1. Manuals
  2. Brands
  3. YASKAWA Manuals
  4. Controller
  5. 264IF-01
  6. User manual

YASKAWA 264IF-01 User Manual

Machine controller mp2000 series ethercat module
Hide thumbs
Table of Contents

Advertisement

Quick Links

Download this manual
Machine Controller MP2000 Series
EtherCAT Module
264IF-01 USER'S MANUAL
Model JAPMC-CM2305-E
264IF-01
RUN
EtherCAT
L/A1
TEST
OFF
EtherCAT
CN1
EtherCAT
CN2
MANUAL NO. SIEP C880700 42C
ERR
NS
L/A2
ON
264IF-01 Module
Mounting and Starting the Module
EtherCAT Detail Definition
Operation Specifications of the Module
Troubleshooting
1
EtherCAT
2
3
4
5
6
App
Appendices

Advertisement

Table of Contents
loading

Related Manuals for YASKAWA 264IF-01

Summary of Contents for YASKAWA 264IF-01

  • Page 1 Machine Controller MP2000 Series EtherCAT Module 264IF-01 USER’S MANUAL Model JAPMC-CM2305-E 264IF-01 EtherCAT L/A1 L/A2 TEST EtherCAT EtherCAT 264IF-01 Module Mounting and Starting the Module EtherCAT EtherCAT Detail Definition Operation Specifications of the Module Troubleshooting Appendices MANUAL NO. SIEP C880700 42C...
  • Page 2 Yaskawa. No patent liability is assumed with respect to the use of the information contained herein. Moreover, because Yaskawa is constantly striving to improve its high-quality products, the information contained in this manual is subject to change without notice.
  • Page 3 Using this Manual This manual describes MP2000 Series Machine Controller EtherCAT Module 264IF-01. Read this manual thoroughly before using 264IF-01. Keep this manual in a safe place for future reference.  Basic Terms Unless otherwise specified, the following definitions are used: •...
  • Page 4  Related Manuals The following table lists the manuals relating to the 264IF-01 Module for the MP2000 Series Machine Controller. Refer to these manuals as needed. Manual Name Manual Number Contents Machine Controller MP2100/MP2100M Describes how to use the MP2100 and MP2100M User’s Manual...
  • Page 5 Safety Information The following conventions are used to indicate precautions in this manual. Information marked as shown below is important for the safety of the user. Always read this information and heed the precautions that are provided. The con- ventions are as follows: Indicates precautions that, if not heeded, could possibly result in loss of life or serious WARNING injury.
  • Page 6  Storage and Transportation CAUTION  Do not store or install the product in locations subject to the following. There is a risk of fire, electric shock, and machine product damage.  Direct sunlight  Ambient temperatures exceeding the storage or operating conditions ...
  • Page 7  Wiring CAUTION  Check the wiring to be sure it has been performed correctly. There is a risk of motor run-away, injury, or an accident.  Always use a power supply of the specified voltage. There is a risk of burning. ...
  • Page 8  The drawings presented in this manual are typical examples and may not match the product you received.  If the manual must be ordered due to loss or damage, inform your nearest Yaskawa representative or one of the offices listed on the back of this manual.
  • Page 9 6. Events for which Yaskawa is not responsible, such as natural or human-made disasters ( 2 ) Limitations of Liability 1. Yaskawa shall in no event be responsible for any damage or loss of opportunity to the customer that arises due to failure of the delivered product.
  • Page 10 1. It is the customer’s responsibility to confirm conformity with any standards, codes, or regulations that apply if the Yaskawa product is used in combination with any other products. 2. The customer must confirm that the Yaskawa product is suitable for the systems, machines, and equipment used by the customer.

  • Page 11: Table Of Contents

    2 264IF-01 Module - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -...
  • Page 12 Appendix A Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-2 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System - - - - - - - - - - - - A-3 B.1 Automatically Allocate the Node Number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3...

