IFM ioControl CR2050 Manuel D'utilisation page 96

ioControl
Index S-idx Designation
0x1402 0x00 Receive PDO
Communica-
tion Parame-
ter Number of
entries
0x01 COBID used
by PDO
0x02 transmission
type
Receive PDO mapping (index 0x1600...0x16FF):
Index S-idx Designation
0x1600 0x00 Receive PDO
mapping
Number of
mapped
objects in
PDO
0x01 PDO map-
ping
96
Data type Default
ro USINT 0x02
rw UDINT 0x400 + node
ID
rw USINT 0x01
Data type Default
rw USINT 0x01
ro UDINT 0x6200 0108
Details (CR2052)
Receive PDO 3: PWM outputs 4 - 7
number of entries = 2
CAN-ID of the 3� read PDO
Bit 31 = 0 → PDO is valid
Bit 31 = 1 → PDO is not valid
0x00 = synch acyclic
0x01���0xF0 = synch cyclic; outputs
are only updated after „n" synch
objects
n = 1...240 = 0x01���0xF0
0xFC/0xFD not implemented
0xFE = asynch man� spec� event;
outputs are updated immediately
0xFF = asynch device profile event;
outputs are updated immediately
Details (CR2052)
Mapping read PDO 1: binary outputs
1 byte in index 0x6200, SubIndex 01
Binary outputs OUT00...OUT07
0b---- ---X = OUT00
0b---- --X- = OUT01
0b---- -X-- = OUT02
0b---- X--- = OUT03
0b---X ---- = OUT04
0b--X- ---- = OUT05
0b-X-- ---- = OUT06
0bX--- ---- = OUT07