mapping in the GRT1-ECT should reflect the actual situation.
If the PDO mapping is not correct the LEDs [RUN] and [ERR] on the GRT1-ECT will be blinking.
This section describes the calculation for the correct PDO mapping.
1.
Make a list of the actual connected hardware.
2.
Calculate the total number of DI, DO, AI, AO, CO and CI for the connected SmartSlice I/O units.
Each slave can have a different number of DI, DO, AI, AO, CI and CO.
The total quantity of each type is required for the mapping.
The table below lists the amount of digital, analog and counter I/O for all supported SmartSlice
I/O Units.
* and similar models.
E.g. GRT1-OD4* cover models GRT1-OD4, GRT1-OD4-1, GRT1-OD4G-1 and GRT1-OD4G-3.
Additional information
Check the supplied documentation to prevent mistakes.
Example 1: Hardware
GRT1-OD4 and GRT1-OD8 and GRT1-ROS2 (2 DO)
Example 2:
8-2-2 Calculating required PDO mapping
Model
DO
AO
CO
DI
AI
CI
GRT1-ROS2
2
GRT1-OD4*
4
GRT1-OD8*
8
GRT1-DA2*
2
GRT1-ID4*
4
GRT1-IA4*
4
GRT1-ID8*
8
GRT1-AD2
2
GRT1-TS2*
2
GRT1-CT1*
6
6
GRT1-CP1-L
6
6
Actual connected hardware
DO
AO
DI
AI
GRT1-ROS2
2
GRT1-OD4G-1
4
GRT1-OD8
8
TOTAL = PDO entries to map
12
0
0
0
Actual connected hardware
DO
AO
DI
AI
GRT1-OD4-1
4
GRT1-OD4-1
4
GRT1-OD8-1
8
GRT1-DA2V
2
GRT1-IA4
4
GRT1-ID8-1
8
GRT1-AD2
2
TOTAL = PDO entries to map
16
2
12
2
Summary of Contents for GRT1-ECT SmartSlice
Page 3: ...GRT1 series EtherCAT Communication Unit Operation Manual Revised March 2012 ...
Page 18: ...15 GRT1 series EtherCAT Communication Unit Operation Manual ...
Page 30: ...1 EtherCAT Network 1 8 GRT1 series EtherCAT Communication Unit Operation Manual ...
Page 38: ...2 EtherCAT Communication details 2 8 GRT1 series EtherCAT Communication Unit Operation Manual ...
Page 52: ...4 GRT1 ECT Details 4 10 GRT1 series EtherCAT Communication Unit Operation Manual ...
Page 76: ...6 GRT1 ECT Troubleshooting 6 12 GRT1 series EtherCAT Communication Unit Operation Manual ...
Page 136: ...A4 Appendix Object Dictionary A4 16 GRT1 series EtherCAT Communication Unit Operation Manual ...
Page 140: ...Revision 2 GRT1 ECT series EtherCAT Slave Unit User s Manual ...