M-system EtherCAT R3-NECT1 User manual

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INSTRUCTION MANUAL
BEFORE USE ....
Thank you for choosing M-System. Before use, please check
contents of the package you received as outlined below.
If you have any problems or questions with the product,
please contact M-System’s Sales Office or representatives.
■PACKAGE INCLUDES:
Network interface module ..................................................(1)
■MODEL NO.
Confirm Model No. marking on the product to be exactly
what you ordered.
■INSTRUCTION MANUAL
This manual describes necessary points of caution when
you use this product, including installation, connection and
basic maintenance procedures.
POINTS OF CAUTION
■CONFORMITY WITH EU DIRECTIVES
• The equipment must be mounted inside the instrument
panel of a metal enclosure.
• The actual installation environments such as panel con-
figurations, connected devices, connected wires, may af-
fect the protection level of this unit when it is integrated
in a panel system. The user may have to review the CE
requirements in regard to the whole system and employ
additional protective measures to ensure the CE conform-
ity.
■HOT SWAPPABLE MODULES
• The module can be replaced while the power is ON. Be
sure to replace it when the module is not communicat-
ing with a host, as it may affect the system. Replacing
multiple modules at once may greatly change line voltage
levels. We highly recommend to replace them one by one.
■GENERAL PRECAUTIONS
• DO NOT set the switches while the power is supplied.
The switches are used only for maintenance without the
power.
■ENVIRONMENT
• Indoor use.
• When heavy dust or metal particles are present in the
air, install the unit inside proper housing with sufficient
ventilation.
• Do not install the unit where it is subjected to continuous
vibration. Do not subject the unit to physical impact.
• Environmental temperature must be within -10 to +55°C
(14 to 131°F) with relative humidity within 30 to 90% RH
in order to ensure adequate life span and operation.
■WIRING
• Do not install cables close to noise sources (relay drive
cable, high frequency line, etc.).
• Do not bind these cables together with those in which
noises are present. Do not install them in the same duct.
• Be sure to attach the terminal cover for safety.
INSTALLATION
Use the Installation Base Model R3-BS, or Model R3-BSW
for free I/O address capability.
Before mounting the Network Interface Module onto the
Base, be sure to configure the module as explained below.
■FIXED ADDRESS AND OTHER SETTINGS
Read the “COMPONENT IDENTIFICATION” surely be-
fore mounting the module onto the Base.
■NETWORK SLOTS ON THE BASE
I/O 1 I/O 2 I/O n
With Model R3-BS base, mount the I/O Modules from the
left end (I/O 1) to the right in order that the Network Mod-
ule assigns data areas from I/O 1.
Network Module(s) and Power Module are mounted basi-
cally at the right end though technically they could be
mounted in any position.
With Model R3-BSW base, there is no limitation in mount-
ing positions as I/O address can be assigned freely to each
module using rotary switches equipped on the base.
NETWORK INTERFACE MODULE
(EtherCAT) MODEL R3-NECT1
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.

R3-NECT1
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COMPONENT IDENTIFICATION
RUN Indicator LED
■FRONT VIEW ■SIDE VIEW
ERR Indicator LED
1
2
3
4
5
6
RJ-45 Modular Jack for
EtherCAT Communication
Fixed Address Setting
Rotary SW
×10
×1
Dev ID
CONFIG
ECT IN
ECT OUT
L/A
L/A
USB Connector
for Configuration
SW3
ON
4
3
2
1
Function Setting
DIP SW
DUAL
COMMUNICATION
INPUTDATA
■STATUS INDICATOR LED
ID COLOR FUNCTION S TAT U S DESCRIPTION
RUN Green Device State
OFF Initialization
Blinking PRE-OPERATIONAL
Single Flash SAFE-OPERATIONAL
ON OPERATIONAL
ERR Red Error
OFF No error
Blinking Invalid Configuration
Single Flash Unrequested Configuration
Double Flash Application Watchdog Timeout
ON PDO Watchdog Timeout
L/A Green Port status
OFF LINK of Physical Layor is unestablished
Flickering Operationg after LINK is established
ON LINK of Physical Layor is established
Flickering 50 msec.-ON, 50 msec.-OFF
Blinking 200 msec.-ON, 200 msec.-OFF
Single Flash 200 msec.-ON, 1000 msec.-OFF
Double Flash 200 msec.-ON, 200 msec.-OFF, 200 msec.-ON, 1000 msec.-OFF
Flickering
ON
OFF
Blinking
ON
OFF
200msec.
50msec.
200msec.
SingleFlash
ON
OFF
200msec. 1000msec.
1000msec.
DoubleFlash
ON
OFF
200msec. 200msec. 200msec.

