取扱説明書 - M
Contents
1. 10 55C 10 90 RH EtherCAT NM 9009 1 P1 14 R30NECT1 NM _ a8 9 on2. 16 Ox6nn0 0 UNIT8 8 RO 16 1 BOOL RO TRUE FALSE 1 2 BOOL 1 RO TRUE FALSE 2 16 BOOL RO TRUE FALSE 16 32 0x6nn0 0 UNIT8 8 RO 32 1 BOOL 1 RO TRUE FALSE 1 2 BOOL 1 RO TRUE FALSE 2 32 BOOL 1 RO TRUE FALSE 32 64 0x6nn0 0 UNIT8 8 RO TRUE FALSE 1 BOOL 1 RO TRUE FALSE 1 2 BOOL 1 RO TRUE FALSE 2 64 BOOL 1 RO TRUE EALSE 64 16 0x7nn0 0 UNITS 8 RO 16 1 BOOL 1 RO TRUE FALSE 1 2 BOOL 1 RO TRUE FALSE 2 16 BOOL 1 RO TRUE FALSE 16 32 0x7nn0 0 UNIT8 8 RO 32 1 BOOL 1 RO TRUE FALSE 1 2 BOOL 1 RO TRUE FALSE 2 32 BOOL 1 RO TRUE FALSE 32 64 0x7nn0 0 UNITS 8 RO TRUE FEALSE 1 BOOL RO TRUE FALSE 1 2 BOOL 1 RO TRUE FALSE 2
3. 0x2000 0 UNIT8 8 RO 32 1 UNIT16 16 RO n 1 2 UNIT16 16 RO n 2 16 UNIT16 16 RO N 16 17 32 UNIT16 16 RO 0 0x2001 0 UNIT8 8 RO 1 1 UNIT32 32 RO 0xnnnnnnnn PDO Mapping Objects TxPDO Ox1A00 0x1A1F RxPDO 0x1600 0x161F TxPDO RxPDO TxPDO Ox1AFF 0x1A00 0x1600 RxPDO TxPDO 8 RxPDO TxPDO
4. OxF040 0 UNIT8 8 RO 32 1 UNIT32 32 RO 0 n 1 0 0 2 UNIT32 32 RO 0 n 32 UNIT32 32 RO 0 n Device Type 0x1000 0x1000 5001 17 17 0x1000 0x1000 UNIT32 32 RO 5001 Manufacturer Device Name 0x1008 0x1008 18 18 0x1008 0x1008 STRING 32 RO R30NECT1 NM 9009 1 P13 14 NE R30NECT1 Manufacturer Hardware Version 0x1009 Ox1009 19 19 0x1009 0
5. 0x1C00 0 UNIT8 8 RO 4 1 UNTTS 8 RO 1 Mailbox Write 2 UNITS 8 RO 2 Mailbox Read 3 UNITS 8 RO 3 Process Output Data 4 UNTTS 8 RO 4 Process Input Data Sync Manager Parameter Objects 0x1C32 0x1C33 Sync Mode Free Run 0x1C32 Ox1C33 Distributed Clock DC NM 9009 1 P11 14 WW Information Data Objects 0x9000 0x91F0 0x9000 0x91FO PDO Ox9000 X0x0010 9 10 12 12 0x9nnO0 R30NECT1 Module Ident 13 0x9nn0 0 UNIT8 8 RO 10 9 UNIT16 16 RO 1 2 PDO 10 UNIT32 32 RO 1
6. 5 6 Output Area Objects 0x7000 0x71F0 0x7000 0x71FO 1 1 Ox7000 X0x0010 1 5 6 5 a 3 0 0 R30XN16A DI16 16 0x6000 1 X 16 1 R30YN16A DO16 16 0x7010 1 X 16 2 R30YN16C DO16 16 0x7020 1 XX 16 3 R30SV4 AI4 4 0x6030 16 4 6
