ICP DAS USA CAN-2054C, Руководство пользователя

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CAN-2054C user’s manual (Revision 1.30, Nov/05/2014) ------ 18
3.3 Application Object
Digital Input module (0x6000)
User can use the object index 0x6000 with subindex 1 to read a group of
8-bit information.
For example, if the node id of CAN-2054C is 1, the commands are as below:
11-bit COB-ID (bit)
Func Code Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8 40 00 60 01 00 00 00 00
SDO client
SDO server
(CAN-2054C)
11-bit COB-ID (bit)
Func Code Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0 1 2 3 4 5 6 7
1 0 1 1 0 0 0 0 0 0 1 0 4 4F 00 60 01 0F -- -- --
SDO client
SDO server
(CAN-2054C)
Read the object index 0x6000 with subindex 1, and the digital value 0x0F will be
responded by CAN-2054C module. The DI channels of DI3, DI2, DI1 and DI0 are
turn on and others are turn off.
Change Input Polarity (0x6002)
User can configure the object index 0x6002 with subindex 1 to set the
polarity of DI channels.
This object 0x6002 with subindex 1 defines the polarity of a group of 8 input
lines. Input polarity can be inverted individually.
1 = input inverted.
0 = input not inverted.
For example, if the node id of CAN-2054C is 1, the commands are as below:
11-bit COB-ID (bit)
Func Code Node ID
8-byte Data (byte)
10 9 8 7 6 5 4 3 2 1 0
RTR
Data
Length
0 1 2 3 4 5 6 7
1 1 0 0 0 0 0 0 0 0 1 0 8 2F 02 60 01 F0 00 00 00
SDO client
SDO server
(CAN-2054C)