  • Page 13: Ethercat

    EtherCAT This chapter describes an outline of the EtherCAT. 1.1 Outline - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2 1.2 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -1-2 1.3 Classification of EtherCAT Communication - - - - - - - - - - - - - - - - - - - - - - -1-4...

  • Page 14: Outline

    1.1 Outline 1.1 Outline EtherCAT is a real-time field bus, based on the IEEE802.3 standard Ethernet, which was advocated by Beckhoff Auto- mation GmbH. Currently it is being standardized as IEC61185 Type 12 of the IEC (International Electrotechnical Com- mission). The spread of EtherCAT is advancing with the focus on Europe, and it is applied to press machines, injection molding machines, CNC units, robots, and so on.
  • Page 15 1.2 Features Fig. 1.1 Example of Line Type Connection High-speed repeat function: Received packets are repeated in octet units to the next port. Reads only the input data field of the local node and overwrites the data of the output data field of the local node, and then sends the packet to the remote node.

  • Page 16: Classification Of Ethercat Communication

    1.3 Classification of EtherCAT Communication 1.3 Classification of EtherCAT Communication EtherCAT provides the following two communication functions. ( 1 ) Process Data Communication Function This is equivalent to cyclic (I/O) communication. An EtherCAT system has a 4-gigabyte logical process data area (cyclic data area).

  • Page 17: 264If-01 Module

    264IF-01 Module This chapter describes the appearance and specifications of the 264IF-01 Module. 2.1 Features - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -2-2 2.1.1 Process Data Communication (Cyclic Communication) - - - - - - - - - - - - - - - - - - - - - - - 2-3...

  • Page 18: Features

    2.1 Features 2.1 Features The 264IF-01 Module is a device that is dedicated as an EtherCAT slave station. It carries out process data communica- tion and mailbox communication. This module cannot be a master station. In an EtherCAT system, the MP2000 Series Machine Controller on which the 264IF-01 Module is installed operates as slave station I/O.

  • Page 19: Process Data Communication (Cyclic Communication)

    2.1.1 Process Data Communication (Cyclic Communication) The 264IF-01 Module can carry out cyclic communication with the EtherCAT master device using the process data communication function. It is not possible to refer to the data of other slave stations from a 264IF-01 Module. Other...

  • Page 20: Restrictions

    The 264IF-01 Module has been designed as a communication module dedicated for use in EtherCAT. Note the follow- ing points: • The 264IF-01 Module cannot be connected to a regular Ethernet network to be connected from the 218IF-01 or 218IF-02 Module.

  • Page 21: Specifications

    2.2 Specifications 2.2.1 Hardware Specifications 2.2 Specifications This section provides specifications for the 264IF-01 Module. 2.2.1 Hardware Specifications Table 2.1 Hardware Specifications of the 264IF-01 Module Item Specifications Name 264IF-01 Model JAPMC-CM2305-E Communication Port EtherCAT slave station, 1 channel, 2 ports...

  • Page 22: Transmission Specifications

    2.2 Specifications 2.2.2 Transmission Specifications 2.2.2 Transmission Specifications Table 2.2 Transmission Specifications of the 264IF-01 Module Item Specifications Remarks Baud Rate 100 Mbps full duplex Standard Specification IEEE802.3u The type of cable is CAT5e STP automatically identi- Communications Medium Either straight cable or cross cable can be...

  • Page 23: Operating Environment Specifications

    2.3 Device Description File 2.2.3 Operating Environment Specifications 2.2.3 Operating Environment Specifications Table 2.3 Operating Environment Specifications for the 264IF-01 Module Item Specifications Ambient Operating 0 to +55 °C Temperature Ambient Storage −25 to +85°C Temperature Environmental Ambient Operating 30% to 95% RH (with no condensation)

  • Page 24: Overview

    2.4 Overview 2.4.1 Appearance 2.4 Overview 2.4.1 Appearance The following figure shows the appearance of the 264IF-01 Module. (25) 264IF-01 Indicators EtherCAT L/A1 L/A2 − TEST RJ45 connector EtherCAT (100BASE-TX) RJ45 connector EtherCAT (100BASE-TX) Unit: mm Fig. 2.4 Appearance of the 264IF-01 Module...

