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3.
EtherCAT communication specifications
4. TNU functions
TNU
◦
Driver controller input section (master -> slave)
Refer to the RWw section of the CC-Link Communication Specifications.
• TNU control output section (slave -> master: in PC/TDO mode)
Offset address
Name
Reference
0x0
TNU signal area 1
Table (6)
0x1
TNU signal area 2
Table (7)
0x2
Driver controller ID
response command
Table (8)
0x3
Program No. /
Parameter No.
Table (9)
0x4
Data (L)
Table (10)
0x5
Data (H)
Table (11)
0x6
Driver controller
status
Table (12)
0x7
Reserved
-
• TNU control output section (slave -> master: from PC/TDO mode to IO mode)
Offset address
Name
Reference
0x0
TNU signal area 1
Table (6)
0x1
TNU signal area 2
Table (7)
0x2
Reserved
-
0x4
DVC write failure
status display
Table (13)
0x5
DVC write success
status display
Table (14)
0x6
Driver controller
status
Table (12)
0x7
Reserved
-
◦
About the TNU control input in the ESI file that can be downloaded from the THK website section
The TNU control input is registered to Index#2003.
[Table (6)]
Bit
Name
Set value
b0 to b7
Command No. (8bit)
b8 to b11
Access invalid
-
b12
Command send/receive error
0 = Normal, 1 = Error
b13
Command send/receive completed
0 = Not complete, 1 = Complete
b14
Command reception error
0 = Not possible, 1 = Possible
b15
Access invalid
-
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