7. 2 fe I EtherCAT RJ 45 1 AAI Hn H PWR Off On Of INIT RUN Blinking PRE OPERATIONAL Single Flash SAFE OPERATIONAL On OPERATIONAL Off No error ERR Blinking Invalid Configuration Single Flash Local error On Aplication Controller failure IN 3 Off No Link AN Flickering Link and activity On Link without activity OUT a Off No Link Blinking 200ms On 200ms Off OUE Flickering Link and activity Single Flash 200ms On 1000ms Off On Link without activity Flickering 50ms On 50ms Off ID 0 F 2 1 255 0
8. Module Ident Module Ident 0xE030 0xF050 OxF030 15 15 OxF030 0xF050 0xF030 0 UNITS 8 RW 32 1 UNIT32 32 RW 0 n Module Ident 0 2 UNIT32 32 RW 0 n 32 UNIT32 32 RW 0 n 0xF050 0 UNITS 8 RO 32 1 UNIT32 32 RO 0 n Module Ident 0 2 UNIT32 32 RO 0 n 32 UNIT32 32 RO 0 n Detected Adress List 0xF040 OxF040 1 O LO 0 16 16 OxF040
9. IO 920 9 NE 1 EthercAT EtherCAT R30NECT1 1
10. ESC EtherCAT Slave Controller 0x0012 Configured Station Alias 1 1 1 82 1 DI16 16 DI32 32 DI64 64 DO16 16 DO32 32 DO64 64 DIO16 16 16 AT12 2 AI4 4 AT8 8 ATI16 16 AO2 2 AO4 4 AO8 8 AO16 16 ATO8 8 8 AIO16
11. 548g 8 x16 9O 248 i X1 re SI NM 9009 1 P2 14 WW R30NECT1 70 mm R30BS 2 COM 1 0n 1 01 PWR COM 70 mm m 0
12. Ox1Ann 0 UNIT8 8 RO 1 16 RxPDO 1 UNIT32 32 RO 0xaaaabbcc aaaa 2 UNIT32 32 RO bb 3 cc m UNIT32 32 RO 0x16nn 0 UNITS 8 RO 1 16 TxPDO 1 UNIT32 32 RO 0xaaaabbcc aaaa 2 UNIT32 32 RO bb ce m UNIT32 32 RO 9 Ox1AFF Ox1AFF 0 UNITS 8 RO 33 1 UNIT32 32 RO 0x20000110 2 UNIT32 32 RO 0x20000210 32 UINT32 32 RO 0x20002010 33 UNIT32 32 RO 0x20010120 NM 9009 1 P10 14 R30NECT1 PDO Assign Objects 0x1C12 0x1C13 PDO 0x1C12 0x1C13 Ox1C12 RxPDO 0x1C13 TxPDO 0x1C12 0x1C13 PDO PDO PDO
13. 1Information Data Objects PDO 0 PDO 1 PDO 2 PDO 0 gt 1 gt 2 5 PDO 10 10 4 PDO PDO 0x1C12 0 UINT8 8 RO 2 1 UNIT16 16 RO 2 0x1601 2 2 UNIT16 16 RO 2 0x1602 3 0x1C13 0 UNIT8 8 RO 3 1 UNIT16 16 RO 0 0x1AFF 2 UNIT16 16 RO 2 0x1A00 1 3 UNIT16 16 RO 2 0x1A03 4 Sync Manager Type 0x1C00 Ox1C00 EtherCAT 11 11 0O0x1C00
