Starting operation
32
5.4 Configuring the controller
Technical manual LioN-P EtherCAT® Digital-I/O
Release 1.0 11/2016
PDO 0x1A03, Output states in bit format
This object delivers (optional selectable) the real outputs states as input
data to the controller (Output Mirror):
The PDO’s 0x1A01 or 0x1A02, 0x1A02 or 0x1A03 can be combined
flexible with the PDO’s 0x1A04 (Error register) and/or 0x1A05 (Diagnostic
register)
PDO 0x1A04, Error register
Content of the Error register:
PDO
PDO Content
Index
Size
Index
Size
Type
Name
0x1A03
2
0x2020:01
0.1
BIT
Port X5A
0x2020:02
0.1
BIT
Port X5B
0x2020:03
0.1
BIT
Port X6A
0x2020:04
0.1
BIT
Port X6B
0x2020:05
0.1
BIT
Port X7A
0x2020:06
0.1
BIT
Port X7B
0x2020:07
0.1
BIT
Port X8A
0x2020:08
0.1
BIT
Port X8B
Table 31: Input data in bit format
PDO
PDO Content
Index
Size
Index
Size
Type
Name
0x1A04 1
0x1001:01
1.0
USINT
Error register
Table 32: Error register
B7
B6
B5
B4
B3
B2
B1
B0
Error description
0
0
0
0
0
0
0
0
No error
0
0
0
0
0
0
1
1
Output overload error, MI-SCS or MI-SCA
0
0
0
0
0
1
0
1
Voltage error, MI-LVS
0
0
0
0
0
1
0
1
Voltage error outputs, MI-LVA
1
0
0
0
0
0
0
1
Additional function forcing, MI-FC
1
0
0
0
0
0
0
1
Additional function device diagn., MI-IME
Table 33: Bit content of the error register
