Object list
COMPAX CANopen
INPUT_WORD
52
6.15 Inputs/outputs
1.1.1 INPUT_WORD
Logic state of the 16 digital inputs.
Some inputs are assigned fixed control functions.
Input
Assignment
Input
Assignment
1
SHIFT
1 & 3
Find real null (RN)
2
Hand+
1 & 4
Teach real zero
3
Hand-
1 & 5
reserved
4
Quit
1 & 6
Break
5
START
9...13
Freely assignable in standard model
6
STOP
14
Activate label reference
7...8
Freely assignable in standard model
15
Faster start
1 & 2
Find machine zero (MN)
16
Label input
Object Description
Index
0x6100
Symbol
INPUT_WORD
Length
-
Min
-
Object code
Array
Elements
1
Max
-
Data type
-
Access rights
-
PDO mapping
no
Number of entries
Index: subindex
0x6100:000
Standard
0x01
Length
1
Min
0x01
Object code
-
Elements
-
Max
0x01
Data type
Unsigned8
Access rights
read
PDO mapping
no
INPUT_WORD
Index
0x6100:001
Symbol
INPUT_WORD
Length
2
Min
0x0000
Object code
-
Elements
-
Max
0xFFFF
Data type
Unsigned16
Access rights
read
PDO mapping
yes
Data Description
Bit
Assignment
Bit
Assignment
15
Status input 16
0
Status input 1
6.15.2 INPUT_MASK
Masking inputs.
Standard configuration is for functions assigned to the COMPAX inputs.
If the corresponding bit of the mask is set, access is given to this COMPAX input function via the control word or COMPAX
control word, while at the same time the corresponding COMPAX input loses this function and is freely available.
INPUT_MASK directly reads/describes the parameters P221 (LSB) and P222 (MSB).
Object Description
Index
0x2040
Symbol
INPUT_MASK
Length
2
Min
0x0000
Object code
Variable
Max
0xFFFF
Data type
Unsigned16
Access rights
read all/write
PDO mapping
no
