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LEDs CPU

Status

LED

green

red

IO ER

red

PN-C ER

red

PN-D ER

red

IO DIAG

red

Description

Boot-up after PowerON

- as soon as the CPU is supplied with DC 24V, the green PW-LED of the power supply is on.

red

Error while copying the kernel.

red

Runtime system was stopped. Perform a power cycle.

red 2Hz

Yaskawa SD card was not recognized.

red 2Hz

1Hz

Yaskawa SD card certificate is faulty or was unauthor-

ized removed during operation. Perform a power

cycle.

yellow

1Hz

Runtime system is loaded.

red 2Hz

Runtime system could not be loaded. Perform a

power cycle.

Operation

yellow

0.5Hz X

CPU is in STOP state.

red

2Hz

System watchdog was triggered and the CPU

restarted. Execute a reboot via iCube Engineer or set

your CPU to RUN state.

green

CPU is in RUN state without error.

red

0.5Hz

Error in user program. CPU is in the READY/STOP/

HALT state with an error.

red 2Hz

1Hz

Yaskawa SD card certificate is faulty or was unauthor-

ized removed during operation. Perform a power

cycle.

red 2Hz

2Hz

The overlaying file system in the parametrization

memory reports a memory overflow.

‘Fix memory overflow’ page 69

yellow

2Hz

1Hz

The CPU requests a power cycle, e.g. after resetting

factory settings type 1

using a DIP switch.

SliceBus

There are no errors on the

SliceBus

red

Configuration error on the

SliceBus

reports a diagnosis.

Chap. 4.9.3.5 ‘Sli-

ceBus’ page 84

not relevant: X

1) The status depends on the operating mode of the CPU.

iC9200 Series

Hardware description

Structure > LEDs

HB700 | CPU | PMC921xEx | en | 23-06

Содержание iC9200 Series

Страница 1: ...CPU PMC921xEx Manual HB700 CPU PMC921xEx en 23 06 iC9200 Series IEC 61131 CPU iC921xM x Hardware...

Страница 2: ...PMC921xEx_000_CPU iC921xM x 1 EN 2023 YASKAWA Europe GmbH Philipp Reis Str 6 65795 Hattersheim Germany Tel 49 6196 569 300 Fax 49 6196 569 398 Email info yaskawa eu Internet www yaskawa eu com...

Страница 3: ...7 1 Device exchange 35 2 7 2 Device repairs and defects 35 2 8 Industrial security and installation guidelines 36 2 8 1 Industrial security in information technology 36 2 8 2 Installation guidelines...

Страница 4: ...4 6 MRESET and reset to factory settings 71 4 7 Firmware update 73 4 8 Safe Mode 73 4 9 Web based management WBM 74 4 9 1 Overview and first steps 74 4 9 2 Information 76 4 9 3 Diagnostics 76 4 9 4 C...

Страница 5: ...t Technology is a registered trademark of Phoenix Contact EtherCAT is a registered trademark of Beckhoff Automation GmbH PROFINET is a registered trademark of PROFIBUS and PROFINET International PI Al...

Страница 6: ...the structure configuration and application n The manual is targeted at users who have a background in automation technology n The manual consists of chapters Each chapter describes a completed topic...

Страница 7: ...DANGER This device is not certified for applications in explosive environments EX zone The manual must be available for n Project design department n Installation department n Commissioning n Operati...

Страница 8: ...Only this person may connect the supply voltage Observe the necessary precautions when handling electrostatically sensitive components EN 61340 5 1 IEC 61340 5 1 Repairs to the device particularly th...

Страница 9: ...f human perception If a person who is not electrically discharged handles electrostatic sensitive modules voltages can occur and damage components and thus impair the functionality of the modules or r...

Страница 10: ...he system future proof for future expansions More detailed information about the usage of the System SLIO modules may be found in the according manual in the Download Center of www yaskawa eu com unde...

Страница 11: ...lways mount the power module 007 1AB00 DC 24V 10A because the CPU does not provide a power section supply due to the system The color coded power modules are used when the CPU does not provide power s...

Страница 12: ...ystem The functionality of a periphery module is defined by the electronic module which is mounted to the terminal module by a sliding mechanism With an error the defective elec tronic module may be e...

Страница 13: ...r the signalling and supplies lines of the module When mounting the terminal block it is attached to the bottom of the elec tronic unit and turned towards the electronic unit until it clicks into plac...