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■FIXED ADDRESS SETTING ROTARY SW
Fixed address 1 to 255 can be set using the two rotary
switches each marked 0 to F in combination.
When fixed address is not used, set the switches to 0.
FixedAddressSetting(x16)
FixedAddressSetting(x1)
8
6
7
3
4
5
2
1
0
F
E
D
C
B
A
9
8
6
7
3
4
5
2
1
0
F
E
D
C
B
A
9
■DIP SW
(*) factory default setting
• Dual Communication: SW3-1
When two network modules are mounted, one must be
‘Main’ (OFF) network and the other must be ‘Sub’ (ON) net-
work. For single communication, the network module must
always be set to ‘Main’ (OFF).
SW DUAL COMMUNICATION
MAIN (*)SUB
SW3-1 OFF ON
• Input Error Data: SW3-2
Hold: When the communication from an input module is lost
due to the input module error, the network module holds the
signal and stands by until the communication recovers.
Set to ‘0’: When the communication from an input module
is lost due to the input module error, the network module
outputs ‘0.’
SW INPUT ERROR DATA
HOLD (*)SET ‘0’
SW3-2 OFF ON
Note: Be sure to set unused SW3-3 and 3-4 to OFF.

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TERMINAL CONNECTIONS
Connect the unit as in the diagram below.
■EXTERNAL DIMENSIONS unit: mm (inch)
Positioning Guide
1
2
3
4
5
6
Terminal Cover
6-M3
SCREW
6.2 (0.24)
130 (5.12)
27.5 (1.08) 109 (4.29)
■CONNECTION DIAGRAM
INTERNAL BUS
Configuration Connector
EtherCAT (IN)
EtherCAT (OUT)
INTERNAL POWER
1
4
RUN +
RUN –
RUN CONTACT OUTPUT
USB CONNECTOR
RJ-45 MODULAR JACK
RJ-45 MODULAR JACK
CONNECTOR
WIRING INSTRUCTIONS
■M3 SCREW TERMINAL (RUN contact output)
Torque: 0.5 N·m
■SOLDERLESS TERMINAL
Refer to the drawing below for recommended ring tongue
terminal size. Spade tongue type is also applicable. Sol-
derless terminals with insulation sleeve do not fit.
Recommended manufacturer: Japan Solderless Terminal
MFG.Co.Ltd, Nichifu Co.,ltd
Applicable wire size: 0.75 to 1.25 mm2
12max
6max
3max 4min
3.2 dia.
(mm)

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EtherCAT SPECIFICATIONS
■Modular Device Prole
R3-NECT1 complies with the Modular Device Profile (MDP) standard, ETG.5001.1 of the EtherCAT standard.
Be sure that the master supports the MDP standard.
■Fixed address
R3-NECT1 supports Explicit Device Identification by allowing setting of fixed address using the fixed address setting rotary
switches (ID selector).
The fixed address can be set to be 1 to 255.
When fixed address is not used, set the ID selector to 0
When the power is turned on with the ID selector set to other than 0, the designated address is written in the resistor 0x0012
of ESC (EtherCAT Slave Controller) when R3-NECT1 starts up.
■Process Data Conguration
I/O modules and their respective module types are as follows.
For the module types of I/O cards, refer to the specifications of the respective I/O cards.
Table 1: I/O Modules and Module Types
I/O MODULE MODULE TYPE MODEL
DI16 Discrete input, 16 points R3-DA16
DI32 Discrete input, 32 points R3-DA32
DI64 Discrete input, 64 points R3-DA64
DO16 Discrete output, 16 points R3-DC16
DO32 Discrete output, 32 points R3-DC32
DO64 Discrete output, 64 points R3-DC64
DIO16 Discrete input, 16 points, Discrete output, 16 points R3-DAC16
AI2 Analog input, 2 points R3-LC2
AI4 Analog input, 4 points R3-SV4
AI8 Analog input, 8 points R3-SV8
AI16 Analog input, 16 points R3-SV16N
AO2 Analog output, 2 points –
AO4 Analog output, 4 points R3-YV4
AO8 Analog output, 8 points R3-YV8
AO16 Analog output, 16 points –
AIO4 Analog input, 4 points, Analog output, 4 points –
AIO8 Analog input, 8 points, Analog output, 8 points –
AIO16 Analog input, 16 points, Analog output, 16 points R3-PA8

