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CiA 401 Device Profile
4.1 DO operation method
You can control the digital output status at present with DO Setting Value (6200h) and Allow DO
4
State Change (2001h), limit the output channels with DO Filter Mask (6208h), and determine
the output status at present when a connection error occurs with DO Error Mode Enable
(6206h) and DO Error Mode Setting Value (6207h). The following is the control flowchart.
{RPDO1}
CAN
Reception
DO Error Mode Enable
DO Error Mode
Setting Value
4-2
Receive PDO Mapping
1600h
{20h}
DO Setting
Receive
Value
RPDO1
6200h
The setting value of
OD 6207h is
6206h
transferred when OD
6206h is set to 0h.
{0h, 1h}
{0, 1}
6207h
Allow DO State Change
{0, 1}
{0, 1}
Active DO
Not available
when
communication
error occurs.
R2-ECx004 User Manual
DO Filter Mask
2001h
6208h
{E, D}
{E, D}
{0, 1}
Block Filter
E = enable
D = disable
{0, 1}
Single
Digital
Output
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