Страница 14: ...with coding pin the coding jack remains in the electronic module and the coding plug in the terminal module This ensures that after replacing the electronic module just another electronic module can b...

Страница 15: ...All dimensions are in mm 73 112 104 130 135 70 104 109 76 5 15 133 12 9 55 5 62 12 9 CPU iC921xM x 8x periphery module electronic module iC9200 Series Basics and mounting Dimensions HB700 CPU PMC921x...

Страница 16: ...tection IP54 or higher on a 35 mm standard mounting rail Use a mounting rail according to EN 60715 2 4 1 Mounting CPU There are locking lever at the top side of the CPU For mounting and demounting the...

Страница 17: ...of at least 105mm above and below exists 2 Turn the locking lever upwards place the CPU at the mounting rail and turn the lever downward If you want to use the CPU without periphery modules you can w...

Страница 18: ...a power section supply due to the system 1 Before mounting the periphery modules you have to remove the bus cover at the right side of the CPU by pulling it forward Keep the cover for later mounting...

Страница 19: ...nsider temperature for external cables Cables may experience temperature increase due to system heat dissi pation Thus the cabling specification must be chosen 5 C above ambient temperature CAUTION El...

Страница 20: ...your prepared wire until it stops so that it is fixed By pushing the contact spring opens thus ensuring the necessary contact pres sure 2 Determine the pin position according to the pin assignment 3...

Страница 21: ...When using System SLIO modules you must always mount the power module 007 1AB00 DC 24V 10A because the CPU does not provide a power section supply due to the system 2 5 2 1 Wiring power module With th...

Страница 22: ...ross section of 0 08mm2 up to 1 5mm2 3 By removing the screwdriver the wire is securely fixed via the spring contact to the terminal 0V DC24V 0V DC24V DC 24V SysDC5V 1 2 3 4 1 DC 24V supply CPU DC 5V...

Страница 23: ...e maximum value With the CPU this is 3A If the total current exceeds the maximum value the LEDs are no longer triggered Here the power module with the order number 007 1AB10 is to be placed between th...

Страница 24: ...To attach the shield the mounting of shield bus carriers are necessary The shield bus carrier available as accessory serves to carry the shield bus to connect cable shields 1 Each 8x periphery module...

Страница 25: ...ing labelling the connection position 2 Insert through the round connection hole of the according contact your prepared wire until it stops so that it is fixed By pushing the contact spring opens thus...

Страница 26: ...power section supply with max 10A If the 10A are no longer sufficient another power module must be plugged So you have also the possibility to define isolated groups n The periphery modules get their...

Страница 27: ...C24V 0V DC24V 3 4 5 4 5 3 0V DC24V 0V DC24V 1 2 1 DC 24V supply CPU DC 5V electronic section supply I O area max 2A 2 Power module 007 1AB00 DC 24V power section supply max 10A 3 Additional power modu...

Страница 28: ...ct the electronic power section supply for CPU an I O area with a 2A fuse fast respectively by a line circuit breaker 2A characteris tics Z After PowerON the RUN respectively MF LED at every System SL...

Страница 29: ...s shown the connector is released and can be removed 3 For mounting reasons you have to remove the electronic module of the power module located right beside the CPU Press the unlocking lever at the l...

Страница 30: ...you can bring your system back into operation 2 6 2 Demounting 8x periphery modules 1 Power off your system 2 For the exchange of a electronic module the electronic module may be pulled for ward afte...

Страница 31: ...r of the module to be exchanged upwards 5 Pull the module 6 For mounting turn the locking lever of the module to be mounted upwards 7 To mount the module put it to the gap between the both modules and...

Страница 32: ...the module group to be exchanged upwards 5 Pull the module group forward 6 For mounting turn all the locking lever of the module group to be mounted upwards 7 To mount the module group put it to the g...

Страница 33: ...ace Now you can bring your system back into operation Clack 1 2 Clack Clack 1 Power off your system 2 Remove if exists the wiring of the module respectively the wired terminal block 3 In contrast to 8...

Страница 34: ...ug the wired terminal block again Now you can bring your system back into operation 1 Power off your system 2 Remove if exists the wiring of the module group respectively the wired terminal blocks 3 I...

Страница 35: ...rmware version If the firmware version of the CPU is newer than the firmware version of the CPU to be replaced you might have to recompile your user program in iCube Engineer If this is required you w...

Страница 36: ...he most important precautions to prevent manipulation and loss of data security in the industrial environment are n Encrypting the data traffic by means of certificates n Filtering and inspection of t...

