DIO Struct Reference

Describes one servo input/output module. More...

#include <TGM.h>

Public Attributes
int32_t	Number
	number of the mapped I/O unit, interface logical number (unit 0 – Number = 0, unit 1 – Number = 1, etc.)
int32_t	Node
	address of the physical I/O unit, which is set on the unit directly
int32_t	Type
volatile int32_t	Control
	bit 0 = fault reset, bit 2 = EtherCAT communication reset
volatile int32_t	Status
int32_t	Error
int32_t	NumberIn
	the number of bytes used for digital inputs (1 byte = 8 digital inputs)
int32_t	In0
	digital input octet (logical input slot 0)
int32_t	In1
	digital input octet (logical input slot 1)
int32_t	In2
	digital input octet (logical input slot 2)
int32_t	In3
	digital input octet (logical input slot 3)
int32_t	In4
	digital input octet (logical input slot 4)
int32_t	In5
	digital input octet (logical input slot 5)
int32_t	In6
	digital input octet (logical input slot 6)
int32_t	In7
	digital input octet (logical input slot 7)
int32_t	Ext_In0
	digital input octet (logical input slot 8)
int32_t	Ext_In1
	digital input octet (logical input slot 9)
int32_t	Ext_In2
	digital input octet (logical input slot 10)
int32_t	Ext_In3
	digital input octet (logical input slot 11)
int32_t	Ext_In4
	digital input octet (logical input slot 12)
int32_t	Ext_In5
	digital input octet (logical input slot 13)
int32_t	Ext_In6
	digital input octet (logical input slot 14)
int32_t	Ext_In7
	digital input octet (logical input slot 15)
int32_t	NumberOut
	the number of bytes used for digital outputs (1 byte = 8 digital outputs)
int32_t	Out0
	digital output octet (logical output slot 0)
int32_t	Out1
	digital output octet (logical output slot 1)
int32_t	Out2
	digital output octet (logical output slot 2)
int32_t	Out3
	digital output octet (logical output slot 3)
int32_t	Out4
	digital output octet (logical output slot 4)
int32_t	Out5
	digital output octet (logical output slot 5)
int32_t	Out6
	digital output octet (logical output slot 6)
int32_t	Out7
	digital output octet (logical output slot 7)
int32_t	Ext_Out0
	digital output octet (logical output slot 8)
int32_t	Ext_Out1
	digital output octet (logical output slot 9)
int32_t	Ext_Out2
	digital output octet (logical output slot 10)
int32_t	Ext_Out3
	digital output octet (logical output slot 11)
int32_t	Ext_Out4
	digital output octet (logical output slot 12)
int32_t	Ext_Out5
	digital output octet (logical output slot 13)
int32_t	Ext_Out6
	digital output octet (logical output slot 14)
int32_t	Ext_Out7
	digital output octet (logical output slot 15)
int32_t	NumberAI
	number of connected analog inputs
int32_t	AI0
	analog input 0
int32_t	AI1
	analog input 1
int32_t	AI2
	analog input 2
int32_t	AI3
	analog input 3
int32_t	Ext_AI0
	analog input 4
int32_t	Ext_AI1
	analog input 5
int32_t	Ext_AI2
	analog input 6
int32_t	Ext_AI3
	analog input 7
int32_t	NumberAO
	number of connected analog outputs
int32_t	AO0
	analog output 0
int32_t	AO1
	analog output 1
int32_t	AO2
	analog output 2
int32_t	AO3
	analog output 3
int32_t	Ext_AO0
	analog output 4
int32_t	Ext_AO1
	analog output 5
int32_t	Ext_AO2
	analog output 6
int32_t	Ext_AO3
	analog output 7
int32_t	Number_MeasureAmpl
	number of connected strain gauges
int32_t	Ext_MeasureAmpl0
	output voltage of strain gauge 0
int32_t	Ext_MeasureAmpl1
	output voltage of strain gauge 1
int32_t	Ext_MeasureAmpl2
	output voltage of strain gauge 2
int32_t	Ext_MeasureAmpl3
	output voltage of strain gauge 3
int32_t	Ext_MeasureAmpl4
	output voltage of strain gauge 4
int32_t	Ext_MeasureAmpl5
	output voltage of strain gauge 5
int32_t	Ext_MeasureAmpl6
	output voltage of strain gauge 6
int32_t	Ext_MeasureAmpl7
	output voltage of strain gauge 7
int32_t	EtherCATState
struct SDO	Sdo
	SDO communicating channel.
int32_t	sdoResponseTries
	unsuccessful SDO request counter from PLC
uint8_t	RxBuffer [MAX_TX_RX_BUFFER_SIZE]
	auxiliary buffer for RX messages (either KL3403 or KL6041 terminals)
uint8_t	TxBuffer [MAX_TX_RX_BUFFER_SIZE]
	auxiliary buffer for TX messages (either KL3403 or KL6041 terminals)
int32_t	TS_Data [8]
	Type specific data.
uint32_t	SysTimeDifference
	last known difference between local time and reference time in ns
struct ECAT_REGISTER	ecatRegister
	ECAT register communication channel.
uint32_t	ECATBusPosition
	actual physical position on the ECAT bus
volatile uint32_t	RxPointerWrite
volatile uint32_t	RxPointerRead
volatile uint32_t	TxPointerWrite
volatile uint32_t	TxPointerRead
int32_t	IReserve1 [403]
	reserved

