12�2�2 Device-Specific Cr2051 - IFM ioControl CR2050 Manuel D'utilisation

12.2.2 Device-specific CR2051
Receive PDO communication parameters (index 0x1400...0x14FF):
Index S-idx Designation
0x1400 0x00 Receive PDO
Communica-
tion Parame-
ter Number of
entries
0x01 COBID used
by PDO
0x02 transmission
type
0x1401 0x00 Receive PDO
Communica-
tion Parame-
ter Number of
entries
0x01 COBID used
by PDO
0x02 transmission
type
Data type Default
ro USINT 0x02
rw UDINT 0x200 + node
ID
rw USINT 0x01
ro USINT 0x02
rw UDINT 0x300 + node
ID
rw USINT 0x01
Details (CR2051)
Receive PDO 1: binary outputs 0 - 15
number of entries = 2
CAN ID of the first read PDO
Bit 31 = 0 → PDO is valid
Bit 31 = 1 → PDO is not valid
0x00 = synch acyclic
0x01���0xF0 = synch cyclic; outputs
are only updated after „n" synch
objects
n = 1...240 = 0x01���0xF0
0xFC/0xFD not implemented
0xFE = asynch man� spec� event;
outputs are updated immediately
0xFF = asynch device profile event;
outputs are updated immediately
Receive PDO 2: PWM outputs 0 - 3
number of entries = 2
CAN ID of the second read PDO
Bit 31 = 0 → PDO is valid
Bit 31 = 1 → PDO is not valid
0x00 = synch acyclic
0x01���0xF0 = synch cyclic; outputs
are only updated after „n" synch
objects
n = 1...240 = 0x01���0xF0
0xFC/0xFD not implemented
0xFE = asynch man� spec� event;
outputs are updated immediately
0xFF = asynch device profile event;
outputs are updated immediately
ioControl
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