Config input switches, Unsigned 8 – Intelligent Motion Systems MDrive DSP-402 User Manual
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MDrivePlus CANopen R020507
Object 2002h: I/O Discretes (Config)
Object Description
Index
2002
h
Name
Config Input Switches
Object Code
VAR
Data Type
Unsigned 8
Entry Description
Sub-Index
Description
Category
Access
PDO
Mapping
Value Range
Default
01h
ConFigure I/O as Home
Mandatory
R/W
No
0x00 — 0xFF
0x00 (1 = Selects
I/O# as the Home
Switch)
02h
ConFigure I/O as Positive
Limit
Mandatory
R/W
No
0x00 — 0xFF
0x00 (1 = Selects
I/O# as the
Positive Limit)
03h
ConFigure I/O as Negative
Limit
Mandatory
R/W
No
0x00 — 0xFF
0x00 (1 = Selects
I/O# as the
Negative Limit)
Object 2004h: Input Filter Mask (Config)
The Input Filter Mask Object conFigure s the device to filter the selected inputs. The operation of the Object is shown in
Figure 3.1 below.
LSB
MSB
7 6 5 4 3 2 1 0
LSB
MSB
7 6 5 4 3 2 1 0
IN12
IN11
IN10
IN9
IN4
IN3
IN2
IN1
1
0
0
1
0
0
0
0
0
1
1
0
0
0
1
0
2004.01h Input Filter Mask
2006.01h Input Filter Time
60FDh Digital Inputs
Filter Inputs 1 & 2
Filter Time 100 mSec.
Figure 3.1: Input Filter Mask