UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 11-53
When 2210h is set (1) the output is controlled by the data in object
6200h, DO Write Output
(default 0) which is mapped to RPDO1 by default. Since PDOs do not exist in PRE-
OPERATIONAL mode, the “Logic State” is always set OFF in this case. In OPERATIONAL mode,
however, the “Logic State” will reflect the value in object 6200h.
When 2210h is clear (0), the output is controlled by the state of the input at the sub-index defined
in object
2211h, DO Discrete Control Number
(default same as DO number, 1 to 8.) In PRE-
OPERATIONAL, OPERATIONAL and BUSOFF modes, the outputs can be controlled directly by
any one of the on-board discrete inputs. In these modes, the “Logic State” will reflect the selected
“Input State” reflected in object 6000h.
Once the “Logic State” for the output has been established per the conditions above, object
6202h,
DO Polarity
(default 0) is evaluated. When it is ENABLED, the “Relay State” will be the opposite of
the “Logic State.”
The value “Relay State” is applied to the relay outputs. When ON, the relay is energized. Since the
actual state of the relay output does not necessarily reflect the value in object 6200h, object
2200h, DO Read Output
a read-only object reflecting the actual output state which is mapped to
TPDO1 by default, as outlined in Section 3.2.13.
1.6.
Miscellaneous Function Block
There are two other objects available which have not yet been discussed. The first object
3000h,
CAN Slew Rate
(default 1) can be used to select either a FAST (1) or SLOW (0) slew rate for the
bits sent to the CAN network.
The final object
5555h, Start in Operational
(default 0) is provided as a ‘cheat’ when the unit is
not intended to work with a CANopen network (i.e. a stand-alone control), or is working on a
network comprised solely as slaves so the OPERATION command will never be received from a
master. By default this object is disabled (FALSE).