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■Data Conguration
Data are configured in accordance with the EtherCAT Modular Device Profile (MDP) specifications as shown below.
Table 2: Data Conguration
OBJECT ADDRESS CONTENT
Input Area Objects 0x6000 to 0x60F0 Input data
Output Area Objects 0x7000 to 0x70F0 Output data
PDO Mapping Objects (TxPDO) 0x1A00 to 0x1AF0 Input data list
PDO Mapping Objects (TxPDO) 0x1AFF Status data list
PDO Mapping Objects (RxPDO) 0x1600 to 0x160F Output data list
Manufacturer Specific Object 0x2000 to 0x2001 Card status
PDO Assign (IN) 0x1C13 Input data transmission order
PDO Assign (OUT) 0x1C12 Output data transmission order
Sync Manager Type 0x1C00 Sync manager type
Sync Manager Parameter Objects 0x1C32 to 0x1C33 Sync mode
Information Data Object 0x9000 to 0x90F0 Card information
Modular Device Profile Objects 0xF000 MDP information
Detect Module Ident List 0xF050 Card information list
Configured Module Ident List 0xF030 Card information collation by muster module
Detected Address List 0xF040 I/O card address
Device Type 0x1000 Device type
Manufacturer Device Name 0x1008 Device name
Manufacturer Hardware Version 0x1009 Hardware version
Manufacturer Software Version 0x100A Software version
Identity Objects 0x1018 Vendor information
■EtherCAT State
EtherCAT defines four states of slave: INIT, PREOP, SAFEOP, and OP.
TxPDO (input configuration data) is updated only in the SAFEOP or OP state, and RxPDO (output configuration data) is
updated only in the OP state.
The RUN LED turns on only in the OP state and input and output data are updated, while only input data is updated in the
PREOP state.
■EtherCAT Diagnostics
• AL Status Code
When the slave (R3-NECT1) fails to receive a request from the master or when there is a problem with the slave during nor-
mal communication, an error code is set to registers 0x0134 and 0x0135 (AL Status Code) of ESC.
The error codes that R3-NECT1 uses are as shown below.
Table 3: Error Codes of AL Status Code
CODE ERROR
0x0000 No error
0x0011 Invalid requested state change
0x0012 Unknown requested state
0x0013 BOOT satate not supported
0x0016 Invali Mailbox configuration (PREOP)
0x0017 Invalid SyncManager configuration
0x001B SyncManager Watchdog Timeout
0x001D Invalid Output congiguration
0x001E Invalid Input configuration
0x001F Invalid Watchdog Configuration
0x0029 FreeRun needs 3 Buffer mode
0x8000 Internal bus error at power on (vendor option)
0x8001 Internal bus error during communication (vendor option)

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• SDO Abort Code
When the master attempts to access the object dictionary via SDO, if the slave (R3-NECT1) fails to receive SDO messages for
any reason, R3-NECT1 sends an error code (SDO Abort Code) to the master and denies its access.
The following error codes are used
Table 4: Error Codes of SDO Abort Code
CODE ERROR
0x05030000 Toggle bit not changed
0x05040001 Client/Server command specifier not valid or unknown
0x05040005 Out of memory
0x06010000 Unsupported access to an object
0x06010002 Attempt to a read-only object
0x06020000 The object does not exist in the object directory
0x06070010 Data type does not match, length of service parameter does not match
0x06090011 Sub-index does not exis
0x08000020 Data cannot be transferred or stored to the application
0x08000022 Data cannot be transferred or stored to the application because of the present device state