Страница 37: ...nly the communication ports that are used for communication should be acti vated Only the communication protocols that are used for communication should be activated n Consider possible defence strate...

Страница 38: ...tems Only boot from storage media that are protected against manipulation n Use encryption systems on your storage media n Perform security assessments regularly to reduce the risk of manipulation n U...

Страница 39: ...bars metal rails tin cabinet n Proof the correct fixing of the lead isolation Data lines must be shielded Analog lines must be shielded When transmitting signals with small amplitudes the one sided la...

Страница 40: ...onvenient if the conduction of a potential compensating line is not possible analog signals some mV respectively A are transferred foil isolations static isolations are used n With data lines always u...

Страница 41: ...201 Insulation voltage to reference earth Inputs outputs AC DC 50V test voltage AC 500V Protective measures against short circuit Environmental conditions to EN 61131 2 Climatic Storage transport EN 6...

Страница 42: ...1000 4 6 HF conducted 150kHz 80MHz 10V 80 AM 1kHz EN 61000 4 4 Burst degree of severity 3 EN 61000 4 5 Surge degree of severity 31 1 Due to the high energetic single pulses with Surge an appropriate e...

Страница 43: ...cted via SliceBus Memory n PMC9212Ex only 2GB working memory RAM 12MB program memory 32MB data memory 512kB retentive data memory n PMC9216Ex only 2GB working memory RAM 12MB program memory 32MB data...

Страница 44: ...lly switched with X3 12 Password and serial number 13 Slot for Yaskawa SD card 14 SliceBus for System SLIO modules 15 MAC1 MAC address for X3 X4 MAC2 MAC address for X1 X2 16 QR code 17 X5 reserved 18...

Страница 45: ...therCAT controller in an EtherCAT system as an EtherCAT master n It is connected via the integrated EtherCAT port X1 n Connect this interface with the RJ45 jack IN of your EtherCAT slave station n Eth...

Страница 46: ...n Via Ethernet default 192 168 1 1 MAC1 you have access to Programming remote maintenance of the CPU Web based management WBM of the CPU OPC UA communication of the CPU n In the optionally available P...

Страница 47: ...easy wiring each pole on the connector is 2 fold 24pin USB C jack Pin A Signal Description Pin B Signal Description 1 GND Ground 1 GND Ground 2 TX1 High speed data path 1 2 TX2 High speed data path 2...

Страница 48: ...you can use a Yaskawa SD card as external memory and transfer the overlay file system of the CPU to the card Chap 4 5 2 Slot for Yaskawa SD card page 69 3 2 4 Buffering mechanisms n The iC9200 Series...

Страница 49: ...R red PROFINET device bus error 52 IO DIAG red A diagnosis has occurred on the SliceBus Status LED 3 LED Color Function green The CPU is in RUN state without errors red The CPU is in STOP state with e...

Страница 50: ...reboot via iCube Engineer or set your CPU to RUN state green X X X X CPU is in RUN state without error red 0 5Hz X X X X Error in user program CPU is in the READY STOP HALT state with an error red 2H...

Страница 51: ...s LED EC RN green EC ER red Description X X n The EtherCAT master is in INIT state n The EtherCAT master is not configured X 2 5Hz X n The EtherCAT master is in the PreOp state X 0 2s 1s X n The Ether...

Страница 52: ...ROFINET IO device X X A PROFINET IO controller has established an active communication connection to the CPU iC921xM x PROFINET I Device X X PROFINET I Device signals n Bus error no connection to PROF...

Страница 53: ...ettings type 1 page 71 01 1 2 ON OFF After PowerON the CPU starts in Safe Mode Chap 4 8 Safe Mode page 73 3 2 7 Operating mode switch n With the operating mode switch you can select between the operat...

Страница 54: ...ware CPU Triton ARM A17 CPU cores 3 Frequency 1 26 GHz RAM 2 GB eMMC 8 GB Operating controls LEDs Three point switch DIP switches Integrated SliceBus supply Connectors Serial Com Sub D SliceBus Number...

Страница 55: ...sks 16 SliceBus Amount of process data per module up to 60 bytes Max number of modules 64 Cycle time ms 500 s 512 ms OPC UA OPC UA Server Max parallel sessions 5 Sampling rates 100 ms 5 s Encryption s...

Страница 56: ...4 1ms Cycle time 1 ms 512 ms System Redundancy Fast Startup Fast Startup Max number of devices 32 Topology Device Device I O Data 512 Byte 512 Byte Cycle time 1 ms 512 ms MRP Client supported Housing...

