ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 92)

Object 0x20A1: Main position error
This object returns the error between the position command and the actual position (PE).
ƒ Object description:
Index 20A1h
Name Position error
Object code VAR
Data type SIGNED32
Category Optional
ƒ Entry description:
Access Read only
PDO mapping No
Value range -10 9 …10 9
Default value No
Object 0x2200: Digital input
This object reports an active or non-active state of a digital input. It reflects the value of
the IP command. The function and the logic level of a digital input are associated with
the IL command.
When this object is mapped to a TPDO and the transmission type is set to asynchronous
event, it is transmitted on every change of an input.
The report value of object 0x2200 is similar to the IP command. Please refer to the SimplIQ
Command reference manual.
ƒ Object description:
Index 2200h
Name Digital inputs
Object code VAR
Data type UNSIGNED32
Category Optional
ƒ Entry description:
Access Read only
PDO mapping Yes
Value range 0…0xFFFFFFFF
Default value No
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-15