FANUC Robotics America GFK-1535A - Manual (Page 74)

GFK-1535A Chapter 5 Datagrams 5-13
5
I/O Module Format
Configuration data follows the same format for all non-intelligent I/O modules,
analog or discrete, input, output or mixed. The configuration datagram contains a
VersaMax configuration message header, a rack/slot header, fixed I/O configuration
fields, variable-length configuration fields and module-specific data. The total
length of fixed and variable I/O configuration fields and module-specific data must
be a multiple of 26 bytes. Pad bytes set to a value of 0 are appended to the end of
the module-specific data to meet this requirement. Fixed and variable-length
configuration fields appear according to the mapping shown in the table below.
I/O Module Format (Rack 0-7, slot 2-9)
(Byte in
Message)
(Byte in
Record)
Byte Description
Rack/slot header
6, 7 0, 1 secondary board ID (MSB in 0, LSB in 1)
8, 9 2, 3 primary board ID (MSB in 2, LSB in 3)
10,…, 13 4,…, 7 ASCII string. Set to zeros during auto-configuration, the programmer
may fill this field with an arbitrary identification string.
14,,…, 15 8,…, 9 Length of additional data (excluding pad bytes)
16,…, 29 10,…, 23 not used (must be 0)
30, 31 24, 25 Length of additional data (excluding pad bytes)
Fixed I/O configuration fields
32, 33 0, 1 secondary board ID (same as above.)
34, 35 2, 3 primary board ID(same as above)
36, 37 4, 5 offset from the start of fixed I/O configuration fields to module-specific
data.The length of module-specific data is given at offset 18 below.
38, 39 6, 7 Number of discrete input reference description fields listed in the
input segments list below. (may be 00)
40, 41 8, 9 Number of discrete output reference description fields listed in the
output segments list below. (may be 00)
42, 43 10, 11 Number of analog input reference description fields listed in the input
segments list below. (may be 00)
44, 45 12, 13 Number of analog output reference description fields listed in the
output segments list below.(may be 00)
46, 47 14, 15 Module setup, a bitmapped word
bit 0 indicates whether defaults are defined in the configuration
structure. If this bit is ‘1’, then input segments mode, output
segments mode, default input values and default output values
fields are included below.
bit 1 enables fault reporting for the module.
bits 2-15 are reserved, must be set to zero.
48, 49 16, 17 Reserved (must be 00)
50, 51 18, 19 Length in bytes of module-specific data
52, 53 20, 21 Reserved (must be 00)
54, 55 22, 23 Reserved (must be 00)