TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
TMCM-351 CANopen Firmware Manual - Trinamic
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<strong>TMCM</strong>-341/342/343/<strong>351</strong> <strong>CANopen</strong> <strong>Firmware</strong> <strong>Manual</strong> (V1.04 / 2011-AUG-01) 81<br />
8.1.28 Object 2701 h: Manufacturer specific mode<br />
Writing the make signature to this object turns on the manufacturer specific mode. The manufacturer<br />
specific mode can be turned off again by writing the kill signature to this object.<br />
The manufacturer specific mode has the following features:<br />
PDOs do not need to be disabled and re-enabled when the PDO mapping is to be changed<br />
The RTR bit in the COB-ID of PDO definitions is ignored.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2701 h Manufacturer specific mode Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h rw no See textbox below* 0<br />
* read: 0 = manufacturer specific mode is inactive<br />
1 = manufacturer specific mode is active<br />
write: 656b616d h = make signature<br />
6c6c696b h = kill signature<br />
8.1.29 Object 2702 h: Digital inputs<br />
Bits 16… 23 of this object reflect the states of the digital inputs (general purpose inputs 0… 8, the<br />
number of available inputs depend on the module type).<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2702 h Digital inputs Variable UNSIGNED32<br />
ENTRY DESCRIPTION<br />
Sub-Index Access PDO Mapping Value Range Default Value<br />
00 h ro no 0… 255 0<br />
8.1.30 Object 2703 h: Digital outputs<br />
With this object the digital outputs (general purpose outputs) can be set. Bits 16… 23 of sub index 1<br />
switch outputs 0… 8 of the module. Bits 16… 23 of sub index 2 determine which outputs can be<br />
switched. The number of available digital outputs depends on the module type.<br />
OBJECT DESCRIPTION<br />
Index Name Object Code Data Type<br />
2703 h Digital outputs Array<br />
ENTRY DESCRIPTION<br />
Sub-Index Description Access PDO Mapping Value Range Default Value<br />
01 h Physical outputs rw no UNSIGNED32 0<br />
02 h Output mask rw no UNSIGNED32 0<br />
Copyright © 2011, TRINAMIC Motion Control GmbH & Co. KG
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