TR-Electronic CDV582 - Cyclic Process Data Structure (IO Assembly); Instance 1: Grey Default Input

Structure of the cyclic process data – IO Assembly
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Page 42 of 91 TR-ECE-BA-GB-0163 v03 10/07/2020
7 Structure of the cyclic process data – IO Assembly
IO Assembly transfers the process data of the measuring system. Only the static configuration
called Static Assembly is supported. The number of instances and attributes is therefore fixed and
cannot be changed.
Instance Attr. Type Name Description
1 3 Input
Grey Default Input
– Position Value Unsigned
NON-safety-related (PROFILE)
32-bit unsigned position value
100 3 – Heartbeat Heartbeat
101 3 Input
TR Grey Input
– TR Grey – Encoder Status
– Position Value Unsigned
– TR Grey – Velocity
NON-safety-related (TR-Electronic)
16-bit status information
32-bit unsigned position value
32-bit signed velocity value
102 3 Output
Grey Output Channel 1
– TR Grey – Preset Control
– Preset Value
NON-safety-related
16-bit preset control
Set 32-bit preset value
121 3 Input
Safety Input
– TR Safety – Status
– TR Safety – Position
– TR Safety – Velocity
Safety-related
16-bit status information
32-bit unsigned position value
32-bit signed velocity value
122 3 Output
Safety Output
– TR Safety – Controlword
– TR Safety – Presetout
Safety-related
16-bit preset control
Set 32-bit preset value
Table 5: Overview of I/O assembly instances
7.1 Instance 1, Grey Default Input
The current, non-safety-related, scaled absolute actual position of the measuring system is output as
an unsigned 32-bit binary value via Instance 1, Member Position Value Unsigned.
Input byte IB0 to IB3, UDINT
Byte
0 1 2 3
Bit
7-0 15-8 23-16 31-24
Data
2
7
– 2
0
2
15
– 2
8
2
23
– 2
16
2
31
– 2
24
Link path, Packed EPATH with 8-bit class
0x20
0x04
0x24
0x01
0x30
0x03
Logical Type =
Class
Class #4
Logical Type =
Instance
Instance #1
Logical Type =
Attribute ID
Attribute ID #3