M-system R8-NECT1 Operating Manual page 12

0x1Ann(TxPDO) 0
(For input)
1
2
m
• Object 0x1AFF
0x1AFF of TxPDO refers the object of 0x2001. (Refer to the Table 6)
Table 6: Object Configuration For TxPDO (0x1AFF)
INDEX SUB-INDEX
0
1
2
0x1AFF(TxPDO)
:
32
33
• Object 0x1701, 0x1B01
0x1701 of RxPDO and 0x1B01 of TxPDO are used to add empty bit in the end of periodically updated process data. Because
some discrete module has 1 bit, 3 bits or 4 bits data on the other hand analog modules have 16 bit data, bit length is fixed at
the time PDO is configured so that the end of consecutively configured process data terminate just on the border of 16 bits.
Table 7: Object Configuration For RxPDO (0x1701) And TxPDO (0x1B01)
SUB-
INDEX
INDEX
0
0x1701(RxPDO)
1
0
0x1B01(TxPDO)
1
■ PDO Assign objects (0x1C12, 0x1C13)
Allocation list for PDO is created in 0x1C12 and 0x1C13. The entire list for RxPDO is stored in 0x1C12, the entire list for
TxPDO is stored in 0x1C13. The index stored in 0x1C12 and 0x1C13 is placed in order that is transferred by PDO.
• PDO group
In R8, PDO group defined by Modular Device Profile (MDP) is sorted by I/O module type. The sorting is defined by object
0x9000.
•PDO group 0: PDO for R8 status
•PDO group 1: PDO for analog input module and analog output module
•PDO group 2: PDO for discrete input module and discrete output module
• Allocation of PDO list
The order in the list for RxPDO and TxPDO is as follows.
Group 0 => Group 1 => Group 2 => empty bit PDO
The order in the same group is in ascending order of object index (I/O card address).
(Refer to the Table 8 and 9)
Table 8: Example Of I/O Card Configuration
CARD ADDR. MODEL
0 R8-DA4A
1 R8-DAM16A
2 R8-DC4A
UINT8 8
UINT32 32
UINT32 32
: : :
UINT32 32
DATA TYPE BIT
UINT8
UINT32 32
UINT32 32
:
UINT32 32
UINT32 32
DATA
BIT
TYPE
UINT8 8
UINT32 32
UINT8 8
UINT32 32
MODULE TYPE
Discrete input, 4 points
Discrete input, 16 points
Discrete output, 4 points
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RO 1 to 16 Number of items
RO 0xaaaabbcc aaaa: Index for referenced object
bb: Sub-Index for referenced object
RO
cc: Number of bits for referenced object
:
RO
ACCESS VALUE
8 RO 33
RO 0x20000102
RO 0x20000202
: : :
RO 0x20002002
RO 0x20010120
ACCESS VALUE
RO 1
0x0000000n
RO n: number of
empty bits
RO 1
0x0000000n
RO n: number of
empty bits
OBJECT INDEX
0x6000
0x6010
0x7020
R8-NECT1
CONTENT
Number of items
Referred object
CONTENT
Number of items
Referred object (Refer to non-existing
object)
Number of items
Referred object (Refer to non-existing
object)
PDO GROUP REFERRED OBJECT
2 0x1A00
2 0x1A01
2 0x1602
EM-9738-B Rev.13 P. 12 / 20