  • Page 25: Status Indicators (Leds)

    2.4 Overview 2.4.2 Status Indicators (LEDs) 2.4.2 Status Indicators (LEDs) The following table shows the status of the 264IF-01 Module indicated by the LED indicators. Table 2.4 Status Indicators (LEDs) Indicator Color Meaning When Lit Meaning When Flashing Meaning When Not Lit...

  • Page 26: Communication Connector Specifications

    – ELECTRIC CO., LTD. ( 2 ) Connector Pin Arrangement The connector is used to connect the 264IF-01 Module to the devices in the EtherCAT network via an EtherCAT con- nection. Table 2.7 Connector Pin Arrangement Pin Number Signal Name...

  • Page 27: Mounting And Starting The Module

    3.2.1...

  • Page 28: Applicable Machine Controllers And Supported Versions

    3.1 Applicable Machine Controllers and Supported Versions 3.1.1 MP2000 Series 3.1 Applicable Machine Controllers and Supported Versions The following table lists the Machine Controllers on which the 264IF-01 Module can be mounted. 3.1.1 MP2000 Series Applicable Version Max. No. of...

  • Page 29: Mp3000 Series

    3.1 Applicable Machine Controllers and Supported Versions 3.1.2 MP3000 Series 3.1.2 MP3000 Series Applicable Version Max. No. of Name Model Connectable Remarks MPE720 Modules Module MP3100 The maximum number of JAPMC-MC3100-1-E (16 axes) connectable Modules is the Ver. 7.38 or 8 modules All versions total for the maximum...

  • Page 30: Mounting And Removing A Module On The Machine Controller

    ( 2 ) Removing the Option Cover If an Option Cover is attached to the slot into which the 264IF-01 Module is to be mounted, remove it using the follow- ing procedure.
  • Page 31 ( 3 ) Mounting Procedures Insert the 264IF-01 Module. Grip the top and bottom of the 264IF-01 Module, align the Module with the left side of the guide rail inside the option slot, and push the Module straight in.  If the Module is not inserted along the guide rail correctly, the frame ground bar on the bottom of the slot may get damaged.
  • Page 32  Refer to 4.1.1 Displaying the Module Configuration Window for information on the Module configuration defi- nitions.  The MPE720 engineering tool cannot be connected to the 264IF-01 Module directly. When connecting the MPE720, separately prepare a module with any of the RS-232C, Ethernet, and CP-215 ports for connection.

  • Page 33: Removing A 264If-01 Module

    3.2 Mounting and Removing a Module on the Machine Controller 3.2.2 Removing a 264IF-01 Module 3.2.2 Removing a 264IF-01 Module Use the following procedure to remove a 264IF-01 Module. ( 1 ) Preparation Backup the Programs. Save the programs written to the Machine Controller in the personal computer using MPE720.
  • Page 34 Remove the 264IF-01 Module from the Mounting Base. Pull the top of the option panel to remove it. A notch can be seen in the 264IF-01 Module from the gap in the panel. Insert the round projection on the battery cover (see the following figure) into the gap in the panel so that it engages the notch in the Module.

  • Page 35: Self-Configuration

    3.3 Self-configuration 3.3.1 Executing Self-configuration 3.3 Self-configuration The self-configuration function automatically detects the Option Modules connected to the Machine Controller and automatically generates the files for the Module configuration definitions and the detailed definition of each Module. Executing self-configuration will greatly reduce the system startup procedure. ...
  • Page 36 3.3 Self-configuration 3.3.1 Executing Self-configuration ( 2 ) Using the MPE720 (MP2100M) Click Module Configuration on the My tool window. To execute self-configuration for all modules, click All modules. To execute self-configuration for a single module, first select the relevant module, and then click specified module. The result depends on the command that is used, as described below.

