User Manual

CANopen Manual for TMCM-1140, TMCM-1160, and TMCM-1180 (Rev. 2.01 / 2017-JUL-26) 78
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5.2.49 Object 2702
h
: Digital Inputs
Bits 16… 23 of this object reflect the states of the digital inputs of the module.
Bit
Input
16
IN_O
17
IN_1
18
IN_2
19
IN_3
etc.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2702
h
Digital inputs
Variable
UNSIGNED32
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
ro
no
-
0
5.2.50 Object 2703
h
: Digital Outputs
With this object the digital outputs (general purpose outputs) can be set. Bits 16… 23 of sub index 1 switch
outputs OUT_0 and OUT_1 of the module. Bits 16… 23 of sub index 2 determine which outputs can be
switched. The number of available digital outputs depends on the module type.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2703
h
Digital outputs
Array
ENTRY DESCRIPTION
Sub-Index
Description
Access
PDO Mapping
Value Range
Default Value
01
h
Physical outputs
rw
no
UNSIGNED32
0
02
h
Output mask
rw
no
UNSIGNED32
0
5.2.51 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 2706
h
. After that, reset the
module. The new setting becomes active now.
OBJECT DESCRIPTION
Index
Name
Object Code
Data Type
2704
h
CAN bit rate load
Variable
UNSIGNED16
ENTRY DESCRIPTION
Sub-Index
Access
PDO Mapping
Value Range
Default Value
00
h
rw
no
20, 50, 125, 250, 500, 1000
250
HOW TO CHANGE THE CAN BIT RATE:
- Write new bit rate in object 2704
h
.
- Write safe signature 65766173
h
in sub-index 01
h
of object 2706
h
.
- Reset module.