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OBJECT DICTIONARY (DATA DESCRIPTION)
■Input Area Objects (Input Data Area: 0x6000 to 0x60F0)
Input data of R3 I/O modules is allocated to 0x6000 to 0x61F0. One card uses one object.
Index of the object (address) is fixed by mounting slot.
Object index = 0x6000 + (I/O slot number - 1) × 0x0010 (R3 I/O module)
The configuration of the object is fixed by the number of input points and the data type per input point. Sub-Indexes corre-
spond to channel numbers. (Refer to Tables 5 and 6.)
■Output Area Objects (Output Data Area: 0x7000)
Output data of I/O modules is allocated to 0x7000 to 0x70F0. One card uses one object.
Index of the object (address) is fixed by the mounting slot.
Object index = 0x7000 + (I/O slot number - 1) × 0x0010 (R3 I/O module)
The configuration of the object is fixed by the number of output points and the data type per output point. Sub-Indexes cor-
respond to channel numbers. (Refer to Tables 5 and 6.)
Table 5: Object Conguration Example for R3-NECT1
I/O SLOT NUMBER MODEL I/O MODULE MODULE TYPE OBJECT INDEX DATA TYPE
1 R3-DA16A DI16 Discrete input, 16 points 0x6000 1 bit × 16
2 R3-DC16A DO16 Discrete output, 16 points 0x7010 1 bit × 16
3 R3-SV4 AI4 Analog input, 4 points 0x6020 16 bits × 4
4 R3-YV4 AO4 Analog output, 4 points 0x7030 16 bits × 4
5 R3-RS8 AI8 Analog input, 8 points 0x6040 16 bits × 8
6 R3-YV8 AO8 Analog output, 8 points 0x7050 16 bits × 8
7 R3-PA16 AI16 Analog input, 16 points 0x6060 16 bits × 16
8 R3-PC16A AO16 Analog output, 16 points 0x7070 16 bits × 16
9 R3-GCIE1 AIO16 Analog input, 16 points,
Analog output, 16 points
0x6080
0x7080
Input 16 bits × 16
Output 16 bits × 16
10 R3-NECT1 (this module)
11 R3-PS1 (power module)

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Table 6: Sub-index Conguration By Module Type
MODULE TYPE INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
Discrete input, 16 points 0x6nn0 0 UINT8 8 RO 16 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point input data
2 BOOL 1 RO TRUE／FALSE 2nd point input data
: : : : : :
16 BOOL 1 RO TRUE／FALSE 16th point input data
Discrete input, 32 points 0x6nn0 0 UINT8 8 RO 32 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point input data
2 BOOL 1 RO TRUE／FALSE 2nd point input data
: : : : : :
32 BOOL 1 RO TRUE／FALSE 32nd point input data
Discrete input, 64 points 0x6nn0 0 UINT8 8 RO 64 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point input data
2 BOOL 1 RO TRUE／FALSE 2nd point input data
： ： ： ： ： ：
64 BOOL 1 RO TRUE／FALSE 64th point input data
Discrete output, 16 points 0x7nn0 0 UINT8 8 RO 16 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point output data
2 BOOL 1 RO TRUE／FALSE 2nd point output data
: : : : : :
16 BOOL 1 RO TRUE／FALSE 16th point output data
Discrete output, 32 points 0x7nn0 0 UINT8 8 RO 32 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point output data
2 BOOL 1 RO TRUE／FALSE 2nd point output data
: : : : : :
32 BOOL 1 RO TRUE／FALSE 32nd point output data
Discrete output, 64 points 0x7nn0 0 UINT8 8 RO 64 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point output data
2 BOOL 1 RO TRUE／FALSE 2nd point output data
： ： ： ： ： ：
64 BOOL 1 RO TRUE／FALSE 64nd point output data
Discrete input, 16 points
Discrete output, 16 points
0x6nn0 0 UINT8 8 RO 16 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point input data
2 BOOL 1 RO TRUE／FALSE 2nd point input data
： ： ： ： ： ：
16 BOOL 1 RO TRUE／FALSE 16th point input data
0x7nn0 0 UINT8 8 RO 16 Number of items
1 BOOL 1 RO TRUE／FALSE 1st point output data
2 BOOL 1 RO TRUE／FALSE 2nd point output data
： ： ： ： ： ：
16 BOOL 1 RO TRUE／FALSE 16th point output data
Analog input, 2 points 0x6nn0 0 UINT8 8 RO 2 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data

