Civil Engineering Reference
In-Depth Information
Table 4.8
Default CAN identifiers for TPDOs and RPDOs
Name
Function code
Resulting CAN-IDs
TPDO1 0011
b
385 (181
h
)-511 (1FF
h
)
RPDO1 0100
b
513 (201
h
)-639 (27F
h
)
TPDO2
0101
b
641 (281
h
)-767 (2FF
h
)
RPDO2
0110
b
769 (301
h
)-895 (37F
h
)
TPDO3 0111
b
897 (381
h
)-1023 (3FF
h
)
RPDO3 1000
b
1025 (401
h
)-1151 (47F
h
)
TPDO4
1001
b
1153 (481
h
)-1279 (4FF
h
)
RPDO4
1010
b
1281 (501
h
)-1407 (57F
h
)
Fig. 4.12
Block diagram of a digital output module according to CiA 401
The most frequently implemented device profile is the profile for generic I/O
modules (CiA 401). It supports digital and analog inputs and outputs. The user is
able to parameterize the modules in a standardized way regarding the I/O func-
tionality. With the parameter set “error value output (6207
h
)”, it is possible to set
the value of the digital outputs that should be used, when an internal device error
occurs. Another example is the parameter set “analog input interrupt trigger selec-
tion (6421
h
)”. By this parameter set conditions can be defined under which a PDO
transmission is triggered by an analog input, which has been mapped into a TPDO.
These conditions can be exceeding or falling below a certain threshold or the pre-
defined change of a given value. It is also possible to set the limit and delta values
under a fixed address (index and sub-index) in the object dictionary.
Figure
4.12
shows the block diagram of a digital output module, and Fig.
4.13
shows the block diagram of an analog input module. The device profile CiA 401
