Product Manual CANcockpit
TU00-0726-5111102 Technische Änderungen vorbehalten 0609 Technical details subject to change 5.2 - 26
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CANopen-Specification for CANcockpit
Write 64 digital Outputs byte wise (6200h)
Values written via SDO will overwrite PDO values and vice versa.
Digital outputs of the CANopen network are actually digital inputs for CANcockpit. The result of the polarity processing (object
6202h) and timeout control (object 6206h and object 6207h) is available in the result array "Copen_abDO[8]". Warning or
Alarm conditions can be directed to the contents of these signals, hence making it possible to trigger an Alarm or Warning
based on information coming in via CANopen (RPDO1).
Writing to this object via SDO will be rejected in operational state (NMT) to prevent access conflicts. Writing in preoperational
state is possible and values will be retained, if the corresponding error mode bit is 0. If this bit is 1, then the output state will be
according to the configured error value when no PDOs are received (including timeout condition and transitions to
initialisation, stop or preoperational).
Reading this object via SDO will return the following:
Condition Read Result
Preoperational 0xFF for all bytes
Operational no RPDO1 timeout condition Valid bytes as received in RPDO1
Operational, but RPDO1 timeout condition 0xFF for all bytes
OBJECT DESCRIPTION
Index 6200h
Name Write Output 8-Bit
Object Code Array
Data Type UNSIGNED8
Category Conditional: Device with digital outputs
ENTRY DESCRIPTION
Sub-Index 0
Description Number of Outputs 8-Bit
Access ro
Entry Category Mandatory
PDO Mapping No
Value 8
Default Value 8
Sub-Index 1
Description Write Output 1 to 8
Access rw
Entry Category Mandatory
PDO Mapping Default
Value Range Unsigned8
Default Value No
Sub-Index 2
Description Write Output 9 to 16
Access rw
Entry Category Optional
PDO Mapping Default
Value Range Unsigned8
Default Value No
Sub-Index 3
Description Write Output 17 to 24
Access rw
Entry Category Optional
PDO Mapping Default
Value Range Unsigned8
Default Value No
Sub-Index 4
Description Write Output 25 to 32
Access rw
Entry Category Optional
PDO Mapping Default
Value Range Unsigned8
Default Value No
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