Intelligent Motion Systems MDrive DSP-402, Application Manual

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18 MDrivePlus CANopen R020507
Object 2002h: I/O Discretes (Config)
Object Description
Index
2002
h
Name
Config Input Switches
Object Code
VAR
Data Type
Unsigned 8
Entry Description
Sub-Index Description Category Access PDO
Mapping
Value Range Default
01h ConFigure I/O as Home Mandatory R/W No 0x00 — 0xFF
0x00 (1 = Selects
I/O# as the Home
Switch)
02h
ConFigure I/O as Positive
Limit
Mandatory R/W No 0x00 — 0xFF
0x00 (1 = Selects
I/O# as the
Positive Limit)
03h
ConFigure I/O as Negative
Limit
Mandatory R/W No 0x00 — 0xFF
0x00 (1 = Selects
I/O# as the
Negative Limit)
Object 2004h: Input Filter Mask (Config)
The Input Filter Mask Object conFigure s the device to filter the selected inputs. The operation of the Object is shown in
Figure 3.1 below.
LSB MSB
7 6 5 4 3 2 1 0
LSB
MSB
7 6 5 4 3 2 1 0
IN12 IN11 IN10 IN9 IN4 IN3 IN2 IN1
1 0 0 1 0 0 0 0
0 1 1 0 0 0 1 0
2004.01h Input Filter Mask
2006.01h Input Filter Time
60FDh Digital Inputs
Filter Inputs 1 & 2
Filter Time 100 mSec.
Figure 3.1: Input Filter Mask