M-system EtherCAT R3-NECT1 Instruction Manual page 6

■ Data Configuration
Data are configured in accordance with the EtherCAT Modular Device Profile (MDP) specifications as shown below.
Table 2: Data Configuration
OBJECT
Input Area Objects
Output Area Objects
PDO Mapping Objects (TxPDO)
PDO Mapping Objects (TxPDO)
PDO Mapping Objects (RxPDO)
Manufacturer Specific Object
PDO Assign (IN)
PDO Assign (OUT)
Sync Manager Type
Sync Manager Parameter Objects
Information Data Object
Modular Device Profile Objects
Detect Module Ident List
Configured Module Ident List
Detected Address List
Device Type
Manufacturer Device Name
Manufacturer Hardware Version
Manufacturer Software Version
Identity Objects
■ EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated only in the SAFEOP or OP state, and RxPDO (output configuration data) is
updated only in the OP state.
The RUN LED turns on only in the OP state and input and output data are updated, while only input data is updated in the
PREOP state.
■ EtherCAT Diagnostics
• AL Status Code
When the slave (R3-NECT1) fails to receive a request from the master or when there is a problem with the slave during nor-
mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.
The error codes that R3-NECT1 uses are as shown below.
Table 3: Error Codes of AL Status Code
CODE
0x0000 No error
0x0011 Invalid requested state change
0x0012 Unknown requested state
0x0013 BOOT satate not supported
0x0016 Invali Mailbox configuration (PREOP)
0x0017 Invalid SyncManager configuration
0x001B SyncManager Watchdog Timeout
0x001D Invalid Output congiguration
0x001E Invalid Input configuration
0x001F Invalid Watchdog Configuration
0x0029 FreeRun needs 3 Buffer mode
0x8000 Internal bus error at power on (vendor option)
0x8001 Internal bus error during communication (vendor option)
ADDRESS
0x6000 to 0x60F0
0x7000 to 0x70F0
0x1A00 to 0x1AF0
0x1AFF
0x1600 to 0x160F
0x2000 to 0x2001
0x1C13
0x1C12
0x1C00
0x1C32 to 0x1C33
0x9000 to 0x90F0
0xF000
0xF050
0xF030
0xF040
0x1000
0x1008
0x1009
0x100A
0x1018
ERROR
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CONTENT
Input data
Output data
Input data list
Status data list
Output data list
Card status
Input data transmission order
Output data transmission order
Sync manager type
Sync mode
Card information
MDP information
Card information list
Card information collation by muster module
I/O card address
Device type
Device name
Hardware version
Software version
Vendor information
R3-NECT1
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