VDO CANcockpit Series Product Manual

Product Manual CANcockpitTU00-0726-5111102 Technische Änderungen vorbehalten 0609 Technical details subject to change 5.2 - 26The reproduction, distribution and utilization of this document as well as the communication of its contents to others without expressauthorization is prohibited. Offenders will be held liable for the payment of damages. All right reserved in the event of the grant of a patent,utility model or design .CANopen-Specification for CANcockpitWrite 64 digital Outputs byte wise (6200h)Values written via SDO will overwrite PDO values and vice versa.Digital outputs of the CANopen network are actually digital inputs for CANcockpit. The result of the polarity processing (object6202h) and timeout control (object 6206h and object 6207h) is available in the result array "Copen_abDO[8]". Warning orAlarm conditions can be directed to the contents of these signals, hence making it possible to trigger an Alarm or Warningbased on information coming in via CANopen (RPDO1).Writing to this object via SDO will be rejected in operational state (NMT) to prevent access conflicts. Writing in preoperationalstate is possible and values will be retained, if the corresponding error mode bit is 0. If this bit is 1, then the output state will beaccording to the configured error value when no PDOs are received (including timeout condition and transitions toinitialisation, stop or preoperational).Reading this object via SDO will return the following:Condition Read ResultPreoperational 0xFF for all bytesOperational no RPDO1 timeout condition Valid bytes as received in RPDO1Operational, but RPDO1 timeout condition 0xFF for all bytesOBJECT DESCRIPTIONIndex 6200hName Write Output 8-BitObject Code ArrayData Type UNSIGNED8Category Conditional: Device with digital outputsENTRY DESCRIPTIONSub-Index 0Description Number of Outputs 8-BitAccess roEntry Category MandatoryPDO Mapping NoValue 8Default Value 8Sub-Index 1Description Write Output 1 to 8Access rwEntry Category MandatoryPDO Mapping DefaultValue Range Unsigned8Default Value NoSub-Index 2Description Write Output 9 to 16Access rwEntry Category OptionalPDO Mapping DefaultValue Range Unsigned8Default Value NoSub-Index 3Description Write Output 17 to 24Access rwEntry Category OptionalPDO Mapping DefaultValue Range Unsigned8Default Value NoSub-Index 4Description Write Output 25 to 32Access rwEntry Category OptionalPDO Mapping DefaultValue Range Unsigned8Default Value No