(Set on controller and RIO) The time period used by the local board to scan its local I/O. If any changed I/O values are detected during a scan, the new values are sent to the remote board (either a RIO module or the master Controller). The scan period determines the minimum input pulse width that can be detected by the local board, and also adds to the time between when an input changes and when the remote node is notified of the change. The scan period must be set short enough to not miss input pulses, but must be long enough to not overwhelm the system with messages if the inputs change frequently. Defaults to 0.010 seconds.

(Set on controller and RIO) The time period used by the local board to send its I/O state to the remote board (either a RIO module or the master Controller), even if no I/O have changed. Receiving this message notifies the remote node that this local board is alive. Typically set to less than one-half the value of "Remote IO max input time in sec" (DataID 552) on the remote module. Defaults to 0.1 seconds.

(Set on controller and RIO) The maximum time allowed between messages from a remote controller. If the remote controller fails to send an update message within this time period, an error occurs. Applies to both RIO master and slave boards and to any Guidance controller that acts as a MODBUS/TCP slave.

Typically set to > 2 times the value of "Remote DIO output heartbeat time in sec" (DataID 551) on the remote module. Set to 0 to disable maximum time checking.  Defaults to 2 seconds.

(Set on controller and RIO) Determines the action taken if a communications error occurs. On the RIO module, 0 means freeze the outputs, 1 means clear the outputs. On a Controller, 0 and 1 are ignored. 2 means disable robot power and do not permit it to be enabled until communication with the RIO module is established.  Defaults to 0 on RIO's and 2 on controllers.

(Set only on controller) Determines if the corresponding RIO module specified by a "Remote IO module IP address" (DataID 555) entry should be scanned by this controller. When changed from True to False, disables the RIO module. When changed from False to True, attempts to begin scanning for the RIO module.  Defaults to False.

(Set only on controller)  Each entry specifies the IP address of a RIO module to be scanned. Scanning only occurs if the corresponding entry in "Remote IO module enable" (DataID 554) is set to True. The order of IP addresses in this array is not important. The first value defaults to “192.168.0.101”.

(Read-only on controller and RIO) Indicates the status of the corresponding RIO module specified by the "Remote IO module IP address" (DataID 555). If 0, the RIO module is not being scanned. If > 0, the value indicates the RIO unit number, from 1 to 15.

(Set on controller and RIO) Specifies the IP addresses of up to 4 remote Controllers or MODBUS masters that are allowed to connect with the local board using MODBUS/TCP. By default, set to "255.255.255.255" (match any) for RIO modules, and "0.0.0.0" (match none) for Controllers. This value should be changed on Controllers only if they are acting as MODBUS/TCP slaves.

(Set only on controller)  Contains the values of 16 holding registers that can be read or written remotely by a MODBUS master. These values may also be accessed from a GPL program to permit exchanging data with the remote master.

An array of numeric values indicating the state of the transmit connections to the RIO modules. The array elements correspond to the RIO modules specified by the "Remote IO module IP address" (DataID 555). If a value is less than 0, the connection has failed and the value is a standard GPL error number. If equal to or greater than 0, the value is a code indicating the state of the connection as follows:

    0 – Connection is unused or closed without error.
    1 – Listening for a connection request.
    2 – Waiting to receive a message header.
    3 – Waiting to receive message data.
    4 – Sending data to client.
    5 – Writing serial data (e.g. RS-232)
    6 – Waiting for an event or time period.
    7 – Sending data to server.
    8 – Error detected, closing.

An array of numeric values indicating the state of the receiver connections to the RIO modules. The array elements correspond to the RIO modules specified by the "Remote IO module IP address" (DataID 555). These connections receive input data from the modules.

If a value is less than 0, a connection has failed and the value is a standard GPL error number. If equal to or greater than 0, the value is a code indicating the state of the connection. See "Remote IO module sender status" (DataID 565) for a list of the state codes.

An array of numeric values indicating the number of times the local controller has connected to each RIO module. The array elements correspond to the RIO modules specified by the "Remote IO module IP address" (DataID 555).

If a value increases, the sender or receiver connection has failed and has automatically reconnected.

An array of numeric values containing the previous error code for a connection. The array elements correspond to the RIO modules specified by the "Remote IO module IP address" (DataID 555).

A value may be used to determine the previous error when a "Remote IO module connect count" (DataID 567) increases.

A mask of bit flags that controls the operation of the GIO and GSB. The bit flags are interpreted as follows:

   &H01 - If set, all remote GIO and GSB digital outputs are cleared if communications with the master fails. If clear, the digital outputs are frozen.
   &H02 - If set, the robot power is disabled and cannot be enabled if communications with any GIO or GSB fails.

Defaults to 2.

This parameter is a development aid that allows digital IO signals for networked IO modules (slave servo boards, RIO’s, MODBUS/TCP, EtherNet/IP) to be simulated in software. When an IO signal is simulated, its value can be read and written using the standard GPL instructions even though the hardware is not connected to the controller.

This parameter is specified by a string that contains up to 16 pairs of values that define up to 16 blocks of I/O signals that are to be simulated.

    count_1, signal_1, … , count_16, signal_16

where count_n is the number of consecutive signals to be simulated. Each count_n value can range from 1 to 96, which permits up to 16*96 signals to be simulated.

signal_n is the number of the lowest GPL signal in the block of signals to be simulated. Output signals may range from 101 to 1596, and input signals may range from 10101 to 11596. Signal blocks may not include xx97, xx98, xx99, or xx00. Signal blocks may not overlap any other remote I/O signals.