  • Page 37: Ethercat Detail Definition

    EtherCAT Detail Definition To perform EtherCAT communication with the 264IF-01 Module using an MP2000 Series Machine Controller, an EtherCAT detail definition file must be created. This chapter describes how to set the EtherCAT detail definition on the MPE720 screen. 4.1 Displaying the EtherCAT Detail Definition Window - - - - - - - - - - - - - - - - - -4-2 4.1.1 Displaying the Module Configuration Window - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-2...

  • Page 38: Displaying The Ethercat Detail Definition Window

    4.1 Displaying the EtherCAT Detail Definition Window 4.1.1 Displaying the Module Configuration Window 4.1 Displaying the EtherCAT Detail Definition Window This section describes how to open the Module Configuration window from the MPE720, open the EtherCAT Detail Definition window from the Module Configuration window, and set the detail definition for the EtherCAT Module. 4.1.1 Displaying the Module Configuration Window Use the following procedure to display the Module Configuration window.

  • Page 39: Displaying The Ethercat Detail Definition Window From The Module Configuration Window

    <MP2300/MP2310/MP2300S Module Configuration Window> Double-click Double-click the 264IF-01 EtherCAT-S cell on the Module Configuration window to display the EtherCAT Detail Definition window. (refer to the following page)  If the Detail Definition window is being opened for the first time, a “new file” message box will be displayed and the EtherCAT Detail Definition window will open when the OK button is clicked.

  • Page 40: Ethercat Detail Definition

     Configuration Information Displays the 264IF-01 Module configuration information. The configuration information is the same as the information displayed in the Module Details area in the Module Configuration window. RACK#: The rack number of the rack in which the 264IF-01 Module is defined.
  • Page 41 4.2 EtherCAT Detail Definition 4.2.1 Transmission Parameters Tab Page WSIZE Set the same size as the output data size of the EtherCAT master device in word units. The setting range is 0 to 199*. SCAN Set the timing in which the controller CPU exchanges cyclic data with EtherCAT. The data exchange cycle of the controller CPU is asynchronous with cyclic communication.

  • Page 42: Status Tab Page

    4.2 EtherCAT Detail Definition 4.2.2 Status Tab Page 4.2.2 Status Tab Page The Status tab page displays the status of the 264IF-01 Module. On this tab page, setting is not possible. ( 1 ) Details of the Status tab page The following explains each item displayed on the Status tab page.
  • Page 43 4.2 EtherCAT Detail Definition 4.2.2 Status Tab Page ( 2 ) Communication phases The communication phases and their descriptions are listed below. Status Description Non-INIT This is the status when the power is turned ON, before EtherCAT has been initialized. INIT This is the EtherCAT initial status.

  • Page 44: Operation Specifications Of The Module

    Operation Specifications of the Module This chapter describes the operation specifications of the 264IF-01 Module. 5.1 Connection - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -5-2 5.1.1 Node Setting - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-2...

  • Page 45: Connection

    ( 1 ) Device Description File The device description file of the 264IF-01 Module is found in the installation disk of the Programming Device Soft- ware MPE720. The following four patterns of allocation are provided in the device description files of the 264IF-01 Module.
  • Page 46 Set the same sizes for the master allocation size (the size allocated in the device description file) and the slave alloca- tion size (the input and output sizes in the parameter settings of the 264IF-01 Module). If you use software version 1.01 or later, communications will not be possible unless the same sizes are set.

  • Page 47: Connection To An Ethercat Network

    ( 1 ) Connection Method Connectors CN1 and CN2 of the 264IF-01 Module are on the same circuit in EtherCAT. Connect CN1 to the host side of the network that includes the EtherCAT master device, and connect CN2 to the subordinate side of a network that does not include the EtherCAT master device.

  • Page 48: Starting Method

    In the EtherCAT network, the master node controls the start sequence for each slave node. For this reason, midstream association of a 264IF-01 Module in an EtherCAT network in which communication is in progress is possible. How- ever, it is necessary that a normal configuration has been set for the EtherCAT master device and the 264IF-01 Module.

