Starting operation
Technical manual LioN-P EtherCAT® Digital-I/O
Release 1.0 11/2016
5.4 Configuring the controller
31
PDO 0x1A01, Input data in bit format
For the input data direction (TxPDO of the device) the following flexible
selectable PDO’s are available:
PDO 0x1A02, Output states in byte format
This object delivers (optional selectable) the real outputs states as input
data to the controller (Output Mirror):
Content of port X5A..X8B:
X5A...X8A: Output state, channel A (contact pin 4) of slots X5 to X8
X5B...X8B: Output state, channel B (contact pin 2) of slots X5 to X8
PDO
PDO Content
Index
Size
Index
Size
Type
Name
0x1A01
2
0x6020:01
0.1
BIT
Port X1A
0x6020:02
0.1
BIT
Port X1B
0x6020:03
0.1
BIT
Port X2A
0x6020:04
0.1
BIT
Port X2B
0x6020:05
0.1
BIT
Port X3A
0x6020:06
0.1
BIT
Port X3B
0x6020:07
0.1
BIT
Port X4A
0x6020:08
0.1
BIT
Port X4B
Table 28: Input data in bit format
PDO
PDO Content
Index
Size
Index
Size
Type
Name
0x1A00 2
0x2200:01
1.0
USINT
Port X5A..X8B (see
table 30
Table 29: Input data in byte format
Index
Bit 7
Bit 6
Bit5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0x2200:01 X8B
X8A
X7B
X7A
X6B
X6A
X5B
X5A
Table 30: Bit assignment for output states in byte format
