UMDIO128CO V2.0.1 Preliminary Documentation – May be Subject to Change 9-53
Next, the controller looks at object
2002h, DI Latched
(default 0), and if TRUE the “Input State” of
the input will toggle only on the rising edge of the input, as shown in Figure 4. This type of input
could be used with a momentary push-button. Note: When 2002h is true, object 6002h is ignored.
Figure 4 – Digital Input Latched Logic
If not using latched logic, the controller then evaluates object
6002h, DI Polarity
(default 0). When
it is ENABLED, the “Input State” will be the opposite of the “Input Level.”
The “Input State” value is written to object
6000h, DI Read Input
a read-only object that is mapped
to TPDO1 by default, as outlined in Section 3.2.13. When TPDO1 is defined to be an event driven
transmission type (default 255), object
6005h, DI Global Interrupt Enable
(default 1) is applicable.
In this case, the TPDO will only be sent when the “Input State” changes.
What kind of state change activates the transmission is determined by one, and only one, of the
following objects. First, object
6006h, DI Interrupt Mask Any Change
(default 1) is evaluated. If it
is TRUE, then TPDO1 is sent every time the “Input State” changes. If and only if 6006h is false,
then object
6007h, DI Interrupt Mask Low-to-High
(default 0) is evaluated. If it is TRUE, then
TPDO1 is sent only on the rising edge of the input, i.e. when the “Input State” changes from 0 to 1.
Lastly, if and only if 6006h and 6007h are false, then object
6008h, DI Interrupt Mask High-to-
Low
(default 0) is evaluated. If it is TRUE, then TPDO1 is sent only on the falling edge of the input,
i.e. when the “Input State” changes from 1 to 0.
If 6005h is TRUE, but 6006h, 6007h and 6008h are all FALSE (should not be done!), then the
controller will default to the 6006h behaviour, where any state change will cause TPDO1 to be
sent.
