DIO Struct Reference

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

#include <tgm.h>

Public Attributes
uint32_t	Number
	number of the mapped I/O unit, interface logical number (unit 0: Number = 0, unit 1: Number = 1, etc.)
uint32_t	Node
	address of the physical I/O unit, which is set on the unit directly
DIO_TYPE	Type
volatile uint32_t	Control
volatile uint32_t	Status
uint32_t	Error
uint32_t	NumberIn
	the number of bytes used for digital inputs (1 byte = 8 digital inputs)
uint32_t	In [N_DIG_ARRAY_SIZE]
	digital inputs, all bits are used (0 - 512 bits)
uint32_t	NumberOut
	the number of bytes used for digital outputs (1 byte = 8 digital outputs)
uint32_t	Out [N_DIG_ARRAY_SIZE]
	digital outputs, all bits are used (0 - 512 bits)
uint32_t	NumberAI
	number of connected analog inputs
int32_t	AI [N_ANA_ARRAY_SIZE]
	analog inputs 0 - 15
uint32_t	NumberAO
	number of connected analog outputs
int32_t	AO [N_ANA_ARRAY_SIZE]
	analog outputs 0 - 15
uint32_t	Number_MeasureAmpl
	number of connected strain gauges
int32_t	Ext_MeasureAmpl [N_TENZO_ARRAY_SIZE]
	output voltage of strain gauges 0 - 7
uint32_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 (currently not used)
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 [387]
	reserved

Static Public Attributes
static constexpr uint32_t	RESET_FAULT_BIT0 { 0x0001U }
	Value for DIO::Control - reset.
static constexpr uint32_t	RESET_TGMMINI_DIO_FORCE_BIT2 { 0x0004U }
	Value for DIO::Control - forced reset of TGMmini internal DIO.
static constexpr uint32_t	MAX_TX_RX_BUFFER_SIZE { 32U }
	size of TX and RX buffers for ECAT to serial converters (currently BK1120+EL6041 only)
static constexpr uint32_t	N_DIG_ARRAY_SIZE { 16U }
static constexpr uint32_t	N_ANA_ARRAY_SIZE { 16U }
	max number of analog inputs/outputs
static constexpr uint32_t	N_TENZO_ARRAY_SIZE { 8U }
	max number of strain gauges

Detailed Description

Describes one servo input/output module.

Structure size is 2048 bytes

Member Data Documentation

Control

volatile uint32_t DIO::Control

bit 0 = fault reset. If there is no Error, the bit is ignored and reset back to zero.
bit 2 = force reset (TGMmini internal DIO only)

Error

uint32_t DIO::Error

code of the first detected fault, if the I/O unit is in fault; the value depends on the particular type of the unit (see the I/O unit manual).
TGMmini internal DIO error value is coded as follows (any of the following bits can be set):

Bit	Description
0	hardware fault
1	under voltage (no 24V power supply on pin OUTPWR24), could produce other errors
8	short circuit on pin OUT0
9	short circuit on pin OUT1
10	short circuit on pin OUT2
11	short circuit on pin OUT3
12	short circuit on pin OUT4
13	short circuit on pin OUT5
14	short circuit on pin OUT6
15	short circuit on pin OUT7
16	over voltage on pin OUT0
17	over voltage on pin OUT1
18	over voltage on pin OUT2
19	over voltage on pin OUT3
20	over voltage on pin OUT4
21	over voltage on pin OUT5
22	over voltage on pin OUT6
23	over voltage on pin OUT7
24	internal VDD warning
25	internal VDD under voltage
26	internal 5V under voltage
29	DC-DC current limit

EtherCATState

uint32_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

N_DIG_ARRAY_SIZE

constexpr uint32_t DIO::N_DIG_ARRAY_SIZE { 16U }

staticconstexpr

max number of digital inputs/outputs in double words, i.e. the number of available digital i/o bits is 32 times larger (16 * 32 = 512 in this case)

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.

RxPointerWrite

volatile uint32_t DIO::RxPointerWrite

Write index to DIO::RxBuffer. TGM writes incoming 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.

Status

volatile uint32_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, DIO::EtherCATState can be used.

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.

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.

Type

DIO_TYPE DIO::Type

I/O unit type is not indicated in TGMotion5xx.ini, TG Motion finds out automatically the connected I/O units and updates the DIO::Type.

---

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

• tgm.h