UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 46-53
3.4. MANUFACTURER
OBJECTS
Index
(hex)
Object Object
Type
Data Type
Access PDO
Mapping
2002 DI Latched 8-bit
ARRAY UNSIGNED8
RW
No
2003 DI Debounce Time
ARRAY UNSIGNED16 RW
No
2200 DO Read Output 8-bit
ARRAY UNSIGNED8
RO
Yes
2210 DO Control Source 8-bit
ARRAY UNSIGNED8
RW No
2211 DO Discrete Control Number
ARRAY UNSIGNED8
RW No
2220 DO Enable Input Used 8-bit
ARRAY UNSIGNED8
RW No
2221 DO Discrete Enable Number
ARRAY UNSIGNED8
RW No
3000 CAN
Slew
Rate
VAR
UNSIGNED8 RW
No
5555 Start in Operational Mode
VAR
UNSIGNED8
RW
No
3.4.1.
Object 2002h: DI Latched 8-bit
This object defines the latched behaviour of a group of 8 input lines. When active, an input logic
level will change state as per Figure 4 in Section 1.4. If an input is latched, object 6002h, DI
Polarity, is ignored. Input latching can be enabled individually.
1 = input latched
0 = input not latched
Object Description
Index 2002h
Name
DI Latched 8-bit
Object Type
ARRAY
Data Type
UNSIGNED8
Entry Description
Sub-Index 0h
Description Largest
sub-index supported
Access RO
PDO Mapping
No
Value Range
2
Default Value
2
Sub-Index 1h
Description DI1
to DI8 Latched
Access RW
PDO Mapping
No
Value Range
FFh (255) [1111
1111b]
Default Value
00h
(0)
[0000 0000b]
Sub-Index 2h
Description
DI9 to DI12 Latched
Access RW
PDO Mapping
No
Value Range
0Fh (15) [0000
1111b]
Default Value
00h
(0)
[0000 0000b]
