ElmoMC CANopen DS 301 Implementation Guide - Manual (Page 93)

Object 0x2201: Digital input low byte
This object defines simple digital inputs for drives.
The reflected functions are:
o
Negative limit switch – Similar to RLS
o
Positive limit switch – Similar to FLS
o
Home switch – As reflected in the IL[5] command
ƒ Object description:
Index 2201h
Name Digital inputs low byte
Object code VAR
Data type UNSIGNED8
Category Optional
ƒ Entry description:
Access Read only
PDO mapping Yes
Value range 0…0xFF
Default value 0
ƒ Data description:
7 4 3 2 1 0
Reserved Interlock
Home
switch
Positive
limit switch
Negative
limit switch
MSB
The switch must be “active high.”
Notes:
ƒ
The interlock is always 0.
ƒ “Active high” means that the bit is set to high when the switch is logically active.
ƒ Different SimplIQ drives support a different number of digital inputs. It is
advised to use only the relevant bits according to the specific drive.
ƒ This object is evaluated every 3 milliseconds.
When mapped as asynchronous, this object is transmitted at every change within the
calculation resolution period. Inhibit time can be used to prevent busload or to control
the time latency causing the same TPDO to be transmitted due to other asynchronous
events.
CANopen DS 301 Implementation Guide Manufacturer-specific Objects
MAN-CAN301IG (Ver. 2.1)
13-16