Страница 57: ...o load operation 0 2 A Current consumption rated value 1 5 A Inrush current 1 A I t 0 3 A s Max current drain at backplane bus 3 A Max current drain load supply Power loss 12 W Hardware CPU Triton ARM...

Страница 58: ...Accuracy Realtime clock 1 minute deviation per month Buffered time 28 days 25 C Execution and Synchronization Manager ESM Execution and Synchronization Manager ESM Min task cycle time ESM 500 s ESM c...

Страница 59: ...aves Isochronous mode PROFINET System VendorID 0x0111 DeviceID 0x0368 Specification Version 2 3 PROFINET capable ports X3 X4 licensable Controller Max number of devices 64 16ms 32 8ms 16 4ms 8 2ms 4 1...

Страница 60: ...ross weight 621 g Environmental conditions Operating temperature 0 C to 60 C Storage temperature 40 C to 70 C Certifications UL certification KC certification UKCA certification yes ChinaRoHS certific...

Страница 61: ...h the applicable license terms Notes on OpenSSL This product includes software developed by the OpenSSL Project for use in the OpenSSL Toolkit http www openssl org This product includes cryptographic...

Страница 62: ...inished You can start iCube Engineer now 4 4 2 iCube Engineer user interface 1 2 3 4 6 5 7 1 Menu bar 2 Toolbar 3 Components area 4 Plant area 5 Editor area 6 Cross functional area 7 Status bar The me...

Страница 63: ...ND REPLACE Here you can find and replace text in the project n CROSS REFERENCES All cross references within the project are shown here such as the use and decla ration of all variable types n WATCH WI...

Страница 64: ...U On delivery the following IP address parameters for the communication are preset in the project template of the CPU n Ethernet Port X3 X4 192 168 1 1 n Subnet mask 255 255 255 0 n Gateway If your CP...

Страница 65: ...net interface of your PC Please note that for commu nication via iCube Engineer the network card of the PC and the Ethernet interface of the CPU are in the same IP circle If necessary contact your net...

Страница 66: ...ting connection is shown in the Plant area at the node of the CPU by 4 4 4 1 Assigning new IP address parameters As soon as you are online connected to the CPU you can assign new IP address param eter...

Страница 67: ...meters in the Configuration column CAUTION When assigning the IP address parameters please note that the number ranges of the IP addresses of X1 X2 and X3 X4 must not overlap if they exist 5 Click on...

Страница 68: ...ttings type 1 page 71 n By Resetting to the factory setting type 2 you can delete the overlay file system and the current firmware version among others The current firmware version is over written by...

Страница 69: ...ch off the power supply to the CPU 6 Set the DIP switches S1 to the default position S1 S1 1 S1 2 Action 01 1 2 OFF OFF After PowerON the CPU starts in Standard Mode default setting 7 Switch on the po...

Страница 70: ...thout an Yaskawa SD card By default support for the Yaskawa SD card is enabled Disable the support of the Yaskawa SD card if you want to operate the CPU without YaskawaSD card If the support of the Ya...

Страница 71: ...The CPU now executes a MRESET n To confirm you will receive a diagnostic message that a MRESET was exe cuted You can output e g in iCube Engineer via Notifications in the Cockpit editor n The overlay...

Страница 72: ...etting 6 Switch on the power supply of the CPU again The CPU starts in Standard Mode n The overlay file system with user program configurations user data and firmware adjustments is deleted n The non...

Страница 73: ...CPU can only be reached via the default IP address n Additionally a memory area reserved exclusively for Safe Mode is enabled which allows the CPU to restart in the event of a memory overflow 1 Switc...

Страница 74: ...192 168 1 1 For secure communication the CPU web server uses a self signed TLS certifi cate that is automatically generated by the CPU during the commissioning Due to the system you will receive a se...

Страница 75: ...icate 2 Navigate to the certificates via Security Certificate Authentication 3 Switch to the tab Identity Store Here you have access to the generated certificate 4 Load the requested HTTPS certificate...

Страница 76: ...ackages 4 9 2 Information 4 9 2 1 General Data Here you will find general details about the CPU e g hardware and firmware versions order number as well as vendor information General Data Information D...

Страница 77: ...process data cyclically PreOp The EtherCAT slave station is in the Pre Operational state Process data are not exchanged SafeOp The EtherCAT slave station is in the Safe Operational state In this case...

