FANUC Robotics America GFK-1535A - Manual (Page 75)

5-14 VersaMax™ System Genius® Network Interface Unit User's Manual – November 2000 GFK-1535A
5
I/O Module Format (Rack 0-7, slot 2-9) (continued)
(Byte in
Message)
(Byte in
Record)
Byte Description
Optional I/O configuration fields
Input segments list, an eight-byte reference description field for each
discrete or analog input segment, see below.
Output segments list, an eight-byte reference description field for
each discrete or analog output segment.
Input segments mode, a bitmapped word with a bit representing each
reference description in the input segments list. If the bit is ‘1’, then
inputs hold last state. If the bit is ‘0’, then the inputs default to values
in the default input values field below.
Output segments mode, a bitmapped word with a bit representing
each reference description in the output segments list. If the bit is ‘1’,
then outputs hold last state. If the bit is ‘0’, then the outputs default to
values in the default output values field below.
Default input values (one byte for each byte of inputs defined for
module)
56,… N
Default output values (one byte for each byte of outputs defined for
module)
Module-specific data
Context dependent data fields
Pad bytes (must be 00) round the bytes in the record up to the next
larger multiple of 26.
Reference Description Field
(Byte in
Message)
(Byte in
field)
Byte Description
0 Sequence number, an arbitrary value that controls the order
in which segments are reported.
1 Reference type:
discrete input reference, %I = 16
discrete output reference, %Q = 18
analog input reference, %AI = 10
analog output reference, %AQ = 12
2,3 Byte offset within reference memory. For analog references,
this must be an even number. During auto-configuration, the
GNIU sets this field to the next available reference address.
4,5 The byte length of memory used by this segment. For an
analog module, this is the number of channels multiplied by
two. For a discrete module, this is the number of points
divided by eight, rounded up.
varies
6,7 Offset from the start of fixed I/O configuration fields to the
beginning of default values associated with this segment.