Scaime eNod4-B - 5.10 PDO-Related Communication Objects

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User manual SCAIME: NU-soft-eNod4B-E-0716_236704-C.doc
b0
Effect
Notes
0
safety mode disabled
only valid in stopped state
No action possible also using
Modbus or SCMBus
communication
1
safety mode enabled
b1
0
output 1 inhibited
depending on the chosen logic
1
output 1 set active
b2
0
output 2 inhibited
depending on the chosen logic
1
output 2 set active
b3
0
output 3 inhibited
depending on the chosen logic
1
output 3 set active
b2
0
output 4 inhibited
depending on the chosen logic
1
output 4 set active
5.9.11 Error behavior
Sub-index
Description
Access
Default value
Mappable
(PDO) ?
Type
0x00
Number of error
classes
LS
1
N
unsigned 8
0x01
communication
error
L/ E
0
N
unsigned 8
Description: If a communication error occurs in operational mode, eNod4 shall enter by default autonomously the
pre-operational mode.
Alternatively, by error class coding in object 0x1029 eNod4 can enter in the following states:
• 0: Pre-operational
• 1: No state change
• 2: Stopped. refer to ‘Safety mode’
5.10 PDO-related communication objects
5.10.1 RPDO default mapping
• 0x1600 : RPDO1 mapping parameters
Sub-index
Description
Access
Default value
Type
0x00
number of supported
objects
RO
1
unsigned8