Infranor XtrapulsPac - Page 218

218
X
trapulsPac – User Guide
Chapter 3 - Referenc
e
Sub Index 5
Description Mask 2
Data Type Unsigned16
Access rw
Save Yes
PDO Mapping No
Default Value 0
Sub Index 6
Description Shift 2
Data Type integer16
Access rw
Save Yes
PDO Mapping No
Default Value 0
Example:
Using I/O Module with 8 outputs: 2 outputs are from status_word and 6 outputs are from sequence_outputs
The assignment will be:
The source object is sequence number input: 0x6041,0
The first group of 2 bits are from (2, 3) to output bits (6, 7), so the shift value is +4
The mask for the output bits (6, 7) is 0xC0
0x3822,1 = 0x60410000
0x3822,2 = 0x00C0
0x3822,3 = 4
The source object is sequence outputs: 0x3602,1
The second group of 6 bits are from (3, 4, 5, 6, 7, 8) to outputs bits (0, 1, 2, 3, 4, 5), so the shift value is -3
The mask for the output bits (0, 1, 2, 3, 4, 5) is 0x3F
0x3822,4 = 0x36020100
0x3822,5 = 0x003F
0x3822,6 = -3
Remark
: if 2 source objects are connected to the same output, the output will take the value from the 2nd object.
Status Word 0x6041,0
Sequence Outputs 0x3602,1
7 6 5 4 3 2 1 0 8 .. 7 6 5 4 3 2 1 0 8 ..
7 6 5 4 3 2 1 0
Digital Output 0x3829,2
CANopen I/O module
Digital Outputs
CAN bus
shift = -3 shift = +4