CANopen Programmer's Manual - Maccon.de

3: Device Control, Configuration, and Status CANopen Programmer’s Manual
INPUT PIN STATES INDEX 0X2190
Type Access Units Range Map PDO Memory
Unsigned 16 RO - See Description, below YES -
Description
The 16-bit value returned by this command gives the current state (high/low) of the amplifier’s
input pins after debouncing. The inputs are returned one per bit as shown below.
Bits Description
0 Input 1
1 Input 2
2 Input 3
3 Input 4
4 Input 5
5 Input 6
6 Input 7
7 Input 8
8 Input 9
9 Input 10
10 Input 11
11 Input 12
12 Input 13
13 Input 14
14 Input 15
15 Input 16
There is a PDO event associated with the input states object that can transmit a PDO any time an
input pin changes state.
INPUT PIN STATE INDEX 0X219A
Type Access Units Range Map PDO Memory
Integer 32 R0 - - EVENT R*
Description
32-bit version of parameter 0x2190. Useful on drives with more than 16 input pins.
Some amplifiers have one or more pull-up resistors associated with their general-purpose input
pins. On these amplifiers, the state of the pull-ups can be controlled by writing to this register.
This register has one bit for each pull-up resistor available on the amplifier. Setting the bit causes
the resistor to pull any inputs connected to it up to the high state when they are not connected.
Bits 0 – 7 of this register are used to control pull-up resistor states. Each bit represents an input
number. Bit 0 = IN1, bit 1 = IN2, etc.
On amplifiers that allow groups of inputs to be configured as either single ended or differential, bit
8 controls this feature. Set bit 8 to 0 for single ended, 1 for differential.
116 Copley Controls