Brooks GF Series Supplemental Manual

Installation and Operation Manual
X-DPT-EtherCAT-GF1XX-MFC-eng
Part Number: 541B219AAG
April, 2017
19
Section 3 - Slave Configuration
Brooks EtherCAT MFCs
Table 3-2 – Default RxPDO (MFC/EMFC Profiles)
PDO Index
PDO Sub Index
PDO Entry
Index
PDO Entry Sub
Index
Bit Length
Name
0x1600
0x01
0x7003
0x01
32
Flow SP [REAL]
0x02
0x7009
0x01
8
Actuator Control
0x03
0x7009
0x02
32
Actuator
Position SP
[REAL]
See Note below.
0x04
0x7008
0x01
32
Ramp Time
Table 3-3 – Default RxPDO (MFM/EMFM Profiles)
PDO Index
PDO Sub Index
PDO Entry
Index
PDO Entry Sub
Index
Bit Length
Name
-
-
-
-
-
-
Note: The Actuator Position SP functionality is not supported in GF1XX devices. However, the space must be
included in this RxPDO to maintain compatibility with the ETG.5003.202x profile definition. Any value placed in
this position is ignored. If the user wishes to eliminate this space, the Flexible RxPDO can be used.
The following limitations apply to the flexible RxPDO (0x1601):
 Any PDO entry from the dynamic or the default PDO may
only exist once. Setpoint (which can either be real or
integer) can only be declared once. If an entry is
declared more than once, or any other PDO definition
fault exists (bad gap, invalid entry, etc.), the device will
not exit pre-op.
 All objects assigned to active RxPDO will be Read-Only
when accessed via COE Mailbox.
3.2.2. TxPDO Mapping
The Brooks GF1xx Series device supports one preconfigured, default TxPDO
at 0x1A00 and one user configurable TxPDO at 0x1A01.
The default TxPDO for each device profile are defined in the tables below:
Table 3-4 – Default TxPDO (EMFC Profile)
PDO Index
PDO Sub Index
PDO Entry
Index
PDO Entry Sub
Index
Bit Length
Name

Brooks GF Series Specifications

General

Brand	Brooks
Model	GF Series
Category	Controller
Language	English