  • Page 49: Process Data Communication (Cyclic Communication)

    The EtherCAT logic process data space used by the 264IF-01 Module is decided in advance by configuration at the master node. The position within the Ethernet packets flowing in the network at which the I/O data of a 264IF-01 Mod- ule is positioned is automatically managed by the communication IC installed in the 264IF-01 Module.

  • Page 50: Data Refresh Timing

    EtherCAT Transmission Lines ↔ 264IF-01 Module Data is refreshed in the timing of the EtherCAT communication cycle. Sandwiching a communications IC, operations between an MP2000 Series Machine Controller and 264IF-01 Module, and between EtherCAT communication lines and the 264IF-01 Module, are asynchronous.

  • Page 51: Data Refreshing At Cpu Stop

    5.3.4 Data Refreshing at CPU STOP 5.3.4 Data Refreshing at CPU STOP When the CPU module has been set in the STOP status, the 264IF-01 Module carries out the following processing. Table 5.2 Data Refreshing at CPU STOP “Output status at CPU STOP”...

  • Page 52: Mailbox Communication (Message Communication)

    5.4.1 System Messages Allow reading data from and writing data of the EtherCAT standard system. The 264IF-01 Module responds automatically to requests from the master node. 5.4.2 User Messages The standard message function of MP2000 Series Machine Controllers cannot be used.

  • Page 53: Troubleshooting

    Troubleshooting This chapter describes how to troubleshoot problems and take countermeasures against them. 6.1 Status Indication by LED Indicators - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-2 6.2 System I/O Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -6-3 6.2.1 System I/O Error Status by Controllers - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-3 6.2.2 Details on I/O Error Status - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 6-6...

  • Page 54: Status Indication By Led Indicators

    6.1 Status Indication by LED Indicators 6.1 Status Indication by LED Indicators The following table provides a description of the 264IF-01 Module status indicated by each LED indicator. LED Indication Classification Meaning Description L/A1 L/A2 The power is The status in which the power to the Module has Power ON ...

  • Page 55: System I/O Error Status

    6.2 System I/O Error Status 6.2.1 System I/O Error Status by Controllers 6.2 System I/O Error Status 6.2.1 System I/O Error Status by Controllers The following shows the system I/O error status of the MP2000 Series Machine Controller. Specify a system register number “SWxxxxx” to access. ( 1 ) MP2100M Machine Controller Name Register No.
  • Page 56 6.2 System I/O Error Status 6.2.1 System I/O Error Status by Controllers ( 2 ) MP2200 Machine Controller Name Register No. Remarks I/O Error Count SW00200 Number of I/O error occurrences Number of Input Errors SW00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error (IWxxxx register number)
  • Page 57 6.2 System I/O Error Status 6.2.1 System I/O Error Status by Controllers ( 4 ) MP2310 Machine Controller Name Register No. Remarks I/O Error Count SW00200 Number of I/O error occurrences Number of Input Errors SW00201 Number of input error occurrences Input Error Address SW00202 Address of the latest input error (IWxxxx register number)

  • Page 58: Details On I/O Error Status

    The following shows the register allocation of the error status when the I/O Module (LIO-01/02), the EtherCAT Com- munication Module (264IF-01), and the DeviceNet Communication Module (260IF-01) are set at slots 1, 2 and 3 of the MP2300 Machine Controller, respectively.
  • Page 59 6.2 System I/O Error Status 6.2.2 Details on I/O Error Status ( 3 ) 264IF-01 Module Error Status (Slot 2) (Bit No.) Error code (Station error = 1) Subslot No. (= 1) SW00232 Reserved SW00233 SW00234 Communication phases Data enabled flag...

  • Page 60: Appendices

    Appendix A Connection Example - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -A-2 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System - - - - - - - - -A-3 B.1 Automatically Allocate the Node Number - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3...

  • Page 61: Appendix A Connection Example

    This section shows a connection example that uses an embedded PC (model CX-9010) made by Beckhoff Inc. and TwinCAT. An example of an EtherCAT connection system is shown in Fig. A.1. Embedded PC MP2000 Series Slave DI Slave DO (CX-9010) Machine Controller (EL2004) (EL1004) 264IF-01 Ethernet cable Ethernet Ethernet cable cable Ethernet Ethernet cable cable...

