PCAN-MicroMod CANopen - User Manual - PEAK-System

PCAN-MicroMod CANopen - User Manual
A.3 Device Profile Entries
A.3.1 Read Digital Inputs (6000h)
[6000h,00h], Unsigned8, read only
If digital inputs are available, returns 1
[6000h,01h], Unsigned8, read only, can be mapped to
TPDO
For devices with digital inputs, the digital input data can be read
from [6000h,01h]. If less than 8 input bits are implemented, the
most significant bits of this entry are unused.
A.3.2 Polarity Digital Input (6002h)
[6002h,00h], Unsigned8, read only
If digital inputs are available, returns 1
[6002h,01h], Unsigned8, read/write
For each input bit available in [6000h,01h] this entry applies a polarity
change. If a bit in this entry is set, the corresponding bit in
[6000h,01h] is inverted. If less than 8 input bits are implemented,
the most significant bits of this entry are unused. The bit is inverted
when reading from the input pin, before storing into the OD.
A.3.3 Write Digital Outputs (6200h)
[6200h,00h], Unsigned8, read/write
If digital outputs are available, returns 1
[6200h,01h], Unsigned8, read only, can be mapped to
RPDO
For devices with digital outputs, the digital output data is written to
[6200h,01h]. If less than 8 output bits are implemented, the most
significant bits of this entry are unused.
50