Страница 78: ...Diagnostics Information Configuration Security Administration iC92 PMC92 Diagnostics EtherCAT Motion Alarms Notifications Profinet SliceBus SliceBus Modules By default the message entries in the tabl...

Страница 79: ...ing or selecting a sender in the selection field The currently list of message entries is always decisive for the names in the selection field When entering a name or part of the name click on Apply F...

Страница 80: ...MC92 Diagnostics EtherCAT Motion Alarms Notifications Profinet SliceBus SliceBus Modules To access the WBM of a PROFINET device click on the corresponding PROFINET device in the Device Name column The...

Страница 81: ...442 Subslot 0 Type 0 Sub elements 2 Information Configuration Security iC92 PMC92 Diagnostics EtherCAT Motion Alarms Notifications Profinet SliceBus SliceBus Modules On the PROFINET controller level y...

Страница 82: ...192 168 3 11 Profinet Devices 1 Module ID 106370 Slot 0 Submodules 4 Node ID 5 Submodule ID 2 Subslot 0 Type 0 Sub elements 2 On sub module level you will find the following information n Node ID nod...

Страница 83: ...AR was disabled Check the PROFINET device settings and enable the AR 5 Bit 5 is set if no neighbor information is available n No neighbor information are available in the network used This is usually...

Страница 84: ...bus and the connected modules SliceBus Diagnostics Information Configuration Security Administration iC92 PMC92 Diagnostics EtherCAT Motion Alarms Notifications Profinet SliceBus SliceBus Modules n T...

Страница 85: ...corresponding manual of the module n Back With Back you can jump back to the SliceBus diagnosis 4 9 4 Configuration 4 9 4 1 Network Here you can view the Ethernet settings of your CPU You only have r...

Страница 86: ...sponding online help 4 9 4 2 Date and Time The Date and Time page provides access to the NTP client configuration NTP stands for Network Time Protocol and is a standard described in RFC 958 for time s...

Страница 87: ...d 3 Click at OK The dialog is closed and the NTP server is listed in the table You can remove entries with and edit them with 4 Click on Apply You will receive a message that applying the new NTP daem...

Страница 88: ...ly and Reboot button to apply the settings for the system services After a security query the settings for the system services are adopted and the CPU is restarted 4 9 4 4 Web Services The page provid...

Страница 89: ...can affect the real time behavior of your system Avoid this during productive operation Web Services Configuration Configuration Network Date and Time System Services Web Services Information Diagnos...

Страница 90: ...TPS certificate The certificate is regenerated This overwrites an existing self signed HTTPS certificate 4 Click on Apply The certificate is used for authentication in the NGINX configuration Please n...

Страница 91: ...Table CRL lists In this table you can manage the revocation lists for the corresponding Trust Store By storing untrusted certificates and issuer certificates here 1 To create a Trust Store click the...

Страница 92: ...you can specify the format in which the certificate is to be added You can choose between text and file PEM format 2 To add a certificate in text format select at Input Method the Text Content parame...

Страница 93: ...or the relevant cer tificate or revocation list 2 In the query dialog click on Remove The detail views provide detailed information on each certificate and each revocation list 1 Click on to open the...

Страница 94: ...iles can be processed in PEM format only n Input Method Here you can specify the format in which the key pair is to be added You can choose between text and file PEM format 2 To add a key pair in text...

Страница 95: ...he corresponding element n Download You can download the public key content of a key pair as a PEM file If a key certificate is available you can download it as a CRT file Save the file in a directory...

Страница 96: ...cur n Status OK The configured firewall settings were successfully transferred to the CPU n Warning The CPU reports a warning e g if one or more additional filter configurations in the system exist Th...

Страница 97: ...rnet The fire wall should only temporarily be disabled for testing purposes such as troubleshooting The configuration of the firewall rules is divided into the following tabs n Basic Configuration Her...

Страница 98: ...ermanently enabled firewall you have no more access to the WBM of the CPU even after a reboot Resetting to the factory settings also resets the firewall to its default settings among others This way y...

Страница 99: ...ports or a range of values n Comment Here you can comment your filter rule accordingly 4 9 5 3 SD Card You can use SD Card to enable the deployment of Yaskawa SD cards and retrieve infor mation about...

Страница 100: ...SD card by the CPU n System Message Information on the current configuration and notes on potential security risks are shown here n Apply and Discard With the Apply button the selection is saved at C...

Страница 101: ...nternal parametrization memory to the Yaskawa SD card and deleted in the internal parametri zation memory Projects and IP configurations saved there are then no longer available When changing to opera...