  • Page 62: Appendix B 264If-01 Allocation Procedure For A Twincat System

    Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.1 Automatically Allocate the Node Number Appendix B 264IF-01 Allocation Procedure for a TwinCAT System Connect to a TwinCAT System by following the procedure below. Automatically Allocate the Node Number Display the main window of TwinCAT System Manager of the master device.
  • Page 63 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.1 Automatically Allocate the Node Number Click the Search (Ethernet) button. The Add Route Dialog dialog box will be displayed. Set the IP address of the embedded PC in the Host Name/IP field.
  • Page 64 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.1 Automatically Allocate the Node Number Check that the target controller has been detected, then click the relevant controller. Click the Add Route button. Select the relevant controller, then click the OK button.
  • Page 65 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.1 Automatically Allocate the Node Number Select I/O-Configuration - I/O Device from the System Manager file menu and right-click it. Select Scan Devices from the popup menu that is displayed. The 3 new I/O devices found dialog box will be displayed.
  • Page 66 Device description files are provided by the vendors of the individual slave devices. Through the procedure above, the 264IF-01 Module can be detected in the EtherCAT network. For details, refer to the TwinCAT manual and the manual of the master device.

  • Page 67: Allocate The Configured Station Alias

    Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.2 Allocate the Configured Station Alias Allocate the Configured Station Alias To allocate the Configured Station Alias, first use the procedure given in Appendix B.1, and then use the following pro- cedure to configure the settings.
  • Page 68 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.2 Allocate the Configured Station Alias Select the Check Identification in the Behavior area. Enter “512” in the New Value field in the Configured Station Alias area, and click the Write to E2PROM button.
  • Page 69 Appendix B 264IF-01 Allocation Procedure for a TwinCAT System B.2 Allocate the Configured Station Alias Click the OK buttton. Click the OK buttton. Confirm that “512” is displayed in Identification Value.  The Configured Station Alias that was set is enabled by turning the power OFF and ON again.

