Hardware reference
HARDWARE REFERENCE MANUAL
223
Revision 5.0
Response area
(FZM1 to controller)
Output area
(FZM1 to controller)
The data is mapped in VR using function $66 of the
ETHERCAT
command
in the following way:
Item
31 - 17
16
15
14 - 5
4
3
2
1
0
Control
Reserved
GATE ERR
Reserved
RUN OR READY BUSY FLG
Command
UDINT (32 bits)
Response code
UDINT (32 bits)
Response data
DINT (32 bits)
Item
31 - 0
Data 1
DINT (32 bits)
Data 2
DINT (32 bits)
...
Data 7
DINT (32 bits)
Data 8
DINT (32 bits)
Area
VR location start
VR location end
Command
VR_start_RxPDO
VR_start 4
Response
VR_start_TxPDO
VR_start 3
Output
VR_start 4
VR_start 11
Example
The following example maps the FZM1 (address 1001) Command area to VR
locations 100 to 104 and the Response and Output area to VR locations 200
to 211:
ETHERCAT($66,0,1001,100,5,200,12)
As a result the Control word is mapped to VR(100), the Command word to
VR(101), etc..
The status of the FZM1 can be read from VR(200).
To read the ERR flag, use
READ_BIT(15,200)
