Delta R2-EC 004 Series, User Manual

Page: 35 / 67

CiA 401 Device Profile R2-ECx004 User Manual
4-2
4
4.1 DO operation method
You can control the digital output status at present with DO Setting Value (6200h) and Allow DO
State Change (2001h), limit the output channels with DO Filter Mask (6208h), and determine
the output status at present when a connection error occurs with DO Error Mode Enable
(6206h) and DO Error Mode Setting Value (6207h). The following is the control flowchart.
1600h
Receive
RPDO1
DO Setting
Value
6200h
Receive PDO Mapping
{20h}
{RPDO1}
CAN
Reception
Not available
when
communication
error occurs.
The setting value of
OD 6207h is
transferred when OD
6206h is set to 0h.
6206h
DO Error Mode Enable
{0h, 1h}
6207h
DO Error Mode
Setting Value
{0, 1}
{0, 1}
Active DO
{0, 1}
2001h
Allow DO State Change
{E, D}
6208h
DO Filter Mask
{E, D}
{0, 1}
Single
Digital
Output
E = enable
D = disable
Block Filter
{0, 1}