  • Page 70: Appendix C Device Description File

    This appendix explains how to customize the data size in the device description file for the 264IF-01 Module. The device description file (for 32 input words/32 output words) for the 264IF-01 Module is shown on the following page onward. Pay attention to the information in the speech bubbles during customization.
  • Page 71 32 words set “ 64 ” , and for 100 words number of input data (number of bytes). For <Type ProductCode="#x02000001" RevisionNo="#x00000001" UseLrdLwr="1">264IF-01 In32W/Out32W</Type> set “ 200 ” . However, the default size must be a example, for 32 words set “ 64 ” , and for 100 words <Name LcId="1033"><![CDATA[264IF-01 In32W/Out32W]]></Name>...
  • Page 72 Appendix C Device Description File <RxPdo Fixed="0" Sm="2"> Define the receive process data. The receive process data is the data that is <Index>#x1600</Index> sent from the slave node to the master node. <Name>wOut0</Name> “ Index #x1600 ” is fixed. <Entry> For “...
  • Page 73 Appendix C Device Description File <Entry> <Index>#x2003</Index> <SubIndex>10</SubIndex> <BitLen>16</BitLen> <Name>Output9</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>11</SubIndex> <BitLen>16</BitLen> <Name>Output10</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>12</SubIndex> <BitLen>16</BitLen> <Name>Output11</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>13</SubIndex> <BitLen>16</BitLen> <Name>Output12</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>14</SubIndex> <BitLen>16</BitLen> <Name>Output13</Name> <DataType>UINT</DataType> </Entry> <Entry>...
  • Page 74 Appendix C Device Description File <Entry> <Index>#x2003</Index> <SubIndex>19</SubIndex> <BitLen>16</BitLen> <Name>Output18</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>20</SubIndex> <BitLen>16</BitLen> <Name>Output19</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>21</SubIndex> <BitLen>16</BitLen> <Name>Output20</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>22</SubIndex> <BitLen>16</BitLen> <Name>Output21</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>23</SubIndex> <BitLen>16</BitLen> <Name>Output22</Name> <DataType>UINT</DataType> </Entry> <Entry>...
  • Page 75 Appendix C Device Description File <Entry> <Index>#x2003</Index> <SubIndex>29</SubIndex> <BitLen>16</BitLen> <Name>Output28</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>30</SubIndex> <BitLen>16</BitLen> <Name>Output29</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>31</SubIndex> <BitLen>16</BitLen> <Name>Output30</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2003</Index> <SubIndex>32</SubIndex> <BitLen>16</BitLen> Define the final data. (32nd item) <Name>Output31</Name> <DataType>UINT</DataType> </Entry> </RxPdo> Define the send process data.
  • Page 76 Appendix C Device Description File <Entry> <Index>#x2004</Index> <SubIndex>6</SubIndex> <BitLen>16</BitLen> <Name>Input5</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>7</SubIndex> <BitLen>16</BitLen> <Name>Input6</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>8</SubIndex> <BitLen>16</BitLen> <Name>Input7</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>9</SubIndex> <BitLen>16</BitLen> <Name>Input8</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>10</SubIndex> <BitLen>16</BitLen> <Name>Input9</Name> <DataType>UINT</DataType> </Entry> <Entry>...
  • Page 77 Appendix C Device Description File <Entry> <Index>#x2004</Index> <SubIndex>16</SubIndex> <BitLen>16</BitLen> <Name>Input15</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>17</SubIndex> <BitLen>16</BitLen> <Name>Input16</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>18</SubIndex> <BitLen>16</BitLen> <Name>Input17</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>19</SubIndex> <BitLen>16</BitLen> <Name>Input18</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>20</SubIndex> <BitLen>16</BitLen> <Name>Input19</Name> <DataType>UINT</DataType> </Entry> <Entry>...
  • Page 78 Appendix C Device Description File <Entry> <Index>#x2004</Index> <SubIndex>27</SubIndex> <BitLen>16</BitLen> <Name>Input26</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>28</SubIndex> <BitLen>16</BitLen> <Name>Input27</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>29</SubIndex> <BitLen>16</BitLen> <Name>Input28</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>30</SubIndex> <BitLen>16</BitLen> <Name>Input29</Name> <DataType>UINT</DataType> </Entry> <Entry> <Index>#x2004</Index> <SubIndex>31</SubIndex> <BitLen>16</BitLen> <Name>Input30</Name> <DataType>UINT</DataType> </Entry> <Entry>...

  • Page 79: Appendix D Transition In Ethercat Communication Status

    Depending on the timing, however, if the transition request from the master device is received while the communica- tions IC in the 264IF-01 Module is being reset, the specified transition may not be made, an error may occur, and the state transitions may stop.

  • Page 80: Index

    Numerics message 264IF-01 Module message box - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 4-3...
  • Page 81 Index topology - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-4 network topology - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 1-2 TwinCAT System - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - A-3 user messages - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - 5-9...

  • Page 82: Revision History

    Date of publication Date of Rev. Rev. Section Revised Content Publication May 2022 All chapters Revision: Information accompanying version upgrade of 264IF-01 software <3> Back cover Revision: Address 2.2.3 Revision: Pollution Level, Noise Resistance February 2018 <2> 2.4.3 Revision: Switch Settings 2.4.4 (Rev.
  • Page 83 Phone: +81-4-2962-5151 Fax: +81-4-2962-6138 www.yaskawa.co.jp YASKAWA AMERICA, INC. 2121, Norman Drive South, Waukegan, IL 60085, U.S.A. Phone: +1-800-YASKAWA (927-5292) or +1-847-887-7000 Fax: +1-847-887-7310 www.yaskawa.com YASKAWA ELÉTRICO DO BRASIL LTDA. 777, Avenida Piraporinha, Diadema, São Paulo, 09950-000, Brasil Phone: +55-11-3585-1100 Fax: +55-11-3585-1187 www.yaskawa.com.br...

Table of Contents