Device-Specific Od Objects - Aventics CANopen Instrucciones De Servicio

Digital input module
AVENTICS | CANopen | R412005742–BDL–001–AD
Table 29: Manufacturer-specific OD objects (cont.)
Index in Sub-index
hex in hex
2030
0
1
2040
0
1
2
13.3.3

Device-specific OD objects

The following objects were taken directly from the profile of the
CiA DS-401, version 2.0.
Object 6000h: read input 8 bit
This object reads the condition of the input lines in groups of 8
with 8 bits of information. A maximum of 254 groups can be
addressed, in other words 254 x 8 = 2032 inputs. This object is
mandatory for digital input modules and must encompass all
connected input lines.
1 = input inverted
0 = input not inverted
Table 30: Read input 8 bit objects – object description
Object description
INDEX
Name
Object Code
Data Type
Category
Object description
Configuration information
Number of recognized modules
Configuration data
One recognition byte per module.
The configuration list can be read via an
Upload Multiplexed Domain Segment Protocol.
Parameter information
Parameter data length
Parameter data
The diagnosis can be switched on and off via
the parameter byte.
Device parameter data
Identical to sub-index 1 in the bus coupler.
6000h
Read Input 8 Bit
Array
Unsigned 8
Conditional: Device with digital inputs
147
Appendix