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NP5 CANopen Online Manual

Description of the object dictionary Parent topic: Description of the object dictionary

3240h Digital Inputs Control

Function

With this object, digital inputs can be manipulated as described in chapter Digital inputs and outputs.

The following applies for all subindices:

  • Bits 0 to 15 control the special functions.
  • Bits 16 to 31 control the level of the outputs.

Object description

Index 3240h
Object name Digital Inputs Control
Object Code ARRAY
Data type UNSIGNED32
Savable yes, category: application
Firmware version FIR-v1426
Change history

Firmware version FIR-v1426: Subindex 01h: "Name" entry changed from "Special Function Disable" to "Special Function Enable"

Firmware version FIR-v1512: The number of entries was changed from 8 to 9.

Value description

Subindex 00h
Name Highest Sub-index Supported
Data type UNSIGNED8
Access read only
PDO mapping no
Allowed values
Preset value 08h
Subindex 01h
Name Special Function Enable
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 02h
Name Function Inverted
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 03h
Name Force Enable
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 04h
Name Force Value
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 05h
Name Raw Value
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 06h
Name Input Range Select
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 07h
Name Differential Select
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h
Subindex 08h
Name Routing Enable
Data type UNSIGNED32
Access read / write
PDO mapping RX-PDO
Allowed values
Preset value 00000000h

Description

The subindices have the following function:

  • 3240h:01h (Special Function Enable): This bit allows special functions of an input to be switched off (value "0") or on (value "1"). If input 1 is not used as, e.g., a negative limit switch, the special function must be switched off to prevent an erroneous response to the signal generator. The object has no effect on bits 16 to 31.

    The firmware evaluates the following bits:

    • Bit 0: Negative limit switch
    • Bit 1: Positive limit switch
    • Bit 2: Home switch

    If, for example, two limit switches and one home switch are used, bits 0–2 in 3240h:01h must be set to "1".

     

  • 3240h:02h (Function Inverted): This bit switches from normally open logic (a logical high level at the input yields the value "1" in object 60FDh) to normally closed logic (the logical high level at the input yields the value "0"). This applies for the special functions (except for the clock and direction inputs) and for the normal inputs.

    If the bit has the value "0", normally open logic applies; for the value "1", normally closed logic applies. Bit 0 corresponds to input 1 here, bit 1 to input 2, etc.

  • 3240h:03h (Force Enable): This bit switches on the software simulation of input values if it is set to "1". In this case, the actual values are no longer used in object 3240h:04h, but rather the set values for the respective input.

  • 3240h:04h (Force Value): This bit specifies the value that is to be read as the input value if the same bit was set in object 3240h:03h.

  • 3240h:05h (Raw Value): This object contains the unmodified input value.

  • 60FDh (Digital Inputs): This object contains a summary of the inputs and the special functions.

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