Infranor XtrapulsPac - Digital Input;Output Extension

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X
trapulsPac - User Guide
Chapter 3 – Reference
Index 0x607B
Name Position Limit
Object Code ARRAY
Object Class all
Number of Elements 2
Value Description
Sub Index 1
Description Minimum Position Limit
Data Type Integer32
Access rw
PDO Mapping No
Unit User position unit
Value
Sub Index 2
Description Maximum Position Limit
Data Type Integer32
Access rw
PDO Mapping No
Unit User position unit
Value
3.2.5.7 - Digital Input/Output extension
CANopen I/O extension
The XtrapulsPac-ak servo drive version can support and manage an external CANopen I/O module in order to get
more inputs and outputs.
Features:
- Each XtrapulsPac-ak servo drive can handle one and only one CANopen I/O module DS-401 with or without
CANopen master.
- Each I/O module can have up to (extra I/Os are ignored):
16 digital inputs
16 digital outputs
1 analog input
1 analog output
- Communication with I/O can be:
SDO only (about 10 ms)
PDO only (down to 2 ms)
SDO (pre-op) and PDO (operational)
- Assignment:
Digital inputs are divided in 2 blocks which can be assigned to any drive variable.
Digital outputs are divided in 2 blocks which can be assigned from any drive variable.
Analog input can be assigned to any drive variable.
Analog Output can be assigned from any drive variable.