Starting operation
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5.4 Configuring the controller
Technical manual LioN-P EtherCAT® Digital-I/O
Release 1.0 11/2016
5.4
Configuring the controller
5.4.1
PDO Assignments
The module supports different PDO assignments for input and output
data.There are assignments for bit or byte access and with or without
diagnosis data attached to the input data (TxPDO, I/O-module to controller.
By selecting the relevant PDO, you decide your preferred data content.
The modules provide the following PDO assingments:
5.4.2
PDO’s for 16DI modules: 0980 ESL 391-xxx
The PDO’s 0x1A00 or 0x1A01 can be selected for the input data of the
module.
PDO 0x1A00, Input data in byte format
Content of Port X1A..X4B and Port X5A..X8B:
X1A...X8A: Input status, channel A (contact pin 4) of slots X1 to X8
X1B...X8B: Input status, channel B (contact pin 2) of slots X1 to X8
PDO
PDO Content
Index
Size
Index
Size
Type
Name
0x1A00 2
0x6000:01
1.0
USINT
Port X1A..X4B (see
table 10
)
0x6000:02
1.0
USINT
Port X5A..X8B (see
table 10
)
Table 9:
Input data in byte format
Index
Bit 7
Bit 6
Bit5
Bit 4
Bit 3
Bit 2
Bit 1
Bit 0
0x6000:01 X4B
X4A
X3B
X3A
X2B
X2A
X1B
X1A
0x6000:02 X8B
X8A
X7B
X7A
X6B
X6A
X5B
X5A
Table 10: Bit assignment for input data in byte format
