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ET1200 Folha de dados(PDF) 40 Page - Beckhoff Automation GmbH & Co. KG |
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ET1200 Folha de dados(HTML) 40 Page - Beckhoff Automation GmbH & Co. KG |
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40 / 70 page  PDI Description III-30 Slave Controller – ET1200 Hardware Description 6.2 Digital I/O Interface 6.2.1 Interface The Digital I/O PDI is selected with PDI type 0x04. The signals of the Digital I/O interface are: ET1200 I/O[15:0] LATCH_IN/SOF OUTVALID/WD_TRIG Figure 7: ET1200 Digital I/O Signals Table 36: ET1200 Digital I/O signals Signal Direction Description Signal polarity I/O[15:0] IN/OUT/BIDIR Input/Output or Bidirectional data LATCH_IN/SOF IN/OUT External data latch signal or Start of Frame act. high OUTVALID/WD_TRIG OUT Output data is valid/Output event or Watchdog Trigger act. high NOTE: Unsupported control signals OE_EXT and OE_CONF are assumed to be high. 6.2.2 Configuration The Digital I/O interface is selected with PDI type 0x04 in the PDI control register 0x0140. It supports different configurations, which are located in registers 0x0150 – 0x0153. 6.2.3 Digital Inputs Digital input values appear in the process memory at address 0x1000:0x1003. EtherCAT devices use Little Endian byte ordering, so I/O[7:0] can be read at 0x1000 etc. Digital inputs are written to the process memory by the Digital I/O PDI using standard PDI write operations. Digital inputs can be configured to be sampled by the ESC in four ways: Digital inputs are sampled at the start of each Ethernet frame, so that EtherCAT read commands to address 0x1000:0x1003 will present digital input values sampled at the start of the same frame. The SOF signal can be used externally to update the input data, because the SOF is signaled before input data is sampled. The sample time can be controlled externally by using the LATCH_IN signal. The input data is sampled by the ESC each time a rising edge of LATCH_IN is recognized. Digital inputs are sampled at Distributed Clocks SYNC0 events. Digital inputs are sampled at Distributed Clocks SYNC1 events. For Distributed Clock SYNC input, SYNC generation must be activated (register 0x0981). SYNC output is not necessary (register 0x0151). SYNC pulse length (registers 0x0982:0x0983) should not be set to 0, because acknowledging of SYNC events is not possible with Digital I/O PDI. Sample time is the beginning of the SYNC event. |
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