2.
CC-Link communication specifications
4-24
4. TNU functions
TNU
◦
RWr section (slave -> master)
◦
When Input Mode is IO
As indicated in the following figure, the inputs from each driver controller (slave) of ID 0 through
F are allocated to the ward device area, or the bits comprising each ward device are allocated to
the driver controller inputs.
Offset address
Name
Reference
0x (n)
Driver controller output
Table (15)
[Table (15)]
Bit
Driver controller input signal No.
.b0 to .b15
Output signal No.: 0 to F
* For signal names, etc., see
”2-3 Buffer memory allocation correspondence table”(->P.4-26)
◦
Input mode: For simple DVC, half DVC, and full DVC
The data to be input depends on the TNU mode.
I/O mode
: Stores the DVC data.
PC/TDO mode
: Stores the program readout data.
<Simple DVC ( in IO mode)>
Offset address
Name
Unit
Data type
0x (n)
Driver controller input
-
-
0x (n+1)
Position data (L)
0.1 μm
Signed
32-bit integer
0x (n+2)
Position data (H)
<Simple DVC (in PC/TDO mode)>
Offset address
Name
Unit
Data type
0x (n)
Reserved
-
-
0x (n+1)
Position data (L)
0.1 μm
Signed
32-bit integer
0x (n+2)
Position data (H)
<Half DVC (in IO mode)>
Offset address
Name
Unit
Data type
0x (n)
Driver controller output
-
-
0x (n+1)
Current position
0.1 μm
Signed
32-bit integer
0x (n+2)
0x (n+3)
Present current
%
Unsigned
32-bit integer
0x (n+4)
0x (n+5)
Present speed
mm/s
Unsigned
16-bit integer
0x (n+6)
Reserved
-
-
0x (n+7)
Reserved
-
-
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