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5.3.1. Digital Output
The iKAN series provide the function for digital output access. The iKAN-XXX-CPS module uses
object index 0x6200 and its sub-index to access the digital output. The total of digital output is 171
bytes. They consist of four parts, including Coil type variable, Enable/Disable Display of Message,
digital output, Software reset.
Function
Coil type variable
Enable/Disable Display of Message
Digital Output
Software Reset
The object index 0x6200 and sub-index 0x01 ~ 0x28 is for accessing coil value. If the users would
like to write coil, the SDO command is the table as below.
For example: set Coil #1 1
11-bit COB-ID (bit)
Func Code
10
9
8
1
1
0
SDO client
Func Code
10
9
8
1
0
1
SDO client
Node ID
7
6
5
4
3
2
0
0
0
0
0
0
11-bit COB-ID (bit)
Node ID
7
6
5
4
3
2
1
0
0
0
0
0
Size
40 bytes
128 bytes
2 bytes
1 byte
Data
RTR
Length
1
0
0
1
0
8
Data
RTR
Length
1
0
0
1
0
4
Value Range
0 or 1
0 or 1
0 or 1
0 or 1
8-byte Data (byte)
0
1
2
3
4
2F
00
62
01
01
SDO server
(iKAN)
8-byte Data (byte)
0
1
2
3
4
60
00
62
01
--
SDO server
(iKAN)
Sub-Index
0x01 – 0x28
0x29 – 0xA8
0xA9 , 0xAA
0xAB
5
6
7
00
00
00
5
6
7
--
--
--
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