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XtrapulsPac - User Guide
Chapter 3 – Reference
Bit Number Function
0
Enable I/O module
0
Disable I/O module
1 Auto-restart
after
communication lost
2
Error if communication lost or module not found
3, 4
Reserved. Must be reset at 0
5
Map drive PDO for digital I/O
6 SYNC
producer
7
1
CAN bus: to operational
0
CAN bus: to Pre-op
8
Digital Input by SDO
9
Digital Output by SDO
10
Analog Input by SDO
11
Analog Output by SDO
12
Digital Input by PDO
13
Digital Output by PDO
14
Analog Input by PDO
15
Analog Output by PDO
Bits 5, 6, 8..15 are taken into account only with rising edge/falling edge of bit 0.
Sub Index
3
Description Status
Data Type
Unsigned16
Access ro
PDO Mapping
Yes
Bit Number Description
0 Reserved
1
searching for I/O module
2
Module failed (module not DS-401, module disconnected, module node ID not
defined...)
3 Run
4..6 Reserved
7 NMT
started
8
Digital Input by SDO
9
Digital Output by SDO
10
Analog Input by SDO
11
Analog Output by SDO
12
Digital Input by PDO
13
Digital Output by PDO
14
Analog Input by PDO
15
Analog Output by PDO
Sub Index
4
Description
Module hardware identified
Data Type
Unsigned16
Access ro
PDO Mapping
No
Bit Number Description
0
Module with digital inputs
1
Module with digital outputs
2
Module with analog inputs
3
Module with analog outputs
4..15 Reserved
