IFM CR2011, Device Manual, Page: 17 / 21

UK
Output Module CR2011
17
Index S-Idx Designation Type Default Description
1600 0
Mapping Rec
PDO 1
u32, ro 0x01
Number of the application objects linked with
the binary output PDO
1600 1
Index in
the object
directory
u32, rw 0x6200 01
6200 Sldx 01 contains 1 byte (binary outputs)
0b 0000 0001 = Out 1
0b 0000 0010 = Out 2
0b 0000 0100 = Out 3
0b 0000 1000 = Out 4
0b 0001 0000 = Out 5
0b 0010 0000 = Out 6
0b 0100 0000 = Out 7
0b 1000 0000 = Out 8
1601 0
Mapping Rec
PDO 2
u32, ro 0x04
Number of the application objects linked with
the analog output PDO
1601 1
Index in
the object
directory
u32, r0 0x6410 01
6410 Sldx 01 contains the preset value of the
analog output channel 1 or 2� The value is in-
terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�
1601 2
Index in
the object
directory
u32, r0 0x6410 02
6410 Sldx 02 contains the preset value of the
analog output channel 3 or 4� The value is in-
terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�
1601 3
Index in
the object
directory
u32, r0 0x6410 03
6410 Sldx 03 contains the preset value of the
analog output channel 5 or 6� The value is in-
terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�
1601 4
Index in
the object
directory
u32, r0 0x6410 04
6410 Sldx 04 contains the preset value of the
analog output channel 7 or 8� The value is in-
terpreted as pulse/break ratio in ‰ or as preset
current value (depending on the configuration
of the index 2000)�
1800 0 Trans PDO 1 u8, ro 0x02
Number of the entries transmit PDO1, (actual
current values)
1800 1 COB ID u32, rw 0x180 +
Node ID
- PDO is valid (bit 31 = 0)
- CAN ID of the 1st transmit PDO
1800 2 Trans Type u8, rw 0xFF
0x00 = synch acyclic
0x01���0xF0 = synch cyclic, number of the
synch objects between two transmissions
0xFC / 0xFD = not implemented
0xFE / 0xFF = PDO is not transmitted
1A00 0
Mapping
Trans PDO 1
u32, ro 0x04 Number of the linked application objects