FANUC Robotics America GFK-1535A User Manual
Page 80
GFK-1535A
Chapter 5 Datagrams
5-19
5
Example: Configuration message for IC200MDD844, a mixed discrete I/O
module (continued)
(Byte in
Message)
(Byte in
Record)
Content
Byte Description
Optional I/O configuration fields
Input segments list, an eight-byte reference description field for each discrete or
analog input segment.
(e.g., one discrete input segment)
56
24
1
Sequence number (e.g., 1)
57
25
16
Reference type (e.g., discrete input, %I)
58, 59
26, 27
17, 0
Offset in reference memory; this value filled in by programmer indicates these
are bits %I17 through %I32)
60, 61
28, 29
2, 0
Byte length (e.g., two bytes for 16 bit input segment)
62, 63
30, 31
44, 0
Offset to defaults (e.g., see offset 44 below)
Output segments list, an eight-byte reference description field for each discrete
or analog output segment.
(e.g., one discrete input segment)
64
32
2
Sequence number (e.g., 2)
65
33
18
Reference type (e.g., discrete output, %Q)
66, 67
34, 35
8, 0
Offset in reference memory; this value filled in by programmer indicates these
are bits %Q8 through %Q24)
68, 69
36, 37
2, 0
Byte length (e.g., two bytes for 16 bit output segment)
70, 71
38, 39
46, 0
Offset to defaults (e.g., see offset 46 below)
72
40
0, 0
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.
(e.g., only bit 0 is meaningful; use of default values is indicated)
74
42
0, 0
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.
(e.g., only bit 0 is meaningful; use of default values is indicated)
Default input values
76
44
0
defaults for input points 0-7 (e.g., all zeros)
77
45
0
defaults for input points 8-15 (e.g., all zeros)
Default output values
78
46
0xFF
defaults for output points 0-7 (e.g., all ones)
79
47
0xFF
defaults for output points 8-15 (e.g., all ones)
Module-specific data
Context dependent data fields
80
48
2
bit map for discrete module parameters
(e.g., select input filter = 7 milliseconds, Interrupts Disabled)
81
49
0
reserved bits
82, 83
50, 51
0, 0
Pad bytes extend the length of this record to 52 bytes (=2x26)