Документ: m083700e, страницы 171-175 | База студенческих работ

CANopen • 171

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5.3.4.4.1 Object 0x6000, Digital Inputs

Idx		S-Idx		Name		Type		Attribute		Default Value
0x6000	0		Number of digital input blocks			Unsigned8	RO		-
	1		1. input block			Unsigned8		RO	-
	2		2. input block			Unsigned8		RO	-
	....		....		....		....		....
	32		32. input block			Unsigned8		RO	-

This object contains the process data of the digital input modules. Sub-index 1 contains the first 8 digital input channels from the left to the right, counted from starting with the bus coupler. Sub-index 2 the next etc.

5.3.4.4.2 Object 0x6005, Global Interrupt Enable Digital 8-Bit

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6005	0	Global Interrupt Enable Digital 8-Bit	Unsigned8	RW	1

With this object, the transmission of the digital input data is controlled using PDO. If the value is 1, the transmission is generally released, only depending on the objects 0x6006...0x6008 and the type of transmission of the PDO. If the value is 0, the digital input data is not transmitted, independent of the objects 0x6006...0x6008.

5.3.4.4.3 Object 0x6006, Interrupt Mask Any Change 8-Bit

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6006	0	Number of digital input blocks	Unsigned8	RO	-
	1	Mask 1. input block	Unsigned8	RW	255
	2	Mask 2. input block	Unsigned8	RW	255
	....	....	....	....	....
	32	Mask 32. input block	Unsigned8	RW	255

This object is used to define the digital input channel, which will send its data in the event of a change. Prerequisite being that transmission is generally released (Object 0x6005 = 1).

0 = Transmission blocked in the event of a change (per channel) 1 = Transmission released in the event of a change (per channel)

Example:	Sub-Index 0 = 1, Sub-Index 1 = 65 = 0x41
	only channel 1 and 7 will transmit their data in the event of a
	change

5.3.4.4.4 Object 0x6007, Interrupt Mask Low-to-High 8-Bit

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6007	0	Number of digital input blocks	Unsigned8	RO	-
	1	Mask 1. input block	Unsigned8	RW	0
	2	Mask 2. input block	Unsigned8	RW	0
	....	....	....	....	....
	32	Mask 32. input block	Unsigned8	RW	0

This object is used to define the digital input channel, which will send its data in the event of a positive flank (change from 0 to 1). Prerequisite being that the transmission is generally released (Object 0x6005 = 1). This object has an OR link to object 0x6006.

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0 = Transmission blocked with a positive flank (per channel) 1 = Transmission release with a positive flank (per channel)

Example:	Index 0x6006 Sub-Index 0	= 1, Sub-Index 1 = 65 = 0x41
	Index 0x6007 Sub-Index 0	= 1 Sub-Index 1 = 33 =0x21

Channels 1 and 7 always transmit their data in the event of a change

Channel 6 is only transmitted with a positive flank

5.3.4.4.5 Object 0x6008, Interrupt Mask High-to-Low 8-Bit

Idx		S-Idx		Name		Type	Attribute		Default Value
0x6008	0		Number of digital input blocks			Unsigned8	RO	-
	1		Mask 1. input block			Unsigned8	RW	0
	2		Mask 2. input block			Unsigned8	RW	0
	....		....		....		....	....
	32		Mask 32. input block			Unsigned8	RW	0

This object is used to define the digital input channel, which transmits its data in the event of a negative flank (change from 1 to 0). Prerequisite being that the transmission is generally released (Object 0x6005 = 1). This object has an OR link to object 0x6006.

0 = Transmission blocked with a negative flank (per channel) 1 = Transmission released with a negative flank (per channel)

Example:	Index 0x6006 Sub-Index 0	= 1, Sub-Index 1 = 65 = 0x41
	Index 0x6008 Sub-Index 0	= 1 Sub-Index 1 = 33 =0x21

Channels 1 and 7 always transmit their data in the event of a change

Channel 6 is only transmitted with a negative flank

5.3.4.4.6 Object 0x6200, Digital Outputs

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6200	0	Number of digital output blocks	Unsigned8	RO	-
	1	1. output block	Unsigned8	RW	0
	2	2. output block	Unsigned8	RW	0
	....	....	....	....	....
	32	32. output block	Unsigned8	RW	0

This object contains the process data of the digital output modules. Sub-index 1 contains the first 8 digital output channels from left to right, counting starting from the bus coupler. Sub-index 2 the next etc.

WAGO-I/O-SYSTEM 750

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CANopen • 173

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5.3.4.4.7 Object 0x6206, Error Mode Output 8-Bit

Idx		S-Idx		Name		Type		Attribute		Default Value
0x6206	0		Number of digital output blocks			Unsigned8		RO	-
	1		Mask 1. output block			Unsigned8		RW	255
	2		Mask 2. output block			Unsigned8		RW	255
	....		....		....		....		....
	32		Mask 32. output block			Unsigned8		RW	255

This object defines whether the outputs change to a pre-defined error status in the event of an error (i.e. bus coupler changes to the Stopped status, Nodeguarding has failed,...) (see object 0x6207). If the error is remedied, the outputs remain in their momentary status, i.e. the set error status of the output channels remains unchanged.

0 = Outputs remain unchanged (per channel)

1 = Outputs change to a pre-defined error status (per channel)

5.3.4.4.8 Object 0x6207, Error Value Output 8-Bit

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6207	0	Number of digital output blocks	Unsigned8	RO	-
	1	Mask 1. output block	Unsigned8	RW	0
	2	Mask 2. output block	Unsigned8	RW	0
	....	....	....	....	....
	32	Mask 32. output block	Unsigned8	RW	0

This object is used to define the values, which the outputs should assume in the event of an error. Prerequisite being that the corresponding bit in object 0x6206 is set.

