Version 3.0.0 Preliminary Documentation – May be Subject to Change 8-46
2. USING 18 Digital INPUT THROUGH CANOPEN
2.1.
Node ID and Baudrate
The 18 Digital Input module supports the Layer Setting Service (LSS) protocols to configure the
node-id and baudrate. Refer to the document “LSS Protocol” for more details.
2.2.
Digital Input Function Block
The digital input function block handles the reading of any input pin configured as a digital input.
Note, however, that the operating input mode for NORMAL operation (PWM, FREQ or COUNTER)
is set through the object 6112h, in the analog input function block.
For inputs that are NOT
configured as digital, the rest of the objects associated with the digital input block are ignored
.
On the 18 Digital Input, the inputs are hardware supported and are configured through object
2000h. This sets the input to either active high (+V) or active low (0 V) signal. The application
object 6002h allows the input polarity to be changed in software. The state of the input is a logical
combination of hardware and software polarity. See figure 3.2.1 for more details.
Figure 2.2.1 Digital Input Block Diagram
The application object 6000h holds the state (1 = ON, 0 = OFF) of each digital input in the following
manner:
For the 18 digital input lines on the controller, the bit order is as shown below.
Subindex 1:
Subindex 2:
Subindex 3:
DI 1
DI 2
DI 3
DI 4
DI 5
DI 6
DI 7
DI 8
0
7
DI 9
DI 10
DI 11
DI 12
DI 13
DI 14
DI 15
DI 16
0
7
DI 17
DI 18
XXX
XXX
XXX
XXX
XXX
XXX
0
7
