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EL8601-8411 | 12-Channel multi-Interface, 8 x DI, 1 x CNT, 1 x ENC AB, 4 x DO, 2 x PWM, 1 x AI, 1 x AO · 0 次阅读

Encoder with digital output and output function, ENC (0x502199)

Overview 0x16n0 and 0x1An0 for encoders with digital output and output function (SlotGroup 1)

Index (hex)

Index name for ModuleGroups (ModuleIdent):

ENC_OUT_DO (0x502199, 0x402199)

1600:0

ENC_OUT RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1

1610:0

DOS RxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1

1A00:0

ENC_OUT TxPDO‑Map SlotGroup 1 (Slot 1, 2, 3, 4) Inputs 1

Index 1600 ENC_OUT RxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1

Applies to ModuleGroup:

ENC_OUT_DO (0x502199, 0x402199)

Index (hex)

Name

Meaning

Data type

Flags

Default

1600:0

ENC_OUT
RxPDO-Map SlotGroup 1
(Slot 1, 2, 3, 4) Outputs 1

PDO Mapping RxPDO 1

UINT8

RO

0x0C (12dec)

1600:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1600:02

SubIndex 002

2. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status), entry 0x03 (Set counter))

UINT32

RO

0x7000:03, 1

1600:03

SubIndex 003

3. PDO Mapping entry (1 bits align)

UINT32

RO

0x0000:00, 1

1600:04

SubIndex 004

4. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status, entry 0x05 (Set output))

UINT32

RO

0x7000:05, 1

1600:05

SubIndex 005

5. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status, entry 0x06 (Enable output functions))

UINT32

RO

0x7000:06, 1

1600:06

SubIndex 006

6. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1600:07

SubIndex 007

7. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status, entry 0x09 (Set software gate))

UINT32

RO

0x7000:09, 1

1600:08

SubIndex 008

8. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1600:09

SubIndex 009

9. PDO Mapping entry (16 bits align)

UINT32

RO

0x0000:00, 16

1600:0A

SubIndex 010

10. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status, entry 0x11 (Set counter value))

UINT32

RO

0x7000:11, 32

1600:0B

SubIndex 011

11. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status), entry 0x12 (Switch on threshold value))

UINT32

RO

0x7000:12, 32

1600:0C

SubIndex 012

12. PDO Mapping entry (object 0x7000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Outputs status), entry 0x13 (Switch off threshold value))

UINT32

RO

0x7000:13, 32

Index 1610 DOS RxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1

Applies to ModuleGroup:

ENC_OUT_DO (0x502199, 0x402199)

Index (hex)

Name

Meaning

Data type

Flags

Default

1610:0

DOS RxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Outputs 1

PDO Mapping RxPDO 2

UINT8

RO

0x02 (2dec)

1610:01

SubIndex 001

1. PDO Mapping entry (object 0x70n0 (SlotGroup 1 (Slot 1, 2, 3, 4) DOS Outputs 1), entry 0x01 (Output))

UINT32

RO

0x7010:01, 1

1610:02

SubIndex 002

2. PDO Mapping entry (15 bits align)

UINT32

RO

0x0000:00, 15

Index 1A00 ENC_OUT TxPDO-Map SlotGroup 1 (Slot 1, 2, 3, 4) Inputs 1

Applies to ModuleGroup:

ENC_OUT_DO (0x502199, 0x402199)

Index (hex)

Name

Meaning

Data type

Flags

Default

1A00:0

ENC_OUT TxPDO-Map SlotGroup 1
(Slot 1, 2, 3, 4) Inputs 1

PDO Mapping TxPDO 1

UINT8

RO

0x0D (13dec)

1A00:01

SubIndex 001

1. PDO Mapping entry (2 bits align)

UINT32

RO

0x0000:00, 2

1A00:02

SubIndex 002

2. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x03 (Set counter done))

UINT32

RO

0x6000:03, 1

1A00:03

SubIndex 003

3. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x04 (Counter underflow))

UINT32

RO

0x6000:04, 1

1A00:04

SubIndex 004

4. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x05 (Counter overflow))

UINT32

RO

0x6000:05, 1

1A00:05

SubIndex 005

5. PDO Mapping entry (3 bits align)

UINT32

RO

0x0000:00, 3

1A00:06

SubIndex 006

6. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x09 (Status of input A))

UINT32

RO

0x6000:09, 1

1A00:07

SubIndex 007

7. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x0A (Status of input B))

UINT32

RO

0x6000:0A, 1

1A00:08

SubIndex 008

8. PDO Mapping entry (6 bits align)

UINT32

RO

0x0000:00, 6

1A00:09

SubIndex 009

9. PDO Mapping entry (object 0x6002 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status 1), entry 0x11 (Software gate valid))

UINT32

RO

0x6002:11, 1

1A00:0A

SubIndex 010

10. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A00:0B

SubIndex 011

11. PDO Mapping entry (object 0x6001 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs 2 1), entry 0x01 (Status of output))

UINT32

RO

0x6001:01, 32

1A00:0C

SubIndex 012

12. PDO Mapping entry (7 bits align)

UINT32

RO

0x0000:00, 7

1A00:0D

SubIndex 013

13. PDO Mapping entry (object 0x6000 (SlotGroup 1 (Slot 1, 2, 3, 4) ENC Inputs status), entry 0x11 (Counter value))

UINT32

RO

0x6000:11, 32