FANUC Robotics America GFK-1535A User Manual
Page 76
GFK-1535A
Chapter 5 Datagrams
5-15
5
The NIU fills out the configuration data fields based on the content of the primary
and secondary board ID fields. The NIU reads these fields from the I/O module. Bit
fields in the module board ID indicate whether the module is discrete or analog, the
number of input points or channels, the number of output points or channels and
whether diagnostic bits are returned by the module. The NIU calculates values of
the fixed and variable-length configuration fields from these parameters.
The primary and secondary board ID fields in Write Configuration Data and Read
Configuration Data datagrams are transmitted with the most significant byte in the
lowest memory location or transmitted first in time. The least significant byte
follows. All other word length data fields appear in the opposite order.
NON-INTELLIGENT I/O Board_id REGISTER
byte 0
byte 1
15
14
13
12
11
10
9
8
7
6
5
4
3
2
1
0
1
0
0
Module
type
Addtl data
diag bits
output
points or
channels
input points
or channels
module type
00 = discrete DC module
01 = discrete AC module
10 = analog voltage module
10 = analog current module
addtl data
analog module:
0 = voltage,
1 = current
discrete module:
always = 0
diag bits
The number of diagnostic bits per point or channel
output
points/channels
For discrete modules, this is the number of pairs of output points
for the module;
For analog modules, this is the number of analog output channels
for the module.
input
points/channels
For discrete modules, this is the number of pairs of input points
for the module;
For analog modules, this is the number of analog input channels
for the module.