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MODULE TYPE INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
Analog input, 4 points 0x6nn0 0 UINT8 8 RO 4 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data
3 INT16 16 RO 0x0000〜0xFFFF 3rd point input data
4 INT16 16 RO 0x0000〜0xFFFF 4th point input data
Analog input, 8 points 0x6nn0 0 UINT8 8 RO 8 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data
: : : : : :
8 INT16 16 RO 0x0000〜0xFFFF 8th point input data
Analog input, 16 points 0x6nn0 0 UINT8 8 RO 16 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data
: : : : : :
16 INT16 16 RO 0x0000〜0xFFFF 16th point input data
Analog output, 2 points 0x7nn0 0 UINT8 8 RO 2 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
Analog output, 4 points 0x7nn0 0 UINT8 8 RO 4 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
3 INT16 16 RO 0x0000〜0xFFFF 3rd point output data
4 INT16 16 RO 0x0000〜0xFFFF 4th point output data
Analog output, 8 points 0x7nn0 0 UINT8 8 RO 8 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
: : : : : :
8 INT16 16 RO 0x0000〜0xFFFF 8th point output data
Analog output, 16 points 0x7nn0 0 UINT8 8 RO 16 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
: : : : : :
16 INT16 16 RO 0x0000〜0xFFFF 16th point output data
Analog input, 4 points
Analog output, 4 points
0x6nn0 0 UINT8 8 RO 4 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data
3 INT16 16 RO 0x0000〜0xFFFF 3rd point input data
4 INT16 16 RO 0x0000〜0xFFFF 4th point output data
0x7nn0 0 UINT8 8 RO 4 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
3 INT16 16 RO 0x0000〜0xFFFF 3rd point output data
4 INT16 16 RO 0x0000〜0xFFFF 4th point output data

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MODULE TYPE INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
Analog input, 8 points
Analog output, 8 points
0x6nn0 0 UINT8 8 RO 8 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data
： ： ： ： ： ：
8 INT16 16 RO 0x0000〜0xFFFF 8th point input data
0x7nn0 0 UINT8 8 RO 8 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
： ： ： ： ： ：
8 INT16 16 RO 0x0000〜0xFFFF 8th point output data
Analog input, 16 points
Analog output, 16 points
0x6nn0 0 UINT8 8 RO 16 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point input data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point input data
： ： ： ： ： ：
16 INT16 16 RO 0x0000〜0xFFFF 16th point input data
0x7nn0 0 UINT8 8 RO 16 Number of items
1 INT16 16 RO 0x0000〜0xFFFF 1st point output data
2 INT16 16 RO 0x0000〜0xFFFF 2nd point output data
： ： ： ： ： ：
16 INT16 16 RO 0x0000〜0xFFFF 16th point output data

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■Manufacture Specic Objects (Card Status: 0x2000, 0x2001)
Status information of each I/O card is allocated to 0x2000 and mounting information of I/O cards is allocated to 0x2001.
Input abnormal data of I/O slot number 0 to 16 (I/O card address 0 to 31) are stored in 0x2000 as 1 bit per channel (for a
module with 4 channels, 4 bits). When the corresponding module is an analog input module and first point or second point
input is out of
-15 to +105% range, out of temperature table range or burnout state, the bit [second point: first point] of corresponding input
is set to 1. When the corresponding module is other than the analog input module, [0:0] is set.
Status data of I/O slot number 0 to 16 are stored in 0x2001 as 16 bits. LSB corresponds to I/O slot number 1, MSB corresponds
to I/O slot number 16.
A bit for normally existing I/O slot is set to 1, a bit for not existing I/O slot or I/O slot having a hardware error (including com-
munication error) set to 0. (Refer to Table 7)
Table 7: Card Status Conguration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x2000 0 UINT8 8 RO 16 Number of items
1 UINT16 16 RO n R3 I/O module 1 status information
2 UINT16 16 RO n R3 I/O module 2 status information
: : : : : :
16 UINT16 16 RO n R3 I/O module 16 status information
0x2001 0 UINT8 8 RO 1 Number of items
1 UINT16 16 RO 0xnnnn Mounting status of I/O cards
■PDO Mapping Objects (Data list, TxPDO (input): 0x1A00 to 0x1A0F, RxPDO (output): 0x1600 to 0x160F)
Of the mounted I/O cards, input data list is allocated to TxPDO, output data list is allocated to RxPDO and status data list is
allocated to 0x1AFF of TxPDO.
Object index (input data) = 0x1A00 + (I/O slot number -1) (R3 I/O module)
Object index (output data) = 0x1600 + (module number) (R3 I/O module)
RxPDO data and TxPDO data contain the object index, Sub-Index and number of bits of R3-NECT1.
Table 8: Object conguration for RxPDO and TxPDO
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x16nn
(RxPDO)
0 UINT8 8 RO 1 to 16 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for I/O module
bb: Sub-index for I/O module
cc: Number of bits for I/O module
2 UINT32 32 RO
: : : :
m UINT32 32 RO
0x1Ann
(TxPDO)
0 UINT8 8 RO 1 to 16 Number of items
1 UINT32 32 RO 0xaaaabbcc aaaa: Index for I/O module
bb: Sub-index for I/O module
cc: Number of bits for I/O module
2 UINT32 32 RO
: : : :
m UINT32 32 RO
Table 9: Object conguration for 0x1AFF
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1AFF 0 UINT8 8 RO 17 Number of items
1 UINT32 32 RO 0x20000110 Reference object
2 UINT32 32 RO 0x20000210
: : : : :
16 UINT32 32 RO 0x20001010
17 UINT32 32 RO 0x20010110