Страница 102: ...rver to which the log data is to be sent n Protocol Transmission protocol to the server TLS is recommended for secure trans mission for this purpose a trust store must be defined for verification This...

Страница 103: ...ecurity Certificate Authentication Firewall SD Card Syslog Configuration User Authentication Information Diagnostics Configuration Administration iC92 PMC92 1 By selecting or deselecting the control f...

Страница 104: ...es are applied and the dialog is closed Every time you log on to the CPU via WBM or iCube Engineer System Use Notification is shown You can edit this text for customization The displayed information i...

Страница 105: ...s 3 With Save the new password for the user entry is applied and the dialog is closed You can select one or more user roles with different permissions for each user entry These permissions control acc...

Страница 106: ...CPU reset default type 1 Read online variables Overwrite variables Set and delete break points Read CPU status Read device informa tion Accessing WBM Admin Security Admin Security Auditor Cert Manage...

Страница 107: ...Engineer Information on this can be found in the iCube Engineer online help 4 9 6 Administration 4 9 6 1 iCube Apps Here you can install and uninstall apps After successful installation you can also s...

Страница 108: ...Status is shown Please note that starting multiple apps may require a CPU restart You will be informed of the impending restart by a dialog that opens To quit an app click in the table Installed iCube...

Страница 109: ...transfer or if the firmware file is defec tive In this case contact our support You can find the currently installed firmware version of your CPU in the WBM at Information General Data Here you can a...

Страница 110: ...n General Data page Chap 4 9 2 1 General Data page 76 The new firmware version should be shown here Otherwise start the update again If the update does not work please contact our support 4 9 6 3 Lice...

Страница 111: ...formation Diagnostics Configuration Security iC92 PMC92 Administration iCube Apps Firmware Update Lisence Management iCube Apps Administration With the button Create Container you can create a new lic...

Страница 112: ...CmRaC and click at Start Activation Now 9 Click at Download License Update File Now and save the Licence update as a WibuCmRaU file on your PC 10 Switch back to the tab Offline Activation in the WBM s...

Страница 113: ...system variable organized as a data structure proceed as follows 1 In the Plant area double click the SPS node The CPU SPS editor group opens 2 Select the editor Data list Alternatively you can open...

Страница 114: ...system variable to retrieve information about the system time of the device internal real time clock System variable Type description RTC RTC_TYPE data structure HOURS USINT system time hours MINUTES...

Страница 115: ...OCKET function block n The system variable DEVICE_STATE is a system variable organized as a data struc ture n You can use the DEVICE_STATE system variable to retrieve various information about the dev...

Страница 116: ...used memory in bytes including reserved blocks MEM_USAGE ULINT used memory in without reserved blocks n In iCube Engineer programs and program parts are treated as tasks n The Execution Synchronizatio...

Страница 117: ...the task in s n A delay occurs when higher priority tasks are pending at the time of task activation EXEC_TIME_THRESHOLD 1 LINT threshold that you can define for the sum of the execution time and the...

Страница 118: ...e manual of the corresponding System SLIO module n In iCube Engineer you can use the Y_SB_DataRecordRead block from the system library to read the corresponding record set To do this you must first ad...

Страница 119: ...n EC_ACYCLIC_LOST_FRAMES DWORD missing frames acyclic n Returns the number of frames lost during acyclic communication EC_NUM_CONFIGURED_SLAVES WORD configured number of slaves n Returns the number of...

Страница 120: ...02h PreOp 03 BootStrap 04h SafeOp 08h OP EC_SLAVE_LAST_AL_STATUS_CODE ARRAY 0 512 OF WORD1 Slave AL Status codes n Returns last read AL Status Codes of the EtherCAT slaves connected to the EtherCAT m...

Страница 121: ...on is active n The PROFINET device can be identified by means of the RALRM diagnostic block PNIO_MAINTENANCE_REQUIRED BOOL maintenance required n At least one PROFINET device reports a maintenance req...

Страница 122: ...me contained valid data PND_S1_OUTPUT_STATUS_GOOD BOOL IOP status of the higher level PROFINET controller n Information whether the PROFINET device has received the input process data PND_S1_INPUTS wi...

Страница 123: ...Notes Data Sheet...

Страница 124: ...hi Yahatanishi ku Kitakyushu 806 0004 Japan Phone 81 93 645 8801 http www yaskawa co jp In the event that the end user of this product is to be the military and said product is to be employed in any w...

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