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Allocation of I/O Numbers (Output)
Target
I/O no.
Name
axis
Y0
All axes System stop
EC packet
Y1
All axes
monitor request
－
－
Y2
FROM write
Y3
All axes
request
(Reserved for
－
Y4
system)
Axis group setting
Y5
All axes
change request
(Reserved for
－
Y6
system)
Recalculation
Y7
All axes
request
Cam table
Y8
All axes
reading request
Cam table
Y9
All axes
rewriting request
EtherCAT
YA
All axes
communication
stop request
Waveform logging
YB
All axes
enable
ESM switch
YC
All axes
request
(Reserved for
－
YD-YF
system)
(Note 1): The I/O numbers in the above table show relative addresses based on the base word number. The I/O
numbers actually used vary according to the slot number where FP7 MC Unit is installed and the starting word
number.
Example) The system stop request signal is Y100 for slot number 1 if the starting word is number 10.
Description
Request the system stop. When it turns on, all axes stops with the
deceleration time of 1 ms. While this is on, all operation cannot be
started.
Requests the start of the monitor of EtherCAT communication packet
when the EC packet monitor request flag is enabled by "MC common
parameter". The packet data is saved in an SD memory card. The
monitoring stops when (Y1) turns off. The monitoring also stops, and
(X1) turns off when the packet monitor capacity reaches 6 Mbytes or
3904 packets.
－
Requests the writing of data (parameters, positioning tables) in the unit
memory to the FROM. The FROM writing active flag (X3) is on during
the writing, and (X3) turns off on completion of the writing.
The writing result is stored in the unit memory (UM283).
－
This is used for changing the "Axis group setting" in the unit memory
by user programs. Execute the following procedures by user
programs.
1) Write data to "Axis group setting area".
2) Turn on "Axis group setting change request (Y5)".
3) After confirming "Axis group setting done flag (X5)" turns on, turn off
(Y5).
－
This is used for changing the "positioning table data" stored in the
system area within FP7 MC Unit by user programs. The positioning
data after the table number starting the recalculation specified in the
unit memory can be restructured and is executable by turning on this
signal. Execute the following procedures by user programs.
1) Write data to "positioning table".
2) Turn on "Recalculation request (Y7).
3) After confirming "Recalculation done flag (X7)" turns on, turn off
(Y7).
For details, refer to "8.9 Reconstruction of Positioning Data by User
Programs".
Turn on this signal for reading cam tables. The cam table of a
specified cam pattern number will be read when this signal turns on.
Turn on this signal for rewriting cam tables. The cam table of a
specified cam pattern number will be rewritten when this signal turns
on.
Turn this signal on for stopping EtherCAT communication. Once the
communication stops, XA turns on. Turning this signal off starts the
communication.
When this signal is on, the waveform logging can be executed.
When this signal is off, the waveform logging cannot be executed.
When this flag turns off while the waveform logging is being executed,
the waveform logging is aborted.
Turns on when changing ESM (EtherCAT State Machine) of all
node/individual nodes is requested. When ESM is changed, XC turns
on.
－
16.2 I/O Allocation
16-9
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