Omron GRT1-ECT SmartSlice, Operation Manual

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A4 Appendix Object Dictionary
A4 - 6 GRT1-series EtherCAT Communication Unit - Operation Manual
• The number of RxPDO mapping entries for analog outputs depends on the total number of analog
outputs connected to the GRT1-ECT. When no analog outputs are connected, object 1610 hex will
contain 0 entries.
• Value range (depends on the total number of analog outputs): (hh = 01..40) hex
• The number of RxPDO mapping entries for counter outputs depends on the total number of counter
outputs connected to the GRT1-ECT. When no countter outputs are connected, object 1620 hex will
contain 0 entries.
• Value range (depends on the total number of counter outputs): hh = 01..20
• The GRT1-ECT status flags give the status of the connection between the GRT1-ECT and the
SmartSlice I/O Units, and the status of the SmartSlice I/O Units.
• The number of RxPDO mapping entries for digital inputs depends on the total number of digital inputs
connected to the GRT1-ECT. When no digital inputs are connected, object 1A10 hex will contain 0
entries.
• The RxPDO mapping for digital inputs will only hold 240 entries maximum per index. When the index
is completely filled, it will ‘overflow’ into the next object which again can contain a maximum of 240
1620 hex RxPDO mapping parameter counter outputs [1..hh]
Sub-index 0: Number of objects
Range:
−
Unit:
−
Default: hh Attribute:
−
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: Counter output 1
Range:
−
Unit:
−
Default: 70200120 hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index 2: Counter output 2
Range:
−
Unit:
−
Default: 70200210 hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index n: Counter output n
Range:
−
Unit:
−
Default: 7020hh10 hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1A00 hex TxPDO mapping parameter Communication status
Sub-index 0: Number of objects
Range:
−
Unit:
−
Default: 01 hex Attribute:
−
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: 1st object (Output object 1)
Range:
−
Unit:
−
Default: F1000110 hex Attribute:
−
Size: 4 bytes (U32) Access: RW PDO map: Not possible
1Akk hex RxPDO mapping parameter digital inputs [m..m+hh], where m=(kk-10 hex)*240+1
Sub-index 0: Number of objects
Range:
− Unit: − Default: hh (+1 when padding is used) Attribute: −
Size: 1 byte (U8) Access: RW PDO map: Not possible
Sub-index 1: Digital output m
Range:
− Unit: − Default: 60kk0101 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index ...
Range:
− Unit: − Default: ... Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index hh: Digital output m+hh
Range:
− Unit: − Default: 60kkhh01 hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible
Sub-index hh+1: Padding bits to make object size a multiple of 8 bits (optional)
Range:
− Unit: − Default: 000000[01..07] hex Attribute: −
Size: 4 bytes (U32) Access: RW PDO map: Not possible