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■PDO Assign Objects ( (Data Transmission Order, Output: 0x1C12, Input: 0x1C13)
An allocation list for RxPDO and an allocation list for TxPDO are created in 0x1C12 and 0x1C13, respectively.
The indexes stored in 0x1C12 and 0x1C13 are placed in the order they are actually transmitted via PDO.
• PDO group
Assignment of the PDO groups is based on the I/O card types as defined by Information Data Objects.
•PDO group 0: Status
•PDO group 1: Analog I/O card
•PDO group 2: Discrete I/O card
The PDO group data is transmitted in the following order of priority: Group 0 > Group 1 > Group 2.
Table 10 shows the PDO list for the card configuration example of Table 5
Table 10: PDO List for the Conguration Example of Table 5
INDEX SUB-INDEX DATA TYPE BIT ACCESS PDO GROUP VALUE CONTENT
0x1C12 0 UINT8 8 RO – 5 Number of items
1 UINT16 16 RO 1 0x1603 Analog output data
2 UINT16 16 RO 1 0x1605 Analog output data
3 UINT16 16 RO 1 0x1607 Analog output data
4 UINT16 16 RO 1 0x1608 Analog output data
5 UINT16 16 RO 2 0x1601 Discrete output data
0x1C13 0 UINT8 8 RO – 6 Number of items
1 UINT16 16 RO 0 0x1AFF Status data
2 UINT16 16 RO 1 0x1A02 Analog input data
3 UINT16 16 RO 1 0x1A04 Analog input data
4 UINT16 16 RO 1 0x1A06 Analog input data
5 UINT16 16 RO 1 0x1A08 Analog input data
6 UINT16 16 RO 2 0x1A00 Discrete input data
■Sync Manager Type (0x1C00)
Sync Manager Type is allocated to object 0x1C00 based on the EtherCAT specification. (Refer to Table 11.)
Table 11: Object conguration for 0x1C00
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1C00 0 UINT8 8 RO 4 Number of items
1 UINT8 8 RO 1 Mailbox Write
2 UINT8 8 RO 2 Mailbox Read
3 UINT8 8 RO 3 Process Output Data
4 UINT8 8 RO 4 Process Input Data
■Sync Manager Parameter Objects (0x1C32, 0x1C33)
Setting object for Sync Mode.
Objects 0x1C32 and 0x1C33 are fixed as R3-NECT1 only supports the Free Run mode.
Distributed Clock (DC) mode is not supported.

