CO4011A-FL Datasheet, PDF (9/37 Pages) List of Unclassifed Manufacturers – Single Chip CANopen Controller for Remote I/O

CO4011A-FL
Single Chip CANopen Controller for Remote I/O
DS301: PDO Parameter Objects
Description of PDO Parameter objects:
These Objects enable dynamic PDO mapping,
variable identifier distribution for PDOs and setting of
the transmission mode, inhibit and event times.
For the CO4011 setting of all parameters may be
done in the device state "operational" as well as in
"preoperational" state.
Index Sub-
Index
1400 0
1
2
3
4
5
1401
…
1403
1600 0
1 to n
1601
…
1603
1800 0
1
2
3
4
5
1801
…
1803
1A00 0
1 to n
1A01
…
1A03
Name
Receive PDO1
Communication Parameter
COB-ID
Transmission Type
Inhibit Time (not used)
Reserved
Event Timer
Receive PDO2 to RPDO4
Communication Parameter
same as 1400.00 .. 1400.05
Receive PDO1:
Parameter mapping
Mapped Object
(max. 8 objects mappable)
Receive PDO2 to RPDO4
Parameter mapping
Same as 1600
Transmit PDO1
Communication Parameter
COB-ID
Transmission Type
Inhibit Time
Reserved
Event Timer
Transmit PDO2 to TPDO4
Communication Parameter
same as 1800.00 .. 1800.05
Transmit PDO1
Parameter mapping
Mapped Object
(max. 8 objects mappable)
Transmit PDO2 to TPDO4
Parameter mapping
Same as 1A00
Acc.
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
ro
rw
rw
rw
rw
rw
rw
rw
rw
rw
Note:
The CO4011A supports only 1 receive and 2 trans-
mit PDOs. All Objects for higher PDO numbers are
not implemented.
Note:
For detailed information about CANopen objects see
additional brochure "Introduction to CANopen"
DS401: Digital Input Objects
Index
5001
5002
5003
Sub-
Index
0 to n
0 to n
0 to n
6000
6002
6003
6005
6006
6007
6008
6100
6120
0 to n
0 to n
0 to n
0 to n
0 to n
0 to n
0 to n
0 to n
Name
Acc.
Write 1 to digital input 8 bit rw
Write 0 to digital input 8 bit rw
Filter time for each digital rw
input
Read digital input 8 bit
ro
Polarity input 8-bit
rw
Filter constant enable 8 bit rw
Global interrupt enable
rw
Interrupt mask: any change rw
Interrupt mask rising edge rw
Interrupt mask falling edge rw
Read digital input 16 bit
ro
Read digital input 32 bit
ro
The objects 5001 and 5002 are implemented for
debug purposes, because the CANopen object 6000
does not allow write access to an input line. With
objects 5001 and 5002 a debug environment may
simulate setting or resetting of input lines. The
CO4011 first scans the physical input lines and then
processes the scanned values with the debug
parameters.
Index 5001 and 5002 make direct bit manipulation of
single bits possible.
Index 5001 enables bit setting by using a bit wise
logical OR conjunction with index 6000 while index
5002 performs a logical AND conjunction with index
6000 and therefore enables resetting of single bits.
Objects 5001 and 5002 are always working in
continuous execution mode. This means that logical
operations with object 6000 are performed in each
internal input scan cycle
With object 5003 an individual filter constant (value
in msec) may be assigned to each input line. This
gives great flexibility to prevent inputs from distortion.
The default value for filter constant is 5msec. The
filter constants enable object is at index 6003.
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Page 9 of 9
Revision 1.39
May/19/2003