BL20 - Communication in CANopen
D301087 0308 - BL20 CANopen4-114
Objects for Digital Input Modules
General Overview for Digital Input Objects
The following figure shows the relationship between the digital input
objects for an 8-bit access:
Table 60:
General overview
for digital input
objects
Object Name Page
3064
hex
XBI Param Dword 4-115
6000
hex
Read input 8 bit 4-117
6020
hex
Read input 8 bit (1 to 128) 4-118
6021
hex
Read input 8 bit (129 to 256) 4-118
6022
hex
Read input 8 bit (257 to 288) 4-118
6100
hex
Read input 16 bit 4-119
6120
hex
Read input 32 bit 4-120
Figure 2:
Relationship between the digital input objects (according to CiA Draft Standard DS401)
1800h1A00h
Transmit
PDO1
Map
into
TPDO1
Single
Digital
Input
{Unsigned8}
CAN
Transmission
Entry
into
6000h
Default
Mapping
Parameter
Default
Communication
Parameter
{8 Byte} {TPDO1}
{1, 0}
Fixed
Relation
Hardware Objects
Communication Objects
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