0 = Output to 0 (per channel)

1 = Output to 1 (per channel)

Example:	Index 0x6206 sub-index 0	= 1, sub-index 1 = 65 = 0x41
	Index 0x6207 sub-index 0	= 1 sub-index 1 = 33 = 0x21

Channel 1 is set to 1, channel 7 is set to 0,

all other output channels remain unchanged in the event of an error

5.3.4.4.9 Object 0x6401, Analog Inputs 16 Bit

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6401	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	1. channel	Unsigned16	RO	-
	....	....	....	....	....
	254	254. channel	Unsigned16	RO	-

This object contains the process data of the analog input modules. Sub-index 1 contains the first analog input channel from left to right, counting starting with the bus coupler. Sub-index 2 the second, etc.

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5.3.4.4.10Object 0x6411, Analog Outputs 16 Bit

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6411	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	1. channel	Unsigned16	RW	0
	....	....	....	....	....
	254	254. channel	Unsigned16	RW	0

This object contains the process data of the analog output modules. Sub-index 1 contains the first analog output channel from left to right, counting starting with the bus coupler. Sub-index 2 the second, etc.

5.3.4.4.11Object 0x6421, Analog Input Interrupt Trigger Selection

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6421	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	Trigger 1. channel	Unsigned8	RW	7
	....	....	....	....	....
	128	Trigger 128. channel	Unsigned8	RW	7

This object is used to define the condition of the transmission. Prerequisite for the transmission being that a 1 is entered in object 0x6423, and consequently the general transmission released.

Design Sub-Index 1..128:

Bit	Transmission conditions	Configuration
		Sub-Index
0	Threshold value exceeded	0x6424

1	Threshold value fallen short	0x6425

2	Change of the input value exceeding the delta value for	0x6426
	the last transmission

3	Reduction of the input value by more than the delta value	0x6427
	for the last transmission

4	Increase of the input value by more than the delta value	0x6428
	for the last transmission

5 to 7	Reserved	-

5.3.4.4.12Object 0x6423, Analog Input Global Interrupt Enable

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6423	0	Global Interrupt Enable Analog	Unsigned8	RW	0
		16Bit

This object is used to control the transmission of the analog input data using PDO. If the value is 1, the transmission is released, and it only depends on object 0x6421 and the transmission type of the PDO. If the value is 0, no transmission of the analog input data is made, independent of object 0x6421.

Attention

In the default setting, the transmission of analog input data is deactivated.

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5.3.4.4.13Object 0x6424, Analog Input Interrupt Upper Limit Integer

Idx

S-Idx

Name

Type

Attribute

Default Value

0x6424

0

Number analog input channels

Unsigned8

RO

-

(16Bit)

1

Upper Limit 1. channel

Unsigned16

RW

0

....

128

Upper Limit 128. channel

Unsigned16

RW

0

This object allows a threshold value monitoring if it is configured in object 0x6423. If the input value is ≥ the defined threshold value, no transmission will take place until a further trigger condition is set (i.e. object 0x6426).

Transmission

Threshold value

g012435e

5.3.4.4.14Object 0x6425, Analog Input Interrupt Lower Limit Integer

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6425	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	Lower Limit 1. channel	Unsigned16	RW	0
	....	....	....	....	....
	128	Lower Limit 128. channel	Unsigned16	RW	0

This object allows a threshold value monitoring if it is configured in object 0x6423. If the input value is ≤ the determined threshold value, transmission will take place until a further trigger condition is set (i.e. object 0x6426).

Threshold value

Transmission

g012436e

5.3.4.4.15Object 0x6426, Analog Input Interrupt Delta Unsigned

Idx	S-Idx	Name	Type	Attribute	Default Value
0x6426	0	Number analog input channels	Unsigned8	RO	-
		(16Bit)
	1	Delta value 1. channel	Unsigned16	RW	0
	....	....	....	....	....
	128	Delta value 128. channel	Unsigned16	RW	0

The new value to be transmitted must, by definition of this object, be larger by at least the delta value or smaller than the value sent before.

This object, for instance, can be linked with the object 0x6424, so that the transmission will only be completed when the set threshold value and also the delta function are fulfilled.

Transmission

	Previous value	Delta
	Previous value	Delta
		Delta

Transmission

g012437e

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CANopen

Материал: m083700e

5.3.4.4.1 Object 0x6000, Digital Inputs

5.3.4.4.2 Object 0x6005, Global Interrupt Enable Digital 8-Bit

5.3.4.4.3 Object 0x6006, Interrupt Mask Any Change 8-Bit

5.3.4.4.4 Object 0x6007, Interrupt Mask Low-to-High 8-Bit

5.3.4.4.5 Object 0x6008, Interrupt Mask High-to-Low 8-Bit

5.3.4.4.6 Object 0x6200, Digital Outputs

5.3.4.4.7 Object 0x6206, Error Mode Output 8-Bit

5.3.4.4.8 Object 0x6207, Error Value Output 8-Bit

5.3.4.4.9 Object 0x6401, Analog Inputs 16 Bit

5.3.4.4.10Object 0x6411, Analog Outputs 16 Bit

5.3.4.4.11Object 0x6421, Analog Input Interrupt Trigger Selection

5.3.4.4.12Object 0x6423, Analog Input Global Interrupt Enable

5.3.4.4.13Object 0x6424, Analog Input Interrupt Upper Limit Integer

5.3.4.4.14Object 0x6425, Analog Input Interrupt Lower Limit Integer

5.3.4.4.15Object 0x6426, Analog Input Interrupt Delta Unsigned

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