PD2-C CANopen Online Manual

3250h Digital Outputs Control

Function

This object can be used to control the digital outputs as described in chapter " Digital inputs and outputs".

The following applies for all subindices:

  • Bits 0 to 15 control the special functions.
  • Bits 16 to 31 control the level of the outputs.

Object description


Index 3250h
Object name Digital Outputs Control
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history

Firmware version FIR-v1426: Subindex 01h: "Name" entry changed from "Special Function Disable" to "Special Function Enable"

Firmware version FIR-v1446: "Name" entry changed from "Special Function Enable" to "No Function".

Firmware version FIR-v1512: The number of entries was changed from 6 to 9.


Value description


Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values  
Preset value 08h


Subindex 01h
Name No Function
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 02h
Name Function Inverted
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 03h
Name Force Enable
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 04h
Name Force Value
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 05h
Name Raw Value
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 06h
Name Reserved1
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 07h
Name Reserved2
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h


Subindex 08h
Name Routing Enable
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values  
Preset value 00000000h

Description

The subindices have the following function:

  • 01h: No function.
  • 02h: This subindex is used to invert the logic (from normally closed logic to normally open logic).
  • 03h: This subindex is used to force the output value if the bit has the value "1". The level of the output is defined in subindex 4h.
  • 04h: This subindex is used to define the level to be applied to the output. The value "0" returns a logical low level at the digital output; the value "1", on the other hand, returns a logical high level.
  • 05h: The bit combination applied to the outputs is stored in this subindex.
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