M-system EtherCAT R3-NECT1 Instruction Manual page 12

■ Manufacture Specific Objects (Card Status: 0x2000, 0x2001)
Status information of each I/O card is allocated to 0x2000 and mounting information of I/O cards is allocated to 0x2001.
Input abnormal data of I/O slot number 0 to 16 (I/O card address 0 to 31) are stored in 0x2000 as 1 bit per channel (for a
module with 4 channels, 4 bits). When the corresponding module is an analog input module and first point or second point
input is out of
-15 to +105% range, out of temperature table range or burnout state, the bit [second point: first point] of corresponding input
is set to 1. When the corresponding module is other than the analog input module, [0:0] is set.
Status data of I/O slot number 0 to 16 are stored in 0x2001 as 16 bits. LSB corresponds to I/O slot number 1, MSB corresponds
to I/O slot number 16.
A bit for normally existing I/O slot is set to 1, a bit for not existing I/O slot or I/O slot having a hardware error (including com-
munication error) set to 0. (Refer to Table 7)
Table 7: Card Status Configuration
INDEX SUB-INDEX
0x2000 0
1
2
:
16
0x2001 0
1
■ PDO Mapping Objects (Data list, TxPDO (input): 0x1A00 to 0x1A0F, RxPDO (output): 0x1600 to 0x160F)
Of the mounted I/O cards, input data list is allocated to TxPDO, output data list is allocated to RxPDO and status data list is
allocated to 0x1AFF of TxPDO.
Object index (input data) = 0x1A00 + (I/O slot number -1) (R3 I/O module)
Object index (output data) = 0x1600 + (module number) (R3 I/O module)
RxPDO data and TxPDO data contain the object index, Sub-Index and number of bits of R3-NECT1.
Table 8: Object configuration for RxPDO and TxPDO
INDEX SUB-INDEX
0x16nn 0
(RxPDO)
1
2
:
m
0x1Ann 0
(TxPDO)
1
2
:
m
Table 9: Object configuration for 0x1AFF
INDEX SUB-INDEX
0x1AFF 0
1
2
:
16
17
DATA TYPE BIT ACCESS
UINT8 8
UINT16 16
UINT16 16
: :
UINT16 16
UINT8 8
UINT16 16
DATA TYPE BIT ACCESS
UINT8 8
UINT32 32
UINT32 32
: :
UINT32 32
UINT8 8
UINT32 32
UINT32 32
: :
UINT32 32
DATA TYPE BIT ACCESS
UINT8 8
UINT32 32
UINT32 32
: :
UINT32 32
UINT32 32
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VALUE
RO 16
RO n
RO n
: :
RO n
RO 1
RO 0xnnnn
VALUE
RO 1 to 16
RO 0xaaaabbcc
RO
:
RO
RO 1 to 16
RO 0xaaaabbcc
RO
:
RO
VALUE
RO 17
RO 0x20000110
RO 0x20000210
: :
RO 0x20001010
RO 0x20010110
R3-NECT1
CONTENT
Number of items
R3 I/O module 1 status information
R3 I/O module 2 status information
:
R3 I/O module 16 status information
Number of items
Mounting status of I/O cards
CONTENT
Number of items
aaaa: Index for I/O module
bb: Sub-index for I/O module
cc: Number of bits for I/O module
Number of items
aaaa: Index for I/O module
bb: Sub-index for I/O module
cc: Number of bits for I/O module
CONTENT
Number of items
Reference object
EM-8274 P. 12 / 18