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■Information Data Objects (0x9000 to 0x90F0)
Objects 0x9000 to 0x91F0 store the PDO group and Module Ident of I/O cards. (Refer to Table 13.)
The same number of objects as the number of I/O data items are allocated.
Index = 0x9000 + (I/O slot number - 1) × 0x0010 (R3 I/O module)
Sub-Index is 9 or 10. (Refer to Table 12.)
Table 12: Object 0x9nn0 Conguration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x9nn0 0 UINT8 8 RO 10 Number of items
3 STRING 128 RO (model name) Device Type
9 UINT16 16 RO 1/2 PDO group
10 UINT32 32 RO 1 to n Module Ident
Table 13: PDO Group and Module Ident of I/O Cards
I/O MODULE MODULE TYPE PDO GROUP MODULE IDENT
DI16 Discrete input, 16 points 2 401
DI32 Discrete input, 32 points 2 402
DO16 Discrete output, 16 points 2 403
DO32 Discrete output, 32 points 2 404
AI4 Analog input, 4 points 1 405
AI8 Analog input, 8 points 1 406
AI16 Analog input, 16 points 1 407
AO4 Analog output, 4 points 1 408
AO8 Analog output, 8 points 1 409
AO16 Analog output, 16 points 1 410
DIO16 Discrete input, 16 points, Discrete output, 16 points 2 411
AIO16 Analog input, 16 points, Analog output, 16 points 1 412
AIO8 Analog input, 8 points, Analog output, 8 points 1 413
DI64 Discrete input, 64 points 2 414
DO64 Discrete output, 64 points 2 415
AI2 Analog input, 2 points 1 416
AO2 Analog output, 2 points 1 417
AIO4 Analog input, 4 points, Analog output, 4 points 1 420
■Modular Device Prole Objects (0xF000)
Object 0xF000 contains Modular Device Profile (MDP). The Index interval is allocated to Sub-Index 1. The maximum number
of cards is allocated to Sub- Index 2. And, the PDO group parameter of the slave device is allocated to Sub-Index 5. (Refer to
Table 14.)
Sub-Index 4 indicates the valid/invalid statuses of object 0x9nn0 Sub-Indexes.
The allocations are as follows:
bit 0 = 0x9nn0 Sub-Index 1
bit 1 = 0x9nn0 Sub-Index 2
:
1: Valid, 2: Invalid
Table 14: Object 0xF000 conguration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x9nn0 0 UINT8 8 RO 5 Number of items
1 UINT16 16 RO 0x0010 Index Interval
2 UINT16 16 RO 1 Maximum number of cards
4 UINT32 32 RO 0x00000300 Valid Sub-Index of 0x9nn0
5 UINT16 16 RO 0 PDO group

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■Detected Module Ident List (0xF050)
The list of Module Idents of the mounted I/O cards is allocated to object 0xF050.
The Sub-Index numbers are the same as the I/O slot numbers.
The Sub-Index number of vacant I/O slots is 0. (Refer to Table 15.)
■Congured Module Ident List (0xF030)
The master confirms the module configuration with object 0xF030.
With the Sub-Index numbers being the same as the I/O slot numbers, the master writes Module Idents to the modules it
recognizes.
The slave confirms the Module Ident: if it is correct, the writing has been successful; if there is any error, the writing has failed.
When all is correct, objects 0xF030 and 0xF050 show the same configuration.
Object 0xF030 is solely for the confirmation by the master. The use of this object can be omitted. (Refer to the Table 15.)
Table 15: Object 0xF030 and 0xF050, Conguration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0xF030 0 UINT8 8 RW 16 Number of items
1 UINT32 32 RW 0 Set Module Ident or 0.
2 UINT32 32 RW 0
4 UINT32 32 RW 0
5 UINT32 32 RW 0
6 UINT32 32 RW 0
7 UINT32 32 RW 0
8 UINT32 32 RW 0
9 UINT32 32 RW
10 UINT32 32 RW 0
: : : : :
16 UINT32 32 RW 0
0xF050 0 UINT8 8 RO 16 Number of items
1 UINT32 32 RO 401 Display Module Ident or 0 on the
master module
2 UINT32 32 RO 403
3 UINT32 32 RO 405
4 UINT32 32 RO 408
5 UINT32 32 RO 406
6 UINT32 32 RO 409
7 UINT32 32 RO 407
8 UINT32 32 RO 410
9 UINT32 32 RO 412
10 UINT32 32 RO 0
: : : : :
16 UINT32 32 RO 0
■Detected Address List (0xF040)
The addresses of mounted I/O cards are allocated in object 0xF040.
The Sub-Index numbers are same as the I/O slot numbers.
The Sub-Index number of vacant I/O slots is 0. (Refer to Table 16.)
Table 16: Object 0xF040 Conguration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0xF040 0 UINT8 8 RO 32 Number of items
1 UINT32 32 RO 0 to n I/O slot number or 0.
2 UINT32 32 RO 0 to n
: : : : :
32 UINT32 32 RO 0 to n

