UMAX130511 Version 1.00A Preliminary Documentation
– May be subject to change
23 - 141
an output configured for a digital response, when a CANopen Message has been selected as the
2340h
AO Control Input Source
(see Table 22), then data from the appropriate bit within the sub-
index from write-mappable object 6200h
DO_Write_state_8_output_lines
will be used as the
control signal. The format of object 6200h will be as follows:
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2
Bit 1 Bit 0
-
-
-
-
-
-
DO2 DO1
The Enable and Override Inputs and Responses in the digital mode are the same as for an Analog
Output, and are evaluated in the same order. Therefore, what is described in Section 1.4 for these
also applied for the DO function block for the outputs.
As with the AO function, the DO1 and DO2 will respond to the Control Input if and only if the
following conditions have been met:
a) No fault is detected for any of the control signals
b) The override command is either ignored or false (Override Input)
c) The output has not been disabled by a secondary signal (Enable Input)
The resulting
DO_Write_state_8_output_lines
will depend on the object 6202h
DO_Polarity_8_output_lines
, as per Table 11. By default, normal on/off output logic is used.
Value
Meaning
DO Logic State
DO Drive State
0
Normal On/Off
OFF
OFF
ON
ON
1
Inverse On/Off
OFF
ON
ON
OFF
Table 11
– Object 6202h DO Polarity Options
Objects 2224h
Digital Out Delay
and 2225h
Delay Polarity
are used set a state change delay to
the digital output.
Delay Polarity
value determines which state change edge the delay will affect
and
Digital Out Delay
value determines length of the delay in milliseconds. By default,
Digital Out
Delay
is set to 0ms (no delay) and
Delay Polarity
is set to rising edge
– in which case the output
will react as soon as it is commanded.
0 Rising Edge
1 Falling Edge
Table 12
– Object 2225h DO Delay Polarity Options
As mentioned in the Controller Overview, any digital output can be setup to react to a fault
detected on any of the
inputs
to the function block (control, enable or override.) Should any one of
these inputs be showing an error condition, object 6250h
DO Fault Mode
determines how the
output will respond, per Table 13. By default, the output will revert to the state defined in object
6260h
DO Fault State
.
Value
Meaning
0
Maintain Last State
1
Apply Pre-Defined State
