R30GECT1
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-9029 P. 5 / 12
EtherCAT SPECIFICATIONS
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Modular Device Profile
R30GECT1 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
R30GECT
1 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 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 register 0x0012
(Configured Station Alias) of ESC (EtherCAT Slave Controller) when R30GECT1 starts up.
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Process Data Configuration
The number of data R30GECT1 can transmits: 4 points (4 words) for input; and 4 points (4 words) for output.
■
Data Configuration
The data configuration is in accordance with the EtherCAT Modular Device Profile (MDP) specifications.
Table 1: Data Configuration
OBJECT
ADDRESS
CONTENT
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
PDO Mapping Objects (RxPDO)
0x1600
Output data list
RxPDO Gap
0x1701
Output data gap
PDO Mapping Objects (TxPDO)
0x1A00
Input data list
PDO Mapping Objects (TxPDO)
0x1AFF
Status data list
TxPDO Gap
0x1B01
Input data gap
Sync Manager Type
0x1C00
Sync manager type
PDO Assign (OUT)
0x1C12
Output data transmission order
PDO Assign (IN)
0x1C13
Input data transmission order
Sync Manager Parameter Objects
0x1C32, 0x1C33
Sync manager parameter
Manufacturer Specific Objects
0x2000
Module status
Input Area Objects
0x6000
Input data
Output Area Objects
0x7000
Output data
Information Data Objects
0x9000
Module information
Modular Device Profile Objects
0xF000
MDP information
Configured Module Ident List
0xF030
Module information collation by master module
Detected Module Ident List
0xF050
Module information list
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EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated in the SAFEOP or OP state, and RxPDO (output configuration data) is updated
only in the OP state.
The RUN LED turns on only in the OP state and input data and output data are updated, while only input data is updated
in the PREOP state.