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■Device Type (0x1000)
The device type of this network card is allocated to object 0x1000. The device type is 5001. (Refer to Table 17.)
Table 17: Object 0x1000 Conguration
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1000 UINT32 32 RO 5001 Device Type
■Manufacturer Device Name (0x1008)
The model number of this network card is allocated to object 0x1008 in String form. (Refer to Table 18.)
Table 18: Object 0x1008 Conguration
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1008 STRING 32 RO R3-NECT1 Module number
■Manufacturer Hardware Version (0x1009)
The hardware device version of this network card is allocated to object 0x1009 in String form. (Refer to Table 19.)
Table 19: Object 0x1009 Conguration
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x100 STRING 32 RO n.nn Hardware version
■Manufacturer Software Version (0x100A)
The software version of this network card is allocated to object 0x100A in String form. (Refer to Table 20.)
Table 20: Object 0x100A Conguration
INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x100A STRING 32 RO n.nn Software version
■Identity Object (0x1018)
Information unique to this network card is allocated to object 0x1018. While the vendor ID and product code are fixed, the
revision number is incremented by one at each major version up of the software.
A unique serial number is allocated to each product. (Refer to Table 22.)
A serial number consists of 8 digits, starting with two alpha-numeral characters followed by six numeral characters.
The serial number is expressed as 32-bit data divided into 6-bit, 6-bit and 20-bit groups, with the first two characters con-
verted into 6-bit values. (Refer to Table 21.)
6 BITS 6 BITS 20 BITS
1st digit 2nd digit 3rd to 8th digits (000000 to 999999)
Table 21: Serial Number Conversion Table
CHARACTER VALUE
0 0
1 1
: :
9 9
A 10
B 11
: :
Z 35
Table 22: Object 0x1018 Conguration
INDEX SUB-INDEX DATA TYPE BIT ACCESS VALUE CONTENT
0x1018 0 UINT8 8 RO 32 Number of items
1 UINT32 32 RO 0x0000060C Vendor ID
2 UINT32 32 RO 0x52333001 Product code
3 UINT32 32 RO n Revision number
4 UINT32 32 RO 0 to n Serial number

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I/O DATA DESCRIPTIONS
The data allocations for typical I/O modules are shown below.
Refer to the manual for each module for detailed data allocations.
■OPERATION IN CASE OF A COMMUNICATION ERROR WITH I/O MODULES
When the communication between the network module and the I/O modules is lost due to an error in an input module, the
last process values are held until the communication is re-established.
■ANALOG DATA (16-bit data, models: R3-SV4,YV4, DS4,YS4, US4, etc.)
16-bit binary data.
Basically, 0 to 100% of the selected I/O range is converted into 0 to 10000 (binary).
-15 to 0 % is a negative range represented in 2’s complement.
In case of R3-US4, -10 to 0% is a negative range represented in 2’s complement.
0 15
■TEMPERATURE DATA (16-bit data, models: R3-RS4, TS4, US4, etc.)
16-bit binary data.
With °C temperature unit, raw data is multiplied by 10. For example, 25.5°C is converted into 255.
With °F temperature unit, the integer section of raw data is directly converted into the data. For example, 135.4°F is con-
verted into 135.
Minus temperature is converted into negative values, represented in 2’s complements.
0 15
■ANALOG DATA (16-bit data, models: R3-CT4A, CT4B, etc.)
16-bit binary data.
Integer obtained by multiplying unit value (A) by 100.
In case of CLSE-R5, integer obtained by multiplying unit value (A) by 1000.
0 15
■ACCUMULATED COUNT DATA (32-bit data, models: R3-PA2, PA4A, WT1, WT4, etc.)
32-bit binary data is used for accumulated counts and encoder positions.
Lower 16 bits are allocated from the lowest address to higher ones, higher 16 bits in turn.
0 15
+0
Lower 16 bits
0 15
+1
Higher 16 bits
■BCD DATA (32-bit data, models: R3-BA32A, BC32A, etc.)
32-bit binary data is used for BCD.
Lower 16 bits are allocated from the lowest address to higher ones, higher 16 bits in turn.
0 15
+0
Lower 16 bits
0 15
+1
Higher 16 bits

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■DISCRETE DATA (models: R3-DA16, DC16, etc.)
0 15
Input 1 (Output 1)
Input 2 (Output 2)
Input 3 (Output 3)
: :
Input 16 (Output 16)
0 : OFF
1 : ON