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The following table shows the digital I/O module I/O map:
Digital I/O (input)
Size
Offset
(bytes)
0
4
Inputs_state
4
4
Outputs_state
Command
This module is used for sending XtraDrive-DP's commands from
the master.
The command module parameters are:
✦ User units
✦ Default profile value of velocity, acceleration and jerk
smoothing time
✦ Program definitions
The following table shows the command module I/O map:
Command (output)
Size
Offset
(bytes)
0
2
ID
2
1
Op_Code
3
1
Mode
4
4
Command_Parameter_1
8
4
Command_Parameter_2
12
4
Command_Parameter_3
16
4
Command_Parameter_4
20
4
Command_Parameter_5
AUDIN - 7 bis rue de Tinqueux - 51100 Reims - France
Tel : 03.26.04.20.21 - Fax : 03.26.04.28.20
Web : http: www.audin.fr - Email : info@audin.fr
Working with XtraDrive-DP
C
HAPTER
27
3
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