Each time that this parameter value is set, any previous simulated signals are deleted and the new specification takes effect. To turn off simulation of all signals, this parameter should be sent to an empty string.

Defines how often the MODBUS/TCP scanners automatically read and write remote I/O boards to update data. This value must be large enough to ensure the I/O boards have sufficient time to respond and that the scanner does not use excessive CPU time polling. The default value is 0.016 seconds.

The time period used by all MODBUS/TCP scanners to determine if a slave I/O board is not responding. If the board does not respond within this time, an error occurs and any signals associated with this slave are uninstalled. Depending on the setting of "MODBUS/TCP scanner mode" (DataID 582), the robot power may be disabled.

Mode flags that control the operation of the MODBUS/TCP scanner tasks. The DataID unit parameter specifies the scanner task, from 1 to 4. The flag bits are as follows:

    &H01 - If set, the scanner is enabled and polls to connect every 10 seconds. Once connected, scanning begins. If cleared, the scanner stops.
    &H02 - If set, a scanner error causes the robot power to be disabled.

Strings that map registers in the MODBUS/TCP slave to signals within GPL. The DataID unit parameter specifies the scanner task, from 1 to 4.

Each string contains comma-delimited fields for up to 12 mappings:

    nnn.nnn.nnn.nnn, map1, map2, ... , map12

where nnn.nnn.nnn.nnn is the IP address of the slave and map* is of the form:

    address{type}, bits, signal

address is the I/O location on the slave. You may need to add 1 to the value shown by the manufacturer.

type is the optional access type: blank for standard access, ":B" for bit, ":C" for coil, ":H" for holding registers. See the section MODBUS/TCP details.

bits is the number of consecutive bits to be mapped, from 1 to 96.

signal is the number of the lowest GPL signal to be mapped. Output signals range from 101 through 1596, and input signals range from 10101 through 11596. Signal blocks may not include xx97, xx98, xx99, or xx00.

The number of times a MODBUS/TCP scanner task has connected or reconnected to the slave. The DataID unit parameter specifies the scanner task, from 1 to 4.

Set to 1 by the first connection. When an error occurs and the scanner automatically reconnects, this value increases by 1.

The current status of the MODBUS/TCP scanner tasks. The DataID unit parameter specifies the scanner task, from 1 to 4.

If 0, the task is running normally. Otherwise contains a standard GPL negative error number.

Set to 1 to enable operation of the EtherNet/IP server. Set to 0 to disable the server. If set to 1 in the configuration file stored on the flash, the server starts whenever the Precise controller is booted.

An array of read-only values that show the current state of the EtherNet/IP server. The array elements are interpreted as follows:

    1. Server enable state: 1 if enabled, 0 if disabled.
    2. Number of implicit or explicit connections that have been opened.
    3. Number of implicit or explicit client connections that have been closed. Subtract element 3 from element 2 to determine the number of connections currently open.
    4. Number of connection timeouts that have occurred.
    5. Number of connection errors that have occurred.
    6. Number of implicit DIO messages that have been received. These are O2T (PLC to GPL) transfers.
    7. Number of implicit DIO messages that have been sent. These are T2O (GPL to PLC) transfers.
    8. Number of data read requests that have been received from the remote client (PLC).
    9. Number of data write requests that have been received from the remote client (PLC).

An array of up to 4 strings allowing configuration of up to 4 digital I/O mappings. Each string contains 4 fields, separated by commas:

    dir is a keyword indicating the direction of data transfer, either T2O (output) for target to origin, or O2T (input) for origin to target. The Precise controller is the target, and the remote PLC is the origin.
   point is the EtherNet/IP point number. This may be any numeric value from 100 to 199 and must be specified on the remote PLC when making a connection.
   count is the number of digital I/O signals being exchanged. Normally this number is a multiple of 32.
   signal is number of the first GPL digital IO signal that is exchanged with the PLC.  Must be an output signal for T2O transfers and an input signal for O2T transfers.

An array of strings that configure up to 8 data mappings. Each string contains 4 fields separated by commas:

    type is a keyword describing the data type.
       SINT = Signed 8-bit integer
       INT = Signed 16-bit integer
       DINT = Signed 32-bit integer
       USINT = Unsigned 8-bit integer
       UINT = Unsigned 16-bit integer
       UDINT = Unsigned 32-bit integer
       REAL = 32-bit IEEE float
       LREAL = 64-bit IEEE float
       STRING = String up to 84 bytes in length

    index is the register index value, from 1 to 8. This value determines the parameter database Unit number for DataID values 594 or 595 when accessing the data. It also determines the name of the data tag used to read or write this value on a remote client (PLC). The PLC data tag name is "REGISTER_n" where n is one of these index values, from 1 to 8.

    dir is the direction of data transfer, either T2O for target to origin, or O2T for origin to target. The Precise controller is the target, and the remote PLC is the origin.

    length  For numeric values, length is the maximum number of array elements that can be transmitted as a group during a single transaction. The maximum value for length is determined by the size of the data type. The overall size (length * data size) must not exceed 512 bytes. For string values, this value is the length of the string (number of bytes in the string), and cannot be greater than 84 bytes.

Contains up to 8 arrays (accessed by setting the unit from 1 to 8) of numeric data that are read or written by a remote EtherNet/IP client (PLC). The unit number for these arrays matches the index field of the corresponding “EtherNet/IP Data map” (DataID 593). The type field of the data map determines the data type of these numeric values. The number of elements in the arrays (from 1 to 512) is determined by the length field in the data map.