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The digital input status object, 6800
inputs. Sub-index 1 is the states of the digital inputs, and sub-index 2 is the states of the
analogue inputs converted to digital states.
Analogue (contactor) outputs
CAUTION: Do not use contactors which have built in 'economiser' circuits, the internal circuits
are not compatible with the controller and may cause malfunction or damage. The same power
reduction can be achieved with a standard coil by using the configurable pull-in and hold voltage
settings.
There are 3 analogue outputs which you may have mapped to one or more contactor functions
such as: line contactor, pump, power steer, electro-brake, external LED, alarm buzzer and horn.
Configure each of the outputs used in your system:
Choose voltage control or current control for each analogue output at 46A1
(At the time of writing, current controlled devices can only be operated from Gen4 by
mapping a signal input to the controller from an external 3
Set the frequency of each output to a fixed value of 16 kHz or any value between 40 Hz and
1 kHz at 46A2
and 46A3
h
frequencies are normally used with current-controlled outputs.
Set the analogue output values at object 6C11
depending on whether the output is voltage controlled or current controlled. Values are 16-
bit integers with a resolution of 1/256 V/bit or A/bit.
Error control
WARNING: It is important that analogue outputs on nodes other than the master must
have appropriate error configuration to protect against CANbus faults. This section
explains how to configure the outputs to go to a safe state in the event of a CANbus fault.
It is the installers responsibility to define what a safe state is for each output.
In a CANopen network, the slave node on which the analogue (contactor) outputs reside can be
different to the master node which calculates the output value. If the CANbus fails, the master
node is no longer able to control the slave outputs. In this situation, the outputs may need to
change to a safe value. This is achieved with error control.
To configure error control:
Set each output at object 6C43
fails.
Set values if needed at 6C44
bottom 16-bits are ignored. The top 16-bits give the error value in 1/256 V/bit (or A/bit for
current controlled outputs).
Some examples of typical configurations may be:
Electro-mechanical brake on slave node. If CANbus communication is lost, it may be
desirable to apply the electro-mechanical brake on the slave device. In this case, enable
error control in 6C43
Power steer contactor on slave node. If CANbus communication is lost, it may be desirable
to leave the power steer output in its previous state. In this case, disable error control in
6C43
.
h
6-16
, contains enough sub-indices for the digital and analogue
h
. You can have only one low frequency setting per controller. Low
h
to use its last set value or the value at 6C44
h
for each output. These values are 32-bit integers, but the
h
and set the error value in 6C44
h
rd
party node).
. The value is either a voltage or current
h
to 0.
h
.
h
if the CANbus
h
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