M-system EtherCAT R3-NECT1 Instruction Manual page 13

■ PDO Assign Objects ( (Data Transmission Order, Output: 0x1C12, Input: 0x1C13)
An allocation list for RxPDO and an allocation list for TxPDO are created in 0x1C12 and 0x1C13, respectively.
The indexes stored in 0x1C12 and 0x1C13 are placed in the order they are actually transmitted via PDO.
• PDO group
Assignment of the PDO groups is based on the I/O card types as defined by Information Data Objects.
•PDO group 0: Status
•PDO group 1: Analog I/O card
•PDO group 2: Discrete I/O card
The PDO group data is transmitted in the following order of priority: Group 0 > Group 1 > Group 2.
Table 10 shows the PDO list for the card configuration example of Table 5
Table 10: PDO List for the Configuration Example of Table 5
INDEX SUB-INDEX
0x1C12 0
1
2
3
4
5
0x1C13 0
1
2
3
4
5
6
■ Sync Manager Type (0x1C00)
Sync Manager Type is allocated to object 0x1C00 based on the EtherCAT specification. (Refer to Table 11.)
Table 11: Object configuration for 0x1C00
INDEX SUB-INDEX
0x1C00 0
1
2
3
4
■ Sync Manager Parameter Objects (0x1C32, 0x1C33)
Setting object for Sync Mode.
Objects 0x1C32 and 0x1C33 are fixed as R3-NECT1 only supports the Free Run mode.
Distributed Clock (DC) mode is not supported.
DATA TYPE BIT ACCESS
UINT8 8 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
UINT8 8 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
UINT16 16 RO
DATA TYPE BIT ACCESS
UINT8 8
UINT8 8
UINT8 8
UINT8 8
UINT8 8
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PDO GROUP VALUE
–
1 0x1603
1 0x1605
1 0x1607
1 0x1608
2 0x1601
–
0 0x1AFF
1 0x1A02
1 0x1A04
1 0x1A06
1 0x1A08
2 0x1A00
VALUE
RO 4
RO 1
RO 2
RO 3
RO 4
R3-NECT1
CONTENT
5 Number of items
Analog output data
Analog output data
Analog output data
Analog output data
Discrete output data
6 Number of items
Status data
Analog input data
Analog input data
Analog input data
Analog input data
Discrete input data
CONTENT
Number of items
Mailbox Write
Mailbox Read
Process Output Data
Process Input Data
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