SMC Networks LECSN-T Series - 19.3.2 I;O communication mapping

19 - 15
19．EtherNet/IP COMMUNICATION
(2) Network Connection Parameters format
(a) Forward_Open service
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
Redundant
Owner
Connection
Type
Reserved
Priority
Fixed/
Variable
Connection Size (in bytes)
(b) Large_Forward_Open service
31
30
29
28
27
26
25
24-16
15-0
Redundant
Owner
Connection
Type
Reserved
Priority
Fixed/
Variable
Reserved
Connection Size (in bytes)
19.3.2 I/O communication mapping
(1) I/O communication format (input)
The following table lists the communication data formats from the master (upper side) to slaves (driver).
Instance numbers in the table correspond to the instance numbers of Assembly object.
Map number
Mapping initial setting
Expected application of the initial map
1st Output data
(Instance 150)
1 Byte: Modes of operation (6060h)
1 Byte: Reserved
2 Byte: Controlword (6040h)
4 Byte: Target position (607Ah)
4 Byte: Target velocity (60FFh)
2 Byte: Target torque (6071h)
2 Byte: Reserved
4 Byte: Profile velocity (6081h)
4 Byte: Profile acceleration (6083h)
4 Byte: Profile deceleration (6084h)
4 Byte: Torque slope (6087h)
4 Byte: Instruction code
4 Byte: Writing data
2 Byte: Control DI 10 (2D0Ah)
2 Byte: User defined data 0 (Initial value: Control
DI 1 (2D01h)) (Note)
2 Byte: User defined data 1 (Initial value: Control
DI 2 (2D02h)) (Note)
2 Byte: User defined data 2 (Initial value: Control
DI 3 (2D03h)) (Note)
4 Byte: User defined data 3 (Initial value:
Velocity limit value (2D20h)) (Note)
4 Byte: User defined data 4 (Initial value: Not
assigned) (Note)
4 Byte: User defined data 5 (Initial value: Not
assigned) (Note)
4 Byte: User defined data 6 (Initial value: Not
assigned) (Note)
Profile position mode (pp)
Profile velocity mode (pv)
Profile torque mode (tq)
Homing mode (hm)
Mapping for an application in which the modes
above are switched
Map size: 64 bytes
Note.
User defined data 0 to User defined data 6 are variable objects.