YASKAWA VIPA IM 053EC Manual page 82

Deployment
Object Dictionary
Parameter SLIO EtherCAT coupler
Index:Sub Name
0x3000:00 Coupler param-
eter
0x3000:01 Auto acknowl-
edge
0x3000:02 Free Module
Mapping
0x3000:03 Default Values
Ä 'Explanation of the elements' page 71
Free Module Mapping (FMM) Configuration
Index:Sub Name
0x3001:00 Free Module
Mapping Configu-
ration
0x3001:01 SubIndex 001
... SubIndex ...
Ä 'Explanation of the elements' page 71
82
Type Offset Access Default
U8 0 ro
U8 16 rw
U8 24 rw
U8 32 rw
*) Here the EtherCAT coupler may be parametrized. With this object the write access is
only possible when the EtherCAT coupler is in PreOp or SafeOp state. In Op state write
access is denied.
With Auto-Acknowledge = 0 of the EtherCAT coupler per module the corresponding
n
counter is increased by 1. Once you acknowledge the interrupt, the counter is
decreased by 1. If there are more modules with a pending interrupt, by the write SDO
access always the most recent interrupt is acknowledged (last in - first out).
n With Auto-Acknowledge = 1 each interrupt is automatically acknowledged by the
EtherCAT coupler. In this mode the diagnostics data were always overwritten by new
interrupts. Default setting is Auto-Acknowledge = 1. For continuous use Auto-
Acknowledge should be activated.
Type Offset Access
U16 0 ro
U32 16 rw
... ...
FMM is the ability to map a real existing module configuration to a custom module config-
uration. All available real modules can be distributed freely to all available slots. FMM
allows the creation of permanent free slots, as well as slots for inserting virtual modules
for emulation of non-existent modules.
Description
3 Parameter SLIO EtherCAT coupler
1 Defines the mode, how interrupts are handled by
the EtherCAT coupler. *
0 Free Module Mapping
n 0x00: disabled
n 0x01: enabled
(Data will be stored permanently)
0 Default Values
n 0x00: disabled
n 0x01: enabled
Default Description
0x64 Slot configuration for Free Module Mapping
(data will be stored retentive)
0
n Byte 0: Output size of module in byte from max.
configuration
n Byte 1: Input size of module in byte from max.
configuration
n Byte 2: 00 (fix)
n Byte 3: FMM slot to real configuration
– 0: empty slot
– 1...64: assigned slot
– 255: Virtual module - module does not exist
in the actual configuration
Subindex = Slot + 1 of max. configuration
... ...
VIPA System SLIO
HB300 | IM | 053-1EC01 | en | 18-49