Chapter 2 Devices, Symbols and Instructions Table of Contents 2.1 Common Devices ........................................................................................... 2-2 2.1.1 Functions of Common Devices ..................................................................... 2-2 2.1.2 Common Device List ................................................................................... 2-2 2.1.3 Latched Devices......................................................................................... 2-4 2.1.4 Input Relays (X) ........................................................................................
2-5 2.1.5 Output Relays (Y) ...................................................................................... 2-6 2.1.6 Auxiliary Relays (M) ................................................................................... 2-6 2.1.7 Special Auxiliary Relays (SM) ...................................................................... 2-6 2.1.8 Data Registers (D) ..................................................................................... 2-6 2.1.9 Special Data Registers (SR) ........................................................................ 2-7 2.1.10 Link Registers (L).......................................................................................
2-7 2.1.11 Stepping Relays (S) ................................................................................... 2-7 2.1.12 Timers (T) ................................................................................................ 2-7 2.1.13 Counters (C) ............................................................................................. 2-8 2.1.14 32-bit Counters (HC/AC) ............................................................................. 2-8 2.1.15 Index Registers (E) .................................................................................... 2-9 2.1.16 Values and Constants (K, 16#) ....................................................................
2-9 2.1.17 Floating-point Numbers (F, DF) ................................................................. 2-10 2.1.18 Strings (“$”) ........................................................................................... 2-10 2.2 EtherCAT Symbols ....................................................................................... 2-10 2.3 Symbols ....................................................................................................... 2-10 2.3.1 Application of Symbols ............................................................................. 2-10 2.3.2 Classes ...................................................................................................
2-11 2.3.3 Data Types ............................................................................................. 2-11 2.3.4 Using Devices, Symbols and Instructions .................................................... 2-12 2.3.5 Modifying a Symbol with an Index Register ................................................. 2-13 2.4 Data Type Unit (DUT): ENUM ....................................................................... 2-15 2.5 Instructions ................................................................................................. 2-16 2.5.1 Categories of Standard Instructions ...........................................................
2-16 2.5.2 List of Standard Instructions ..................................................................... 2-17 2-1 2