Module-specific Inputs in the Object Directory: Digital Modules

2.9.1 Digital Inputs

The following objects have been assigned for digital inputs:

6000h

Subindex 0 of an object contains the highest valid subindex for that object. Each input module contains a subindex, so subindex 0 will also specify the number of input modules.

NOTICE

The desired configuration of the node is the defining factor here. Subindex 0 of

•

the objects referred to above specifies the number of input modules that should be present according to the configuration rules, but which are not necessarily present.

Subindex 1 is assigned to the input module with the lowest ID: the process

•

is described in the example above. A module is always shown with the same subindex in the object directory.

If no input modules are connected to the node (or to be exact, are supposed to be con-nected), subindex 0 of all the objects referred to above will be set to 0.

Index S-Idx Parameter Name Meaning

6000 h 0 Read State 8 Input Lines Highest permissible subindex for the object; identical to the number of digital input modules according to the desired configuration

1 Input values of the first DI module,

if present

… …

8 Input values of the eighth DI

module, if present

▼

Object 6000h contains the 8-bit value of the inputs for the input modules.

Index S-Idx Parameter Name Default Meaning

6002 h 0 Polarity 8 Input Lines Highest permissible subindex for the object; identical to the number of digital input modules

1 00h Polarity mask of the first DI module,

if present

… … …

8 00h Polarity mask of the eighth DI

module, if present

▼

Object 6002h defines the polarity of the inputs. "1" indicates an inversion of the cor-responding input channel, while "0" means that the corcor-responding input channel will remain unaffected. All 8 channels are mapped in object 6000h without inversion.

NOTICE

The values from object 6000h are transferred in the PDO. Any inversions defined by object 6002h will also affect the values contained in the PDO .

Index S-Idx Parameter Name Meaning

6005 h 0 Enable Digital Input Interrupts

Activates the interrupt mechanism of all digital inputs.

▼

Object 6005h activates or prevents acyclic transmission of the PDO for the digital inputs.

Objects 6006h, 6007h and 6008h determine the event during which the PDO is to be transmitted.

NOTICE

The PDO of the digital inputs must be defined in object 1800h as event-controlled, so that the settings of objects 6005h - 6008h are significant.

Index S-Idx Parameter Name Meaning

6006 h 0 Input Interrupt Mask 8 -any change

Highest permissible subindex for the object; identical to the number of DI modules

1 Activation mask for the first DI

module, if present

… …

8 Activation mask for the eighth DI

module, if present

▼

Object 6006h determines that the PDO with the digital input values is transmitted when-ever at least one of the inputs marked with 1 changes. This involves both low-high changes and high-low changes.

NOTICE

Whether the PDO is actually transmitted depends on both the transmission parameters in object 1800h and whether the global interrupt flag in object 6005h is activated.

Index S-Idx Parameter Name Meaning

6007 h 0 Input Interrupt Mask 8 -low to high

Highest permissible subindex for the object; identical to the number of digital input modules

1 Activation mask for the first

DI module, if present

… …

8 Activation mask for the eighth

DI module, if present

▼

Object 6007h determines that the PDO with the digital input values is transmitted when-ever at least one of the inputs marked with 1 changes from "LOW" to "HIGH".

NOTICE

Whether the PDO is actually transmitted depends on both the transmission parameters in object 1800h and whether the global interrupt flag in object 6005h is activated.

Index S-Idx Parameter Name Meaning

6008 h 0 Input Interrupt Mask 8 -high to low

Highest permissible subindex for the object; identical to the number of digital input modules

1 Activation mask for the first

DI module, if present

… …

8 Activation mask for the eighth

DI module, if present

▼

Object 6008h determines that the PDO with the digital input values is transmitted when-ever at least one of the inputs marked with 1 changes from "HIGH" to "LOW".

NOTICE

Whether the PDO is actually transmitted depends on both the transmission parameters in object 1800h and whether the global interrupt flag in object 6005h is activated.

2.9.2 Digital Outputs

The following objects have been assigned for digital outputs:

6200h

Subindex 0 of an object contains the highest valid subindex for that object. Each input module contains a subindex, so subindex 0 will also specify the number of output modules.

NOTICE

The desired configuration of the node is the defining factor here. Subindex 0

•

of the objects referred to above specifies the number of output modules that should be present according to the configuration rules, but which are not neces-sarily present.

Subindex 1 is assigned to the output module with the lowest ID: the process is

•

described in the example on page 3.19 onwards. A module is always shown with the same subindex in the object directory. If no output modules are con-nected to the node (or to be exact, are supposed to be concon-nected), subindex 0 of all the objects referred to above will be set to 0.

Index S-Idx Parameter Name Meaning

6200 h 0 Write State 8 Output Lines

Highest permissible subindex for the object; identical to the number of digital output modules accord-ing to the desired configuration

1 Value of the outputs for the first

DO module, if present

… …

8 Value of the outputs for the eighth

DO module, if present

▼

Object 6200h contains the 8-bit value of the outputs. Access via the object directory is effective immediately, and write access to object 6200 is immediately transferred to the outputs. It does not matter whether the node is in the "operational" CANopen state or not.

Index S-Idx Parameter Name Default Meaning 6202 h 0 Write State 8 Output

Lines

Highest permissible subindex for the object; identical to the number of digital output modules accord-ing to the desired configuration

1 00h Polarity mask of the first

DO module, if present

… … …

8 00h Polarity mask of the eighth

DO module, if present

▼

Object 6202h defines the polarity of the outputs. "1" indicates an inversion of the cor-responding output channel, while "0" means that the corcor-responding output channel will remain unaffected. The default value is 00h; the value in object 6200h is mapped to the outputs without inversion.

NOTICE

The values of the PDO are transferred to object 6200h. Any inversions defined by object 6202h will also affect the values contained in the PDO.

Index S-Idx Parameter Name Default Meaning 6206 h 0 Fault Mode 8 Output

Lines

Highest permissible subindex for the object; identical to the number of digital output modules accord-ing to the desired configuration

1 00h Activation mask of the first

DO module, if present

… … …

8 00h Activation mask of the eighth

DO module, if present

▼

Object 6206h defines the response of the digital outputs in the event of a CAN bus com-munication error. "0" indicates that the output should retain the last value, while "1"

causes the output to accept the value set in object 6207h. The default value is 00h, and all outputs contain retain their last specified value.

Index S-Idx Parameter Name Meaning

6207 h 0 Fault State 8 Output Lines

Highest permissible subindex for the object; identical to the number of digital output modules accord-ing to the desired configuration

1 Specified value of the first

DO module, if present

… …

8 Specified value of the eighth

DO module, if present

▼

Object 6207h determines the setting that the output should accept in the event of a bus error. This setting only applies to those outputs that have been marked with the bit mask value "1" in object 6206h.