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Hardware reference
The FQ-M PDO contains the following areas:
Command area (controller to FQ-M)
Item
31 - 17
16
Control
Reserved
DSA
Command
Parameter 1
Parameter 2
Parameter 3
Response area (FQ-M to controller)
Item
31 - 17
16
Control
Reserved
GATE ERR
Command
Response code
Response data
Extended region
Output area (FQ-M to controller)
Item
Data 1
Data 2
...
Data 7
Data 8
The data is mapped in VR using function $66 of the ETHERCAT command
in the following way:
Area
VR location start
Command
VR_start_RxPDO
Response
VR_start_TxPDO
Output
VR_start_TxPDO + 5
HARDWARE REFERENCE MANUAL
15
14 - 2
1
ERCLR
Reserved
TRIG
UDINT (32 bits)
DINT (32 bits)
DINT (32 bits)
DINT (32 bits)
15
14 - 5
4
3
2
Reserved
RUN OR READY BUSY FLG
UDINT (32 bits)
UDINT (32 bits)
DINT (32 bits)
DINT (32 bits)
31 - 0
DINT (32 bits)
DINT (32 bits)
DINT (32 bits)
DINT (32 bits)
VR location end
VR_start_RxPDO + 4
VR_start_TxPDO + 4
VR_start_TxPDO + 12
0
EXE
1
0
235
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