Detailed Description

Describes one servo input/output module.

Structure size is 2048 bytes

Definition at line 850 of file TGM.h.

Member Data Documentation

Type

int32_t DIO::Type

I/O unit type – is not indicated in TGMotion4xx.ini, TG Motion finds out automatically the connected I/O units and updates the Dio.Type register:

Value	Module type
0x0014	DIO module TG 48/40/4/4
0x00F4	DIO module TG 40/24/0/0
0x0008	DIO strain gauge old design
0x0808	DIO strain gauge new design
0x0400	FESTO FB38
0x0200	B&R
0x0100	BECKHOFF BK1120
0x0101	BECKHOFF EK1100
0x7B90	DFC IO module (16inputs, 16outputs)

Definition at line 854 of file TGM.h.

Status

volatile int32_t DIO::Status

specifies the actual status of the I/O unit: - 0 = does not communicate, no communication was established or the module is faulty

• 1 = I/O module is operational (no faults) for more details, EtherCATState register can be used

Definition at line 870 of file TGM.h.

Error

int32_t DIO::Error

uses the code of the first detected fault, if the I/O unit is in fault; the value meaning depends on the particular type of the unit (see the I/O unit manual)

Definition at line 875 of file TGM.h.

EtherCATState

int32_t DIO::EtherCATState

I/O unit communication status from EtherCAT point of view:

Value	State
0x01	Init
0x02	Pre-Operational
0x04	Safe-Operational
0x08	Operational

Definition at line 948 of file TGM.h.

RxPointerWrite

volatile uint32_t DIO::RxPointerWrite

Write index to DIO::RxBuffer. TGM writes incomming data (up to MAX_TX_RX_BUFFER_SIZE-1 bytes) from RxPointerWrite to RxPointerRead-1 and increments RxPointerWrite accordingly. Value is always modulo MAX_TX_RX_BUFFER_SIZE, i.e. from 0 to MAX_TX_RX_BUFFER_SIZE-1. Written by TGM, read by PLC.

Definition at line 970 of file TGM.h.

RxPointerRead

volatile uint32_t DIO::RxPointerRead

Read index to DIO::RxBuffer. PLC reads data from RxPointerRead to DIO::RxPointerWrite, copies them to internal stream, and sets RxPointerRead to be equal to RxPointerWrite. Value must be modulo MAX_TX_RX_BUFFER_SIZE. Written by PLC, read by TGM.

Definition at line 977 of file TGM.h.

TxPointerWrite

volatile uint32_t DIO::TxPointerWrite

Write index to DIO::TxBuffer. PLC writes up to MAX_TX_RX_BUFFER_SIZE-1 bytes from TxPointerWrite to TxPointerRead-1 and increments TxPointerWrite accordingly. Value must be modulo MAX_TX_RX_BUFFER_SIZE. Written by PLC, read by TGM.

Definition at line 984 of file TGM.h.

TxPointerRead

volatile uint32_t DIO::TxPointerRead

Read index to DIO::TxBuffer. TGM reads data from TxPointerRead to DIO::TxPointerWrite, copies them to EtherCAT, and increments TxPointerRead up to allowable data transmit size (22 bytes for KL6041). Value is always modulo MAX_TX_RX_BUFFER_SIZE. Written by TGM, read by PLC.

Definition at line 991 of file TGM.h.

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The documentation for this struct was generated from the following file:

• src/include/TGM.h