PCAN-MicroMod CANopen - User Manual - PEAK-System

PCAN-MicroMod CANopen - User Manual
4.5 Output Processing
Data received in a RPDO is copied to its destination in the Object
Dictionary, depending on the RPDO Mapping Parameters [160xh].
The destination is the array at [6200h] for digital outputs and the
array at [6411h] for analog outputs. These entries can also be
written to by any CANopen configuration tool or CANopen manager
using SDO requests.
Figure 4: Output data processed by the CANopen firmware
Depending on the RPDO Communication Parameters [140xh] the
output data received by RPDO is either applied immediately or upon
reception of the next SYNC signal if synchronized communication is
used.
Digital output data is XORed with the Polarity Digital Output value
at [6202h] before being applied to the output.
When an output channel is marked ‘1’ the Digital Output Error Mode
[6206h] array or the Analog Output Error Mode [6443h] array, then
default values get applied to the outputs whenever the node leaves
28