PCAN-MicroMod CANopen - User Manual - PEAK-System

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$Tools\PCAN-Router Pro\Documentation\Tutorial ... - PEAK-System$

PCAN-MicroMod CANopen - User Manual Figure 2: PCANopen Magic Pro displaying the PDO parameters with the possibility to edit each entry directly 4.4 Input Processing Digital input data is XORed with the polarity settings [6002h] before getting stored in [6000h]. The analog input data goes directly into the array at [6401h]. Using SDO requests sent to the device, all input data can be read at any time by a configuration tool or CANopen manager. 26
PCAN-MicroMod CANopen - User Manual Figure 3: Input data processed by the CANopen firmware Depending on the TPDO Mapping Parameters [1A0xh], the input data is included in one or multiple TPDOs. Depending on the TPDO Communication Parameters [180xh] the input data gets transmitted if a transmit trigger is activated. For analog inputs, the change-ofstate detection includes a delta detection: if the Analog Input Interrupt Enable [6423h] is set, then the array Analog Input Value Difference [6426h] specifies for each channel the minimum difference that a new value must have in comparison to the last transmitted value to trigger a COS event. 27
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PCAN-MicroMod CANopen - User Manual - PEAK-System

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