Specifications

Communication protocols
PROGRAMMING MANUAL 206
Revision 5.0
4.8 GRT1-ML2 I/O mapping
The GRT1-ML2 SmartSlice I/O Unit is an interface for data exchange
between a TJ1-ML__ MECHATROLINK-II Master Unit and SmartSlice I/O
Units.
If you plan data exchange that requires strict control of the I/O timing, refer
to appendix A. This appendix also contains some useful examples.
4.8.1 Unit numbers
The GRT1-ML2 must have a MECHATROLINK-II address to be identified on
the MECHATROLINK-II network. With this address, the TJ1-MC__
connected to the TJ1-ML__ can exchange I/O data with the GRT1-ML2.
4.8.2 SmartSlice I/O mapping
The I/O data of the SmartSlice I/O Units is transferred to the TJ1-MC__
controller. Then the data is automatically mapped in the I/O memory of the
TJ1-MC__. The mapping is determined by:
• The type of the SmartSlice I/O Unit
• The order of the SmartSlice I/O Units
The I/O data from GRT1-ML2 units is mapped in the TJ1-MC__ in order of
the GRT1-ML2 addresses. For example, the I/O data of a GRT1-ML2 unit
with address 67 hex is mapped before the I/O data of a GRT1-ML2 unit with
address 68 hex.
The TJ1-MC__ allocates digital I/O points in blocks of 32 points.
Note
The GRT1-ML2 does not support the on-line configuration of
SmartSlice I/O Units. However, other communications units can
change the parameters of a SmartSlice I/O Unit and store this con-
figuration in the SmartSlice I/O Unit.
Note
If the GRT1-ML2 configuration contains non-supported SmartSlice
I/O Units or SmartSlice I/O Units configured to consume a non-
default amount of I/O data, the MECHATROLINK-II connection to
the GRT1-ML2 is refused, and it cannot be operated.
Note
The automatic I/O mapping of SmartSlice I/O Units in the exam-
ples given below assumes that each SmartSlice I/O Unit has the
default I/O memory settings.