User Manual

PD42-1140 CANopen® Firmware Manual • Firmware Version V3.20 | Document Revision V2.10 • 2018-DEC-01
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Object Description
Index Name Object Type Data Type
2703
h
Device Digital Outputs Variable ARRAY
Table 137: Object Description (2703
h
)
Entry Description
Sub-index Description Access PDO Mapping Value Range Default Value
1 Physical outputs rw yes UNSIGNED32 0
2 Output mask rw yes UNSIGNED32 0
Table 138: Entry Description (2703
h
)
Note
Output #0 can also be used for automatically controlling a brake that can be
connected to the module via this output. In order to be able to control output #0
via this object the autmatic brake control function has to be disabled. Do this by
writing 0 to sub-index 1 and sub-index 2 of object 200C
h
.
4.2.42 Object 2704
h
: CAN Bit Rate
With this object it is possible to change the CAN bit rate. To do this, first write the new value to this object.
Then, store the new setting by writing the save signature to object 2706h. After that, reset the module.
The new setting then becomes active.
Object Description
Index Name Object Type Data Type
2704
h
CAN Bit Rate Variable UNSIGNED16
Table 139: Object Description (2704
h
)
Entry Description
Sub-index Access PDO Mapping Value Range Default Value
0 rw no 20,50,100,125,250,500,800,1000 1000
Table 140: Entry Description (2704)
h
How to change the bit rate of a module:
• Write new bit rate in object 2704
h
.
• Write the save signature 65766173
h
to sub-index 1 of object 2706
h
.
• Reset module.
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