14. 8 0x6nn0 0 UNIT8 8 RO 8 1 INT16 16 RO 0Ox0000 OxFFEF 1 2 INT16 16 RO Ox0000 OxFFEE 2 8 INT16 16 RO 0x0000 OxFFFF 8 16 0x6nn0 0 UNIT8 8 RO 16 1 INT16 16 RO 0Ox0000 OxFFEE 1 2 INT16 16 RO 0x0000 OxFFFF 2 16 INT16 16 RO Ox0000 OxFFEFE 16 2 0x7nn0 0 UNITS 8 RO 2 1 INT16 16 RO 0Ox0000 OxFFFE 1 2 TINT16 16 RO Ox0000 OxFFEFE 2 4 0x7nn0 0 UNIT8 8 RO 4 1 TINT16 16 RO Ox0000 OxFFEE 1 2 INT16 16 RO 0Ox0000 OxFFEFE 2 3 INT16 16 RO 0Ox0000 OxFFFE 3 4 INT16 16 RO 0Ox0000 OxFFFE 4 8 0x7nn0 0 UNIT8 8 RO 8 1 TINT16 16 RO Ox0000 OxFFEE 1 2 INT16 16 RO 0Ox0000 OxFFEFE 2 8 INT16 16 RO 0Ox0000 OxFFEFE 8 16 0x7nn0 0 UNIT8 8 RO 16 1 INT16 16 RO 0Ox0000 OxFFFE 1 2 INT16 16 RO 0Ox0000 OxFFEFE 2 16 INT16 16 RO
15. 0x06010000 0x06010002 0x06020000 0x06070010 0x06090011 0x08000020 0x08000022 NE NM 9009 1 P7 14 R30NECT1 Input Area Objects 0x6000 0x61F0 0x6000 0x61FO 1 1 0 31 O 1 Ox6000 X0x0010 1
16. 64 BOOL 1 RO TRUE FALSE 64 NM 9009 1 P8 14 R30NECT1 16 0x6nn0 0 UNIT8 8 RO TRUE FALSE 16 1 BOOL 1 RO TRUE FALSE 1 2 BOOL i RO TRUE FALSE 2 16 BOOL 1 RO TRUE FALSE 16 0x7nn0 0 UNIT8 8 RO TRUE EALSE 1 BOOL 1 RO TRUE EALSE 1 2 BOOL 1 RO TRUE EALSE 2 16 BOOL 1 RO TRUE EALSE 16 2 0x6nn0 0 UNITS 8 RO 2 1 INT16 16 RO Ox0000 OxFFEE 1 2 INT16 16 RO 0Ox0000 OxFFFE 2 4 0x6nn0 0 UNITS 8 RO 4 1 INT16 16 RO Ox0000 0xFFEE 1 2 INT16 16 RO 0Ox0000 OxFFFE 2 3 INT16 16 RO Ox0000 OxFFEEF 3 4 INT16 16 RO Ox0000 OxFFFE 4
17. 1 bit1 0x9nn0 2 1 0 14 OxF000 OxF000 0 UNIT8 8 RO 5 1 UNIT16 16 RO 0x0010 2 UNIT16 16 RO 32 4 UNIT32 32 RO 0x00000300 Ox9nn0 5 UNIT16 16 RO 0 PDO NM 9009 1 P12 14 R30NECT1 Detected Module Ident List 0xF050 OxFO050 Module Ident 1 O LO 0 15 Configured Module Ident List 0xF030 OxFO080 O
18. 16 16 NM 9009 1 P5 14 WW R30NECT1 EtherCAT Modular Device Profile MDP 2 Input Area Objects 0x6000 Ox61FO Output Area Objects 0x7000 0x71FO PDO Mapping Objects TxPDO 0x1A00 0x1A1F PDO Mapping Objects TxPDO Ox1AFF PDO Mapping Objects RxPDO 0x1600 0x161F Manufacturer Specific Objects Ox2000 0x2001 PDO Assign IN 0x1C18 PDO Assign OUT Ox1C12 Sync Manager Type Ox1C00 Sync Manager Parameter Objects 0x1C32 0x1C33 Sync Mode Information Data Objects 0x9000 Ox91FO Modular Device Profile Objects OxF000 MDP Detected Module Ident List OxF050 Configured Module Ident List OxF030 Detected Address List 0xF040 1 O
19. 20 1 2 3 8 000000 999999 21 0 0 1 1 9 9 A 10 B 11 Z 35 22 0x1018 0x1018 0 UNIT8 8 RO 4 1 UNIT32 32 RO 0x0000060C ID 2 UNIT32 32 RO 0x52333001 3 UNIT32 32 RO n 4 UNIT32 32 RO 0 n 3 NM 9009 1 P14 14 WW
20. Device Type 0x1000 Manufacturer Device Name Ox1008 IManufacturer Hardware Version Ox1009 Manufacturer Software Version Ox100A Identity Objects Ox1018 EtherCAT EtherCAT INIT PREOP SAFEOP OP 4 mTxPDO SAFEOP OP RxPDO OP OP RUN NM 9009 1 P6 14 EtherCAT AL Status Code R30NECT1 ESC 0x0134 0x0135 AL Status Code 3 AL Status Code 0x0000 0x0011
21. 0x0012 0x0013 BOOT Ox0016 Mailbox PREOP 0x0017 SyncManager 0x001B SyncManager 0x001D SyncManager Output Ox001E SyncManager Input 0x001F Ox0029 FreeRun 3 Ox8000 Ox8001 SDO Abort Code SDO SDO Abort Code 4 4 SDO Abort Code 0x05030000 0x05040001 0x05040005
22. 0Ox0000 OxFFEE 16 8 0x6nn0 0 UNIT8 8 RO 8 8 1 INT16 16 RO Ox0000 OxFFETE 1 2 INT16 16 RO 0Ox0000 OxFFEFEF 2 8 INT16 16 RO 0Ox0000 OxFFEE 8 0x7nn0 0 UNIT8 8 RO 8 1 INT16 16 RO Ox0000 OxFFFE 1 2 INT16 16 RO Ox0000 OxFFEFE 2 8 INT16 16 RO 0Ox0000 OxFFFE 8 16 0x6nn0 0 UNIT8 8 RO 16 16 1 INT16 16 RO Ox0000 OxFFFTE 1 2 INT16 16 RO Ox0000 0xFFEE 2 16 INT16 16 RO Ox0000 OxFFEE 16 0x7nn0 0 UNITS 8 RO 16 1 INT16 16 RO 0Ox0000 OxFFFE 1 2 INT16 16 RO Ox0000 OxFFEFE 2 16 INT16 16 RO Ox0000 OxFFFE 16 NM 9009 1 P9 14 Manufacturer Specific Objects 0x200 R30NECT1 Ox2000 Ox2001 7
23. 5 N P3 14 NM 9009 1 MN R30NECT1 mm 110 EtherCAT IN RJ 45 EtherCAT OUT RJ 45 gt USB NM 9009 1 P4 14 WW R30NECT1 EtherCAT Modular Device Profile R30NECT1 EtherCAT Modular Device Profile MDP ETG 5001 1 MDP ID Explicit Device Identification 1 255 ID 0 ID 0
24. Module Ident 13 PDO Module ldent PDO Module Ident DI16 16 2 1 DI32 32 2 2 DO16 16 2 3 DO32 32 2 4 AT4 4 1 5 AT8 8 1 6 ATI16 16 1 7 AO4 4 1 8 AO8 8 1 9 AO16 16 1 10 DIO16 16 16 2 11 AIO16 16 16 1 12 AIO8 8 8 1 13 DI64 64 2 14 DO64 64 2 15 AT2 2 1 16 AO2 2 1 17 Modular Device Profile Objects 0xF000 OxF000 Modular Device Profile MDP 1 2 5 14 PDO 4 0x9nn0 bit0 0x9nn0
25. x1009 STRING 32 RO n nn Manufacturer Software Version 0x100A Ox100A 20 20 Ox100A 0x100A STRING 32 RO n nn Identity Object 0x1018 0x1018 ID 1 UP 22 8 2 3 8 32 6 6 20 2 6 21 6 6
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