Process data objects

MTI Inputs xx Channel n

Process data objects 1:

(screenshot example for channel 1 with MTSF = 5)

No of input events
Number of events (signal edges) that were delivered to the master in the current process data set.

Input state
Current signal level at the digital input. Corresponds to the input value of a classic digital input without timestamp information.

Input buffer overflow
Indicates that more signal edges were detected than could be stored in the channel's buffer.

Input cycle counter
A 2-bit counter that is incremented each time the process data is transferred from the box to the EtherCAT master.

Events in input buffer
Number of events/signal edges that are in the channel's buffer and have not yet been supplied in the current process data set.

Input order feedback
(asynchronous operation)
Contains the value of "Input order counter", which was output by the controller in the previous PLC cycle, see PDO "MTI Outputs Channel n". Used to check whether the "Input order counter" has been received by the box.

Input event state n
Direction of the detected signal edges:
0 = falling edge
1 = rising edge
The number of these variables depends on the MTSF, see chapter Multi-timestamp factor (MTSF).

Input event time n
Timestamp for the events stored in "Input event state n" in ns.
The number of these variables depends on the MTSF, see chapter Multi-timestamp factor (MTSF).

MTI Outputs Channel n

Process data objects 2:

Input buffer reset
Empty the channel buffer. This can be useful in the event of a buffer overflow, for example.

Input order counter
(asynchronous operation)
When this counter is incremented by the controller, the channel sends the next set of stored events to the controller via the process data.

TSI Inputs Channel n

PDO of a channel in compatibility mode.

Process data objects 3:

Input
Current signal level at the digital input. Corresponds to the input value of a classic digital input without timestamp information.

Status
Bit 0 is set for an EtherCAT cycle if a rising edge is detected.
Bit 1 is set for an EtherCAT cycle if a falling edge is detected.

LatchPos
Timestamp of the last recorded rising signal edge in ns.

LatchNeg
Timestamp